Time-Triggered Program Monitoring

Debugging is an important phase in the embedded software development cycle because of its high proportion in the overall cost in the product development. Debugging is difficult for real-time applications as such programs are time-sensitive and must meet deadlines in often a resource constrained environment. A common approach for real-time systems is to monitor the execution instead of stepping through the program, because stepping will usually violate all deadline constraints. We consider a time-triggered approach for program monitoring at runtime, resulting in bounded and predictable overhead. In time-triggered execution monitoring, a monitor runs as a separate process in parallel with an application program and samples the program's state periodically to evaluate a set of properties. Applying this technique in computing systems, results in bounded and predictable overhead. However, the time-triggered approach can have high overhead depending on the granularity of the monitoring effort. To reduce this overhead, we instrument the program with markers that will require to sample less frequently and thus reduce the overhead. This leads to interesting problems of (a) where to place the markers in the code and (b) how to manipulate the markers. While related work investigates the first part, in this work, we investigate the second part. We investigate different instrumentation schemes and propose two new schemes based on bitvectors that significantly reduce the overhead for time-triggered execution monitoring. Time-triggered execution monitoring suffers from several drawbacks such as; the time-triggered monitor requires certain synchronization features at the operating system level and may suffer from various concurrency and synchronization dependencies in a real-time setting. Furthermore, the time-triggered execution monitoring scheme requires the embedded environment to provide multi-tasking features. To address the aforementioned problems, we propose a new method called time-triggered self-monitoring, where the program under inspection is instrumented, so that it self-samples its state in a periodic fashion without requiring assistance from an external monitor or an internal timer. The experimental results show that a time-triggered self-monitored program performs significantly better in terms of execution time, binary code size, and context switches when compared to the same program monitored by an external time-triggered monitor

Prototype of Fault Adaptive Embedded Software for Large-Scale Real-Time Systems

This paper describes a comprehensive prototype of large-scale fault adaptive embedded software developed for the proposed Fermilab BTeV high energy physics experiment. Lightweight self-optimizing agents embedded within Level 1 of the prototype are responsible for proactive and reactive monitoring and mitigation based on specified layers of competence. The agents are self-protecting, detecting cascading failures using a distributed approach. Adaptive, reconfigurable, and mobile objects for reliablility are designed to be self-configuring to adapt automatically to dynamically changing environments. These objects provide a self-healing layer with the ability to discover, diagnose, and react to discontinuities in real-time processing. A generic modeling environment was developed to facilitate design and implementation of hardware resource specifications, application data flow, and failure mitigation strategies. Level 1 of the planned BTeV trigger system alone will consist of 2500 DSPs, so the number of components and intractable fault scenarios involved make it impossible to design an `expert system' that applies traditional centralized mitigative strategies based on rules capturing every possible system state. Instead, a distributed reactive approach is implemented using the tools and methodologies developed by the Real-Time Embedded Systems group.Comment: 2nd Workshop on Engineering of Autonomic Systems (EASe), in the 12th Annual IEEE International Conference and Workshop on the Engineering of Computer Based Systems (ECBS), Washington, DC, April, 200

LArPix: Demonstration of low-power 3D pixelated charge readout for liquid argon time projection chambers

We report the demonstration of a low-power pixelated readout system designed for three-dimensional ionization charge detection and digital readout of liquid argon time projection chambers (LArTPCs). Unambiguous 3D charge readout was achieved using a custom-designed system-on-a-chip ASIC (LArPix) to uniquely instrument each pad in a pixelated array of charge-collection pads. The LArPix ASIC, manufactured in 180 nm bulk CMOS, provides 32 channels of charge-sensitive amplification with self-triggered digitization and multiplexed readout at temperatures from 80 K to 300 K. Using an 832-channel LArPix-based readout system with 3 mm spacing between pads, we demonstrated low-noise ($<$500 e$^-$ RMS equivalent noise charge) and very low-power ($<$100 $\mu$W/channel) ionization signal detection and readout. The readout was used to successfully measure the three-dimensional ionization distributions of cosmic rays passing through a LArTPC, free from the ambiguities of existing projective techniques. The system design relies on standard printed circuit board manufacturing techniques, enabling scalable and low-cost production of large-area readout systems using common commercial facilities. This demonstration overcomes a critical technical obstacle for operation of LArTPCs in high-occupancy environments, such as the near detector site of the Deep Underground Neutrino Experiment (DUNE).Comment: 19 pages, 10 figures, 1 ancillary animation. V3 includes minor revisions based on referee comment