Goal of the Subproject C2 is the development of a self-optimizing RCOS/RTOS system, which adapts itself at run-time to dynamic changing requirements of self-optimizing applications. Thereby the system must full fill hard real-time and security constrains.
Selfoptimizing RTOS
First the fundamentals for a self-optimizing real-time communication- (RCOS) and operating system (RTOS) was developed. This includes the provision of a hardware- and software infrastructure for self-optimizing systems. Methods for the application of reconfigurable hardware were effectively used for the enhancement of efficiency and flexibility of parts of the RCOS/RTOS as well as for self-optimizing mechatronic agents. Furthermore feedback controllers were effective integrated in reconfigurable hardware.
After that, concepts and methods were developed to allow the RCOS/RTOS system to put unused resources of one computational node transparent to other applications disposal on other nodes. The thereby emerging dynamic real-time communication demand is handled by a network of connected reconfigurable hardware within embedded connected micro controllers. The self-optimizing RCOS reacts dynamically to real-time communication requirements and optimizes itself by changing the architecture, protocols and/or parameters especially on hardware level.
Prototypical realization of the re- configurable switch on the RAPTOR2000 system
Self-optimization includes the exchange of application components at run-time. In an RTOS every modification of the task set causes an enforcement of an acceptance test, which limits classically to the aspect of schedulability. This acceptance test was extended by an observer service. This service enhances the security and consistency of self-optimizing systems by applying model based verification techniques at run-time. These checks will be executed in a time-shared fashion and the application will be notified of detected possible errors in advance.
Reconfigurable Switch: Exchanging two separated network interfaces with an integrated switch
A current issue is the development of a virtualization platform for embedded self-optimizing mechatronic systems. In contrast to kernel based operating system concepts, the application of a virtualization platform allows a high flexibility, which is essential for self-optimizing embedded systems. All together the security and dependability of the overall system can be extensively enhanced by the application of a virtualization platform. Virtualization allows, additionally to the enhancement of security and dependability, the support for heterogeneous operating system environments, to cope with concurrent requirements of high-level APIs for the application developments, real-time constrains and the support of legacy software.
The communication infrastructure, which forms the basis of the RCOS/RTOS system, is currently improved by powerful, wireless components. The virtualization of communication resources for wireless communication under mentioned security and real-time constrains are in focus. The approach uses a combination of different wireless technologies as WLAN, Bluetooth or ZigBee. A network abstraction layer selects automatically, depending on the application requirements, the suitable technology concerning the available bandwidth and latency. As and when required, the networked notes build a (mobile) ad-hoc network, which organises itself in a self-optimizing manner. Beside the development of a layer 3 routing protocol, the hardware implementation of the wireless solution is carried out in a combined (multi-)processor FPGA environment.
The observer service, based on model based verification, is currently extended and improved. The service is accelerated, in such a way, that it is enabled to be more efficient and reaches a higher coverage. As the real-time application and the observer service is executed interlocked, the application can over take the verification. In such a case, additional security actions are taken, which cases the verification to catch up. Another focus is the expansion of the service to hybrid systems, as now only discrete models are supported. A special the continues part, e. g. continues feedback controler, will be integrated in the model based run-time verification.
To detect additional potential errors (incl. transient and sporadic ones), which can be caused by hardware failure or creation of new operation modes by the self-optimizing process, a framework is developed. This framework supports abilities of self-healing of the application and RCOS/RTOS system. It will be built on the base of signatures, which codes system behavior, intrusion detection systems and artificial immune systems.
Coordinator of the Subproject:
Publications (since 6/2005)
Reviewed Publications
Dittmann, F.; Frank, S.; Oberthür, S.: Algorithmic Skeletons for the Design of Partially Reconfigurable Systems. In: Proceedings of 15th Reconfigurable Architectures Workshop - RAW 2008, Miami, Florida, USA, 2008
Dittmann, F.; Götz, M.: Applying Single Processor Algorithms to Schedule Tasks on Reconfigurable Devices Respecting Reconfiguration Times. In: Proceedings of the 13th Reconfigurable Architectures Workshop (RAW 2006), Rhodes Island, Greece, 2006
Dittmann, F.; Götz, M.: Reconfiguration Time Aware Processing on FPGAs. In: In Proceedings of the Dagstuhl Seminar No 06141 on Dynamically Reconfigurable Architectures, Dagstuhl, Germany, 2006
Danne, K.; Platzner, M.: A Heuristic Approach to Schedule Periodic Real-Time Tasks on Reconfigurable Hardware. In: Proceedings of the International Conference on Field Programmable Logic and Applications (FPL05), Piscateway, NJ: IEEE, Tampere, Finland, 2005
Danne, K.; Platzner, M.: An EDF Schedulability Test for Periodic Tasks on Reconfigurable Hardware Devices. In: In Proceedings of LCTES 2006, Ottawa, 2006
Du, J. L.; Witkowski, U.; Rückert, U.: A Bluetooth Scatternet for the Khepera Robot. In: The 4th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2007), Buenos Aires, Argentina, 2007, pp. 189-195
Götz, M.; Dittmann, F.: Reconfigurable Microkernel-based RTOS: Mechanisms and Methods for Run-Time Reconfiguration. In: Proceedings of the 3rd International Conference on ReConFigurable Computing and FPGAs 2006 (ReConFig'06), 2006, pp. 12-19
Götz, M.; Dittmann, F.: Scheduling Reconfiguration Activities of Run-time Reconfigurable RTOS Using an Aperiodic Task Server. In: Proceedings of the ARC 2006, March 1 - 3, Delft, The Netherlands, 2006
Götz, M.; Dittmann, F.; Pereira, C. E.: Deterministic Mechanism for Run-Time Reconfiguration Activities in an RTOS. In: Proceedings of the 4th International IEEE Conference on Industrial Informatics (INDIN 2006), Singpore, 2006
Götz, M.; Dittmann, F.; Xie, T.: Dynamic Relocation of Hybrid Tasks: A Complete Design Flow. In: Proceedings of Reconfigurable Communication-centric SoCs (ReCoSoc'07), Montpellier, France, 2007
Giese, H.; Montealegre, N.; Müller, T.; Oberthür, S.; Schulz, B.: Acute stress response for self-optimizing mechatronic systems. In: IFIP Conference on Biologically Inspired Cooperative Computing, August 21 - 24, 2006
Griese, B.; Oberthür, S.; Porrmann, M.: Component case study of a self-optimizing RCOS/RTOS system: A reconfigurable network service. In: Proceedings of International Embedded Systems Symposium - IESS, Manaos, Brazil, 2005, pp. 267-277
Griese, B.; Porrmann, M.: A Reconfigurable Ethernet Switch for Self-Optimizing Communication Systems. In: Proceedings of the IFIP International Conference on Biologically Inspired Cooperative Computing (BICC 2006), Santiago, Chile, 2006, pp. 115-125
Götz, M.; Rettberg, A.; Pereira, C. E.: A Run-time Partitioning Algorithm for RTOS on Reconfigurable Hardware. In: Embedded and Ubiquitous Computing (EUC), December 6-9, 2005
Götz, M.; Rettberg, A.; Pereira, C. E.: Towards Run-time Partitioning of a Real Time Operating System for Reconfigurable Systems on Chip. In: Proceedings of International Embedded Systems Symposium - IESS, August 15 - 17, Manaus, Brazil, 2005
Götz, M.; Rettberg, A.; Pereira, C. E.: Communication-aware Component Allocation Algorithm. In: Proceedings of the 5th IFIP Working Conference on Distributed and Parallel Embedded Systems, October 11 - 13, Braga, Portugal, 2006
Götz, M.; Rettberg, A.; Pereira, C. E.: Run-Time Reconfigurable Real-Time Operting System For Hybrid Execution Platforms. In: Proceedings of the 12th IFAC Symposium on Information Control Problems in Manufacturing, Saint-Etienne, France, 2006
Heimfarth, T.; Janacik, P.: Ant-based Heuristic for OS Service Distribution on Ad Hoc Networks. In: Proceedings of the IFIP Conference on Biologically Inspired Cooperative Computing (BICC 2006), Santiago, Chile, 2006
Heimfarth, T.; Janacik, P.: Experiments with Biologically-Inspired Methods for Service Assignment in Wireless Sensor Networks. In: Proceedings of the 2nd IFIP Conference on Biologically Inspired Collaborative Computing (BICC 2008), Milan, Italy, 2008
Heimfarth, T.; Janacik, P.; Rammig, F. J.: Self-Organizing Resource-Aware Clustering for Ad Hoc Networks. In: Proceedings of the 5th IFIP Workshop on Software Technologies for Future Embedded & Ubiquitous Systems (SEUS 2007), Santorini Island, Greece, 2007
Hojenski, K.; Oberthür, S.: Towards Self-Optimizing Distributed Resource Management. In: Selbstorganisierende, Adaptive, Kontextsensitive verteilte Systeme (SAKS 06), Kassel, Germany, 2006
Ihmor, S.; Hardt, W.: Runtime Reconfigurable Interfaces - The RTR-IFB Approach. International Journal of Embedded Systems (IJES), Inderscience Publisher, Issue 5/6, 2005
Janacik, P.; Heimfarth, T.: Cross-layer Architecture of a Distributed OS for Ad Hoc Networks. In: Proceedings of the International Conference on Autonomic an Autonomous Systems (ICAS 2006), Silicon Valley, USA, 2006
Janacik, P.; Heimfarth, T.: Emergent Distribution of Operating System Services in Wireless Ad Hoc Networks. In: Proceedings of the IFIP Conference on Biologically Inspired Cooperative Computing (BICC 2006), Santiago, Chile, 2006
Janacik, P.; Heimfarth, T.; Rammig, F. J.: Emergent Topology Control Based on Division of Labour in Ants. In: Proceedings of the IEEE 20th International Conference on Advanced Information Networking and Applications (AINA 2006), Vienna, Austria, 2006
Jahnich, I.; Rettberg, A.: Towards Dynamic Load Balancing for Distributed Embedded Automotive Systems. In: Proceedings of the IFIP Sympsoium: Embedded System Design: Topics Techniques and Trends, Irvine, DA, USA, 2007
Kerstan, T.; Oberthür, S.: A Configurable Hybrid Kernel for Embedded Real-time Systems. In: Rettberg, A.: Proceedings of the International Embedded Systems Symposium, Springer-Verlag, 2007
Lessmann, J.; Heimfarth, T.; Janacik, P.: ShoX: An Easy to Use Simulation Platform for Wireless Networks. In: Proceedings of The 10th International Conference on Computer Modelling & Simulation, Cambridge, England, 2008
Lessmann, J.; Janacik, P.; Lachev, L.; Orfanus, D.: Comparative Study of Wireless Network Simulators. In: Proceedings of The Seventh International Conference on Networking (ICN), Cancun, Mexico, 2008
Lichte, H. S.; Oberthür, S.: Schedulability Criteria and Analysis for Dynamic and Flexible Resource Management. Electron. Notes Theor. Comput. Sci., 200, 2008, pp. 3-19
Oberthür, S.; Böke, C.; Griese, B.: Dynamic Online Reconfiguration for Customizable and Self-Optimizing Operating Systems. In: Proceedings of the 5th ACM international conference on Embedded software (EMSOFT'2005), 2005, pp. 335-338
Oberthür, S.; Znamenshchykov, A.; Klöpper, B.; Vöcking, H.: Improved Flexible Resource Management by Means of Look-Ahead Scheduling and Bayesian Forecasting. Self-optimizing Mechatronic Systems: Design the Future, Paderborn, 2008, pp. 361-376
Rammig, F. J.; Dangelmaier, W.; Karl, H.; Mertsching, B.; Meyer Auf Der Heide, F.; Trächtler, A.: Self-Coordinating Systems: The Next Challenge in Research on Distributed Systems. Proceedings of the 6th International Heinz Nixdorf Symposium, HNI Verlagsschriftenreihe, Paderborn, 2006
Rammig, F. J.; Götz, M.; Heimfarth, T.; Janacik, P.; Oberthür, S.: Real-time Operating Systems for Self-coordinating Embedded Systems. In: Proceedings of the 9th IEEE International Symposium on Object and component-oriented Real-time distributed Computing (ISORC 2006), Gyeongju, Korea, 2006
Tichy, M.; Henkler, S.; Holtmann, J.; Oberthür, S.: Component Story Diagrams: A Transformation Language for Component Structures. In: Postproc. of the 4th Workshop on Object-oriented Modeling of Embedded Real-Time Systems (OMER 4), Paderborn, Germany, 2008
Witkowski, U.; El-habbal, M.; Herbrechtsmeier, S.; Tanoto, A.; Penders, J.; Alboul, L.; Gazi, V.: Ad-hoc network communication infrastructure for multi-robot systems in disaster scenarios. In: IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, January 2008, Spain, 2008
Witkowski, U.; Herbrechtsmeier, S.; El-habbal, M.; Rückert, U.: Powerful Miniature Robot For Research And Education. In: The 5th International Conference on Computational Intelligence, Robotics and Autonomous System (CIRAS 2008), 19 - 21June 2008, Linz, Austria, 2008
Witkowski, U.; Wilhelm, P.; Parketny, T.: Einsatz von Low-Power Netzwerken zum Monitoring leistungsdiagnostischer Daten im Teamsport. In: Wireless Technologies Kongress 2008, September 2008, Bochum, 2008
Xu, F.; Grünewald, M.; Rückert, U.: A Low Complexity Directional Scheme for Mobile Ad Hoc Networks. In: Proceedings of the 16th IEEE International Symposium on Personal Indoor and Mobile Radio Communications, Berlin, Germany, 2005
Xu, F.; Rückert, U.: Neighborhood Discovery and MAC Protocol for MANETs using a Low Complexity Directional Scheme. In: Proceedings of World Mobile Congress (WMC 2006), Beijing, China, 11-13. Sep., 2006
Xu, F.; Rückert, U.: Neighborhood Discovery and MAC Protocol for MANETs using the Multiple-directional-antennas Scheme. In: Proceedings of VDE Kongress - ITG Fachtagung "Mobility", Aachen, Germany, 23.-25. Oct., 2006
Xu, F.; Rückert, U.: Interference Suppression Technique for Diversity selection Combining in an Indoor Environment. In: 2nd International ITG Conference on Antennas (INICA 2007), Munich, Germany. 28-30, March, 2007
Xu, F.; Rückert, U.: SSB: A New Diversity Selection Combining Scheme and Its test-bed Implementation. In: 14th IEEE International Conference on Telecommunications (ICT 2007), Penang, Malaysia. 14-17, May, 2007
Zhao, Y.; Kardos, M.; Oberthür, S.; Rammig, F. J.: Comprehensive Verification Framework for Dependability of Self-optimizing Systems. In: the proceedings of the Third International Symposium on Automated Technology for Verification and Analysis (ATVA 2005), Taipei, Taiwan, 2005
Zhao, Y.; Oberthür, S.; Kardos, M.; Rammig, F.-j.: Model-based Runtime Verification Framework for Self-optimizing Systems. Electr. Notes Theor. Comput. Sci., 144, 2006, pp. 125-145
Zhao, Y.; Oberthür, S.; Montealegre, N.; Rammig, F. J.; Kardos, M.: Increasing Dependability by Means of Model-based Acceptance Test inside RTOS. In: the proceedings of the Sixth International Conference on Parallel Processing and Applied Mathematics (PPAM'2005), Poznanm, Poland, 2005
Zhao, Y.; Oberthür, S.; Rammig, F.: Runtime Model Checking for Safety and Consistency of Self-optimizing Mechatronic Systems. Proceedings of the 7th International Heinz Nixdorf Symposium: Self-optimzing Mechatronic Systems, Paderborn, Germany, 2008
Ph.D.-Theses
Griese, B.: Adaptive Echtzeitkommunikationsnetze. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, 2008
Götz, M.: Run-time Reconfigurable RTOS for Reconfigurable Systems-on-Chip. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, 2007
Heimfarth, T.: Biologically Inspired Management of Distributed Services for Wireless Sensor Networks. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, 2008
Ihmor, S.: Modeling and Automated Synthesis of Reconfugurable Interfaces. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, 2006
Xu, F.: Resource-Efficient Multi-Antenna Designs for Mobile Ad Hoc Networks. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, 2008
