A Concurrency and Time Centered Framework for Certification of Autonomous Space Systems

Future space missions, such as Mars Science Laboratory, suggest the engineering of some of the most complex man-rated autonomous software systems. The present process-oriented certification methodologies are becoming prohibitively expensive and do not reach the level of detail of providing guidelines for the development and validation of concurrent software. Time and concurrency are the most critical notions in an autonomous space system. In this work we present the design and implementation of the first concurrency and time centered framework for product-oriented software certification of autonomous space systems. To achieve fast and reliable concurrent interactions, we define and apply the notion of Semantically Enhanced Containers (SEC). SECs are data structures that are designed to provide the flexibility and usability of the popular ISO C++ STL containers, while at the same time they are hand-crafted to guarantee domain-specific policies, such as conformance to a given concurrency model. The application of nonblocking programming techniques is critical to the implementation of our SEC containers. Lock-free algorithms help avoid the hazards of deadlock, livelock, and priority inversion, and at the same time deliver fast and scalable performance. Practical lock-free algorithms are notoriously difficult to design and implement and pose a number of hard problems such as ABA avoidance, high complexity, portability, and meeting the linearizability correctness requirements. This dissertation presents the design of the first lock-free dynamically resizable array. Our approach o ers a set of practical, portable, lock-free, and linearizable STL vector operations and a fast and space effcient implementation when compared to the alternative lock- and STM-based techniques. Currently, the literature does not offer an explicit analysis of the ABA problem, its relation to the most commonly applied nonblocking programming techniques, and the possibilities for its detection and avoidance. Eliminating the hazards of ABA is left to the ingenuity of the software designer. We present a generic and practical solution to the fundamental ABA problem for lock-free descriptor-based designs. To enable our SEC container with the property of validating domain-specific invariants, we present Basic Query, our expression template-based library for statically extracting semantic information from C++ source code. The use of static analysis allows for a far more efficient implementation of our nonblocking containers than would have been otherwise possible when relying on the traditional run-time based techniques. Shared data in a real-time cyber-physical system can often be polymorphic (as is the case with a number of components part of the Mission Data System's Data Management Services). The use of dynamic cast is important in the design of autonomous real-time systems since the operation allows for a direct representation of the management and behavior of polymorphic data. To allow for the application of dynamic cast in mission critical code, we validate and improve a methodology for constant-time dynamic cast that shifts the complexity of the operation to the compiler's static checker. In a case study that demonstrates the applicability of the programming and validation techniques of our certification framework, we show the process of verification and semantic parallelization of the Mission Data System's (MDS) Goal Networks. MDS provides an experimental platform for testing and development of autonomous real-time flight applications

Concurrent Multi-Level Arrays: Wait-Free Extensible Hash Maps

Abstract-In this work we present the first design and implementation of a wait-free hash map. Our multiprocessor data structure allows a large number of threads to concurrently put, get, and remove information. Wait-freedom means that all threads make progress in a finite amount of time -an attribute that can be critical in real-time environments. This is opposed to the traditional blocking implementations of shared data structures which suffer from the negative impact of deadlock and related correctness and performance issues. Our design is portable because we only use atomic operations that are provided by the hardware; therefore, our hash map can be utilized by a variety of data-intensive applications including those within the domains of embedded systems and supercomputers. The challenges of providing this guarantee make the design and implementation of wait-free objects difficult. As such, there are few wait-free data structures described in the literature; in particular, there are no wait-free hash maps. It often becomes necessary to sacrifice performance in order to achieve waitfreedom. However, our experimental evaluation shows that our hash map design is, on average, 5 times faster than a traditional blocking design. Our solution outperforms the best available alternative non-blocking designs in a large majority of cases, typically by a factor of 8 or higher

Effective software design and development for the new graph architecture HPC machines.

Software applications need to change and adapt as modern architectures evolve. Nowadays advancement in chip design translates to increased parallelism. Exploiting such parallelism is a major challenge in modern software engineering. Multicore processors are about to introduce a significant change in the way we design and use fundamental data structures. In this work we describe the design and programming principles of a software library of highly concurrent scalable and nonblocking data containers. In this project we have created algorithms and data structures for handling fundamental computations in massively multithreaded contexts, and we have incorporated these into a usable library with familiar look and feel. In this work we demonstrate the first design and implementation of a wait-free hash table. Our multiprocessor data structure design allows a large number of threads to concurrently insert, remove, and retrieve information. Non-blocking designs alleviate the problems traditionally associated with the use of mutual exclusion, such as bottlenecks and thread-safety. Lock-freedom provides the ability to share data without some of the drawbacks associated with locks, however, these designs remain susceptible to starvation. Furthermore, wait-freedom provides all of the benefits of lock-free synchronization with the added assurance that every thread makes progress in a finite number of steps. This implies deadlock-freedom, livelock-freedom, starvation-freedom, freedom from priority inversion, and thread-safety. The challenges of providing the desirable progress and correctness guarantees of wait-free objects makes their design and implementation difficult. There are few wait-free data structures described in the literature. Using only standard atomic operations provided by the hardware, our design is portable; therefore, it is applicable to a variety of data-intensive applications including the domains of embedded systems and supercomputers.Our experimental evaluation shows that our hash table design outperforms the most advanced locking solution, provided by Intel's TBB library, by 22%. When compared to more traditional locking designs we show a performance improvement by a factor of 7.92. When compared to alternative non-blocking designs, our hash table demonstrates solid performance gains in a large majority of cases, typically by a factor of 3.44

The Aba Problem In Multicore Data Structures With Collaborating Operations

An increasing number of modern real-time systems and the nowadays ubiquitous multicore architectures demand the application of programming techniques for reliable and efficient concurrent synchronization. Some recently developed Compare-And-Swap (CAS) based nonblocking techniques hold the promise of delivering practical and safer concurrency. The ABA 2 problem is a fundamental problem to many CAS-based designs. Its significance has increased with the suggested use of CAS as a core atomic primitive for the implementation of portable lock-free algorithms. The ABA problem\u27s occurrence is due to the intricate and complex interactions of the application\u27s concurrent operations and, if not remedied, ABA can significantly corrupt the semantics of a nonblocking algorithm. The current state of the art leaves the elimination of the ABA hazards to the ingenuity of the software designer. In this work we provide the first systematic and detailed analysis of the ABA problem in lock-free Descriptor-based designs. We study the semantics of Descriptor-based lock-free data structures and propose a classification of their operations that helps us better understand the ABA problem and subsequently derive an effective ABA prevention scheme. We supplement our analysis with a statistical model of the probability for an ABA event in a concurrent system. Our ABA prevention approach outperforms by a large factor the use of the alternative CAS-based ABA prevention schemes. It offers speeds comparable to the use of the architecture-specific CAS2 instruction used for version counting. We demonstrate our ABA prevention scheme by integrating it into an advanced nonblocking data structure, a lock-free dynamically resizable array. © 2011 ICST

Scalable Nonblocking Concurrent Objects for Mission Critical Code

The high degree of complexity and autonomy of future robotic space missions, such as Mars Science Laboratory (MSL), poses serious challenges in assuring their reliability and efficiency. Providing fast and safe concurrent synchronization is of critical importance to such autonomous embedded software systems. The application of nonblocking synchronization is known to help eliminate the hazards of deadlock, livelock, and priority inversion. The nonblocking programming techniques are notoriously difficult to implement and offer a variety of semantic guarantees and usability and performance trade-offs. The present software development and certification methodologies applied at NASA do not reach the level of detail of providing guidelines for the design of concurrent software. The complex task of engineering reliable and efficient concurrent synchronization is left to the programmer’s ingenuity

A Lock-Free Priority Queue Design Based On Multi-Dimensional Linked Lists

The throughput of concurrent priority queues is pivotal to multiprocessor applications such as discrete event simulation, best-first search and task scheduling. Existing lock-free priority queues are mostly based on skiplists, which probabilistically create shortcuts in an ordered list for fast insertion of elements. The use of skiplists eliminates the need of global rebalancing in balanced search trees and ensures logarithmic sequential search time on average, but the worst-case performance is linear with respect to the input size. In this paper, we propose a quiescently consistent lock-free priority queue based on a multi-dimensional list that guarantees worst-case search time of O(\log N) for key universe of size N. The novel multi-dimensional list (MDList) is composed of nodes that contain multiple links to child nodes arranged by their dimensionality. The insertion operation works by first injectively mapping the scalar key to a high-dimensional vector, then uniquely locating the target position by using the vector as coordinates. Nodes in MDList are ordered by their coordinate prefixes and the ordering property of the data structure is readily maintained during insertion without rebalancing nor randomization. In our experimental evaluation using a micro-benchmark, our priority queue achieves an average of 50 percent speedup over the state of the art approaches under high concurrency