A middleware protocol for time-critical wireless communication of large data samples

We present a middleware-based protocol that reliably synchronizes large samples consisting of multiple frames efficiently and within application level QoS requirements over a lossy wireless channel. The protocol uses a custom retransmission scheme, exploiting the latency requirements on sample level for frame level scheduling. It can be integrated into the popular DDS middleware. We investigate some technical limits of such a protocol and compare it to existing error protocols in the software stack and in the wireless protocol and combinations thereof. The comparison is based on an Omnet++ simulation using an established wireless channel error model. For evaluation, we take a use case from automated valet parking where infrastructure data provided via a wireless link augments in-vehicle sensor data. The use case respects the related safety requirements. Results show that the application awareness of the presented protocol, significantly improves service availability by transmitting data efficiently in time even under higher frame error rates

Improving worst-case TSN communication times of large sensor data samples by exploiting synchronization

Higher levels of automated driving also require a more sophisticated environmental perception. Therefore, an increasing number of sensors transmit their data samples as frame bursts to other applications for further processing. As a vehicle has to react to its environment in time, such data is subject to safety-critical latency constraints. To keep up with the resulting data rates, there is an ongoing transition to a Time-Sensitive Networking (TSN)-based communication backbone. However, the use of TSN-related industry standards does not match the automotive requirements of large timely sensor data transmission, nor it offers benefits on time-critical transmissions of single control data packets. By using the full data rate of prioritized IEEE 802.1Q Ethernet, giving time guarantees on large data samples is possible, but with strongly degraded results due to data collision. Resolving such collisions with time-aware shaping comes with significant overhead. Hence, rather than optimizing the parameters of the existing protocol, we propose a system design that synchronizes the transmission times of sensor data samples. This limits network protocol complexity and hardware requirements by avoiding tight time synchronization and time-aware shaping. We demonstrate that individual sensor data samples are transmitted without significant interference, exclusively at full Ethernet data rate. We provide a synchronous event model together with a straightforward response time analysis for synchronous multi-frame sample transmissions. The results show that worst-case latencies of such sample communication, in contrast to non-synchronized approaches, are close to their theoretical minimum as well as to simulative results while keeping the overall network utilization high

Online latency monitoring of time-sensitive event chains in ROS2

Highly-automated driving involves chains of perception, decision, and control functions. These functions involve dataintensive algorithms that motivate the use of a data-centric middleware and a service-oriented architecture. As an example, we use the open-source project Autoware.Auto, which bases on the Robot Operating System (ROS) 2. Often, function chains define a safety-critical automated control task with weakly-hard real-time constraints. Providing the required assurance by formal analysis, however, is challenged by the complex hardware/software structure of these systems. We therefore propose an approach that combines measurement, suitable distribution of deadlines, and application-level online monitoring that serves to supervise the execution of service-oriented software systems with multiple function chains and weakly-hard real-time constraints. We further evaluate our proof-of-concept implementation in ROS2 on an environment perception use case from Autoware.Auto

An Error Protection Protocol for the Multicast Transmission of Data Samples in V2X Applications

There is a trend towards communication of larger data objects in wireless vehicle communication. In many cases, communication uses publish-subscribe protocols. Data rate requirements of such protocols are best addressed by wireless multicast protocols, but the existing protocols lack an error protection that is suitable for real-time and safety-critical applications. We present an application-aware protocol that supports the popular DDS (Data Distribution Service) middleware. By exploiting data object deadlines and slack for retransmissions and employing an adaptable, multicast-aware prioritization mechanism the reliable exchange of large data objects is enabled. The protocol is sufficiently general to be used on top of different communication standards such as 802.11- and cellular-based V2X (Vehicle-to-Everything) technologies. The protocol was implemented in an OMNeT++ simulation model and evaluated against recent state-of-the-art alternatives using parameters and constraints taken from a motivational truck platooning example. Furthermore, the protocol was implemented using an open-source DDS implementation as the basis and tested on a physical wireless demonstrator setup. The evaluation shows that the presented multicast protocol substantially outperforms the alternatives keeping streaming applications operational even under high frame error rates

On the effectiveness of W2RP in physical environments

Future V2X applications rely on the exchange of large sensor data samples and are subject to stringent safety and timing constraints. Due to the lossy nature of the wireless radio channel, data exchange of such larger samples has to be protected by a real-time capable reliability mechanism in order to recover from critical data loss in time. However, state-of-the-art V2X technologies so far are primarily designed for exchanging single packet data, which ignores the challenges of reliable transfer of larger data objects. The recently proposed DDSbased W2RP protocol, addresses such issues. Its effectiveness has been extensively tested and proven in an OMNeT++ simulation environment. In this work we developed a proof-of-concept implementation based on the open-source DDS implementation Fast DDS that can be used to validate the W2RP simulative results in a real-world environment. First experiments showed that the reliable exchange of large samples is possible by using W2RP

A middleware protocol for time-critical wireless communication of large data samples

We present a middleware-based protocol that reliably synchronizes large samples consisting of multiple frames efficiently and within application level QoS requirements over a lossy wireless channel. The protocol uses a custom retransmission scheme, exploiting the latency requirements on sample level for frame level scheduling. It can be integrated into the popular DDS middleware. We investigate some technical limits of such a protocol and compare it to existing error protocols in the software stack and in the wireless protocol and combinations thereof. The comparison is based on an Omnet++ simulation using an established wireless channel error model. For evaluation, we take a use case from automated valet parking where infrastructure data provided via a wireless link augments in-vehicle sensor data. The use case respects the related safety requirements. Results show that the application awareness of the presented protocol, significantly improves service availability by transmitting data efficiently in time even under higher frame error rates

A protocol for reliable real-time wireless communication of large data samples

In this paper, we present a middleware protocol, that transmits larger-than-a-frame data samples within application real-time and reliability requirements over a lossy wireless channel. The protocol efficiently deploys an intelligent retransmission control that exploits the extended deadline requirements of a sample for frame-level scheduling. The transmission of such samples is placed in the context of the necessary integration of such external sensor data into the decision-making process of an autonomous vehicle. Therefore, we provide parameterization and access rules for communication links in resource-managed scenarios and lay out how to integrate the protocol into the popular DDS middleware. The performance of the parameterized links to satisfy their reliability requirements is studied and compared to error protection protocols in the current software stack. We base the evaluation on an OMNeT++ simulation, whereby an established wireless error model is used. The use case is placed in the context of collaborative sensing in a valet parking environment, where external infrastructure sensor data augments the autonomous vehicle’s data processing chain via a lossy wireless link. Thereby, the use case adheres to the underlying safety requirements. Results show that if the protocol’s awareness of the application requirements is used for parameterization, guarantees for reliability can be provided that outperform existing solutions

A highly virulent variant of HIV-1 circulating in the Netherlands

We discovered a highly virulent variant of subtype-B HIV-1 in the Netherlands. One hundred nine individuals with this variant had a 0.54 to 0.74 log10 increase (i.e., a ~3.5-fold to 5.5-fold increase) in viral load compared with, and exhibited CD4 cell decline twice as fast as, 6604 individuals with other subtype-B strains. Without treatment, advanced HIV-CD4 cell counts below 350 cells per cubic millimeter, with long-term clinical consequences-is expected to be reached, on average, 9 months after diagnosis for individuals in their thirties with this variant. Age, sex, suspected mode of transmission, and place of birth for the aforementioned 109 individuals were typical for HIV-positive people in the Netherlands, which suggests that the increased virulence is attributable to the viral strain. Genetic sequence analysis suggests that this variant arose in the 1990s from de novo mutation, not recombination, with increased transmissibility and an unfamiliar molecular mechanism of virulence