Autonomous multicopters often feature federated architectures, which incur relatively high communication costs between separate hardware components. These costs limit the ability to react quickly to new mission objectives. Additionally, federated architectures are not easily upgraded without introducing new hardware that impacts size, weight, power and cost (SWaP-C) constraints. In turn, such constraints restrict the use of redundant hardware to handle faults. In response to these challenges, we propose FlyOS, an Integrated Modular Avionics (IMA) approach to consolidate mixed-criticality flight functions in software on heterogeneous multicore aerial platforms. FlyOS is based on a separation kernel that statically partitions resources among virtualized sandboxed OSes. We present a dual-sandbox prototype configuration, where timing-and safety-critical flight control tasks execute in a real-time OS alongside mission-critical vision-based navigation tasks in a Linux sandbox. Low latency shared memory communication allows flight commands and data to be relayed in real-time between sandboxes. A hypervisor-based fault-tolerance mechanism is also deployed to ensure failover flight control in case of critical function or timing failures. We validate FlyOS’s performance and showcase its benefits when compared against traditional architectures in terms of predictable, extensible and efficient flight control.
more »
« less
Deterministic Memory Abstraction and Supporting Multicore System Architecture
Poor time predictability of multicore processors has been a long-standing challenge in the real-time systems community. In this paper, we make a case that a fundamental problem that prevents efficient and predictable real-time computing on multicore is the lack of a proper memory abstraction to express memory criticality, which cuts across various layers of the system: the application, OS, and hardware. We, therefore, propose a new holistic resource management approach driven by a new memory abstraction, which we call Deterministic Memory. The key characteristic of deterministic memory is that the platform-the OS and hardware-guarantees small and tightly bounded worst-case memory access timing. In contrast, we call the conventional memory abstraction as best-effort memory in which only highly pessimistic worst-case bounds can be achieved. We propose to utilize both abstractions to achieve high time predictability but without significantly sacrificing performance. We present deterministic memory-aware OS and architecture designs, including OS-level page allocator, hardware-level cache, and DRAM controller designs. We implement the proposed OS and architecture extensions on Linux and gem5 simulator. Our evaluation results, using a set of synthetic and real-world benchmarks, demonstrate the feasibility and effectiveness of our approach.
more »
« less
- Award ID(s):
- 1718880
- NSF-PAR ID:
- 10097434
- Date Published:
- Journal Name:
- Leibniz international proceedings in informatics
- Volume:
- 106
- ISSN:
- 1868-8969
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
In this paper, we present RT-Gang: a novel realtime gang scheduling framework that enforces a one-gang-at-atime policy. We find that, in a multicore platform, co-scheduling multiple parallel real-time tasks would require highly pessimistic worst-case execution time (WCET) and schedulability analysis—even when there are enough cores—due to contention in shared hardware resources such as cache and DRAM controller. In RT-Gang, all threads of a parallel real-time task form a real-time gang and the scheduler globally enforces the one-gangat-a-time scheduling policy to guarantee tight and accurate task WCET. To minimize under-utilization, we integrate a state-of-the-art memory bandwidth throttling framework to allow safe execution of best-effort tasks. Specifically, any idle cores, if exist, are used to schedule best-effort tasks but their maximum memory bandwidth usages are strictly throttled to tightly bound interference to real-time gang tasks. We implement RT-Gang in the Linux kernel and evaluate it on two representative embedded multicore platforms using both synthetic and real-world DNN workloads. The results show that RT-Gang dramatically improves system predictability and the overhead is negligible.more » « less
-
As network, I/O, accelerator, and NVM devices capable of a million operations per second make their way into data centers, the software stack managing such devices has been shifting from implementations within the operating system kernel to more specialized kernel-bypass approaches. While the in-kernel approach guarantees safety and provides resource multiplexing, it imposes too much overhead on microsecond-scale tasks. Kernel-bypass approaches improve throughput substantially but sacrifice safety and complicate resource management: if applications are mutually distrusting, then either each application must have exclusive access to its own device or else the device itself must implement resource management. This paper shows how to attain both safety and performance via intra-process isolation for data plane libraries. We propose protected libraries as a new OS abstraction which provides separate user-level protection domains for different services (e.g., network and in-memory database), with performance approaching that of unprotected kernel bypass. We also show how this new feature can be utilized to enable sharing of data plane libraries across distrusting applications. Our proposed solution uses Intel's memory protection keys (PKU) in a safe way to change the permissions associated with subsets of a single address space. In addition, it uses hardware watch-points to delay asynchronous event delivery and to guarantee independent failure of applications sharing a protected library. We show that our approach can efficiently protect high-throughput in-memory databases and user-space network stacks. Our implementation allows up to 2.3 million library entrances per second per core, outperforming both kernellevel protection and two alternative implementations that use system calls and Intel's VMFUNC switching of user-level address spaces, respectively.more » « less
-
In this paper we investigate the feasibility of denialof-service (DoS) attacks on shared caches in multicore platforms. With carefully engineered attacker tasks, we are able to cause more than 300X execution time increases on a victim task running on a dedicated core on a popular embedded multicore platform, regardless of whether we partition its shared cache or not. Based on careful experimentation on real and simulated multicore platforms, we identify an internal hardware structure of a nonblocking cache, namely the cache writeback buffer, as a potential target of shared cache DoS attacks. We propose an OS-level solution to prevent such DoS attacks by extending a state-of-the-art memory bandwidth regulation mechanism. We implement the proposed mechanism in Linux on a real multicore platform and show its effectiveness in protecting against cache DoS attacks.more » « less
-
The pin count largely determines the cost of a chip package, which is often comparable to the cost of a die. In 3D processor-memory designs, power and ground (P/G) pins can account for the majority of the pins. This is because packages include separate pins for the disjoint processor and memory power delivery networks (PDNs). Supporting separate PDNs and P/G pins for processor and memory is inefficient, as each set has to be provisioned for the worst-case power delivery requirements. In this paper, we propose to reduce the number of P/G pins of both processor and memory in a 3D design, and dynamically and opportunistically divert some power between the two PDNs on demand. To perform the power transfer, we use a small bidirectional on-chip voltage regulator that connects the two PDNs. Our concept, called Snatch, is effective. It allows the computer to execute code sections with high processor or memory power requirements without having to throttle performance. We evaluate Snatch with simulations of an 8-core multicore stacked with two memory dies. In a set of compute-intensive codes, the processor snatches memory power for 30% of the time on average, speeding-up the codes by up to 23% over advanced turbo-boosting; in memory-intensive codes, the memory snatches processor power. Alternatively, Snatch can reduce the package cost by about 30%.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.4230/LIPIcs.ECRTS.2018.1
