On the Equivalence of Maximum Reaction Time and Maximum Data Age for Cause-Effect Chains

Real-time systems require a formal guarantee of timing-constraints, not only for individual tasks but also for data-propagation. The timing behavior of data-propagation paths in a given system is typically described by its maximum reaction time and its maximum data age. This paper shows that they are equivalent. To reach this conclusion, partitioned job chains are introduced, which consist of one immediate forward and one immediate backward job chain. Such partitioned job chains are proven to describe maximum reaction time and maximum data age in a universal manner. This universal description does not only show the equivalence of maximum reaction time and maximum data age, but can also be exploited to speed up the computation of such significantly. In particular, the speed-up for synthesized task sets based on automotive benchmarks can be up to 1600. Since only very few non-restrictive assumptions are made, the equivalence of maximum data age and maximum reaction time holds for almost any scheduling mechanism and even for tasks which do not adhere to the typical periodic or sporadic task model. This observation is supported by a simulation of a ROS2 navigation system

AuNa: Modularly Integrated Simulation Framework for Cooperative Autonomous Navigation

In the near future, the development of autonomous driving will get more complex as the vehicles will not only rely on their own sensors but also communicate with other vehicles and the infrastructure to cooperate and improve the driving experience. Towards this, several research areas, such as robotics, communication, and control, are required to collaborate in order to implement future-ready methods. However, each area focuses on the development of its own components first, while the effects the components may have on the whole system are only considered at a later stage. In this work, we integrate the simulation tools of robotics, communication and control namely ROS2, OMNeT++, and MATLAB to evaluate cooperative driving scenarios. The framework can be utilized to develop the individual components using the designated tools, while the final evaluation can be conducted in a complete scenario, enabling the simulation of advanced multi-robot applications for cooperative driving. Furthermore, it can be used to integrate additional tools, as the integration is done in a modular way. We showcase the framework by demonstrating a platooning scenario under cooperative adaptive cruise control (CACC) and the ETSI ITS-G5 communication architecture. Additionally, we compare the differences of the controller performance between the theoretical analysis and practical case study.Comment: 8 pages, preprint, https://github.com/tu-dortmund-ls12-rt/AuN

Fatty acid binding protein 4 is a target of VEGF and a regulator of cell proliferation in endothelial cells

Fatty acid binding protein 4 (FABP4) plays an important role in maintaining glucose and lipid homeostasis. FABP4 has been primarily regarded as an adipocyte- and macrophage-specific protein, but recent studies suggest that it may be more widely expressed. We found strong FABP4 expression in the endothelial cells (ECs) of capillaries and small veins in several mouse and human tissues, including the heart and kidney. FABP4 was also detected in the ECs of mature human placental vessels and infantile hemangiomas, the most common tumor of infancy and ECs. In most of these cases, FABP4 was detected in both the nucleus and cytoplasm. FABP4 mRNA and protein levels were significantly induced in cultured ECs by VEGF-A and bFGF treatment. The effect of VEGF-A on FABP4 expression was inhibited by chemical inhibition or short-hairpin (sh) RNA-mediated knockdown of VEGF-receptor-2 (R2), whereas the VEGFR1 agonists, placental growth factors 1 and 2, had no effect on FABP4 expression. Knockdown of FABP4 in ECs significantly reduced proliferation both under baseline conditions and in response to VEGF and bFGF. Thus, FABP4 emerged as a novel target of the VEGF/VEGFR2 pathway and a positive regulator of cell proliferation in ECs.—Elmasri, H., Karaaslan, C., Teper, Y., Ghelfi, E., Weng, M., Ince, T. A., Kozakewich, H., Bischoff, J., Cataltepe, S. Fatty acid binding protein 4 is a target of VEGF and a regulator of cell proliferation in endothelial cells