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The worst-case response time (WCRT) – the time span from release to completion of a real-time task – is a crucial property of real-time systems. However, WCRT analysis is complex in practice, as it depends not only on the realistic examination of worst-case execution times (WCET), but also on system-level overheads and blocking/preemption times. While the implicit path enumeration technique (IPET)...
Due to voltage and structure shrinking, the influence of radiation on a circuit's operation increases, resulting in future hardware designs exhibiting much higher rates of soft errors. Software developers have to cope with these effects to ensure functional safety. However, software-based hardware fault tolerance is a holistic property that is tricky to achieve in practice, potentially impaired by...
Because of shrinking structure sizes and operating voltages, computing hardware exhibits an increasing susceptibility against transient hardware faults: Issues previously only known from avionics systems, such as bit flips caused by cosmic radiation, nowadays also affect automotive and other cost-sensitive “ground-level” control systems. For such cost-sensitive systems, many software-based measures...
Multi-core operating systems inherently face the problem of concurrent access to internal kernel state held in shared memory. Previous work on the Sloth real-time kernel proposed to offload the scheduling decisions to the interrupt hardware, thus removing the need for a software scheduler, no state has to be managed in software. While our existing design covers single-core platforms only, we now present...
State-machine replication has received widespread attention for the provisioning of highly available services in data centers. However, current production systems focus on tolerating crash faults only and prominent service outages caused by state corruptions have indicated that this is a risky strategy. In the future, state corruptions due to transient faults (such as bit flips) become even more likely,...
Developers of embedded (real-time) systems can choose from a variety of operating systems. While some embedded operating systems provide very flexible APIs, e.g., a POSIX-compliant interface for run-time management, others have a completely static structure, which is generated at compile time by utilizing detailed application knowledge. A prominent example for the latter class from the domain of automotive...
The goal of the SLOTH family of operating system kernels is to provide a unified priority space to the real-time applications. By automated mapping of tasks to interrupts, we eliminate rate-monotonic priority inversion and increase execution determinism. In its standard implementation, however, SLOTH has been criticized for being unsafe, since interrupt service routines are executed in supervisor...
Arithmetic error coding schemes (AN codes) are a well known and effective technique for soft error mitigation. Although coding theory being a rich area of mathematics, their implementation seems to be fairly easy. However, compliance with the theory can be lost easily while moving towards an actual implementation - finally jeopardizing the aspired fault-tolerance characteristics. In this paper, we...
Many years of research on dependable, fault-tolerant software systems yielded a myriad of tool implementations for vulnerability analysis and experimental validation of resilience measures. Trace recording and fault injection are among the core functionalities these tools provide for hardware debuggers or system simulators, partially including some means to automate larger experiment campaigns. We...
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