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State machine replication (SMR) is a core mechanism for building highly available and consistent systems. In this paper, we propose Waverunner, a new approach to accelerate SMR using FPGA-based SmartNICs. Our approach does not implement the entire SMR system in hardware; instead, it is a hybrid software/hardware system. We make the observation that, despite the complexity of SMR, the most common routine—the data replication—is actually simple. The complex parts (leader election, failure recovery, etc.) are rarely used in modern datacenters where failures are only occasional. These complex routines are not performance critical; their software implementations are fast enough and do not need acceleration. Therefore, our system uses FPGA assistance to accelerate data replication, and leaves the rest to the traditional software implementation of SMR. Our Waverunner approach is beneficial in both the common and the rare case situations. In the common case, the system runs at the speed of the network, with a 99th percentile latency of 1.8 µs achieved without batching on minimum-size packets at network line rate (85.5 Gbps in our evaluation). In rare cases, to handle uncommon situations such as leader failure and failure recovery, the system uses traditional software to guarantee correctness, which is much easier to develop and maintain than hardware-based implementations. Overall, our experience confirms Waverunner as an effective and practical solution for hardware accelerated SMR—achieving most of the benefits of hardware acceleration with minimum added complexity and implementation effort. 

This paper discusses asynchronous distributed inference in object tracking. Unlike many studies, which assume that the delay in communication between partial estimators and the central station is negligible, our study focuses on the problem of asynchronous distributed inference in the presence of delays. We introduce an efficient data fusion method for combining the distributed estimates, where delay in communications is not negligible. To overcome the delay, predictions are made for the state of the system based on the most current available information from partial estimators. Simulation results show the efficacy of the methods proposed. 

We consider a network of distributed underwater sensors whose task is to monitor the movement of objects across an area. The sensors measure the strength of signals emanated by the objects and convey the measurements to the local fusion centers. Multiple fusion centers are deployed to cover an arbitrarily large area. The fusion centers communicate with each other to achieve consensus on the estimated locations of the moving objects. We introduce two efficient methods for data fusion of distributed partial estimates when delay in communication is not negligible. We concentrate on the minimum mean squared error (MMSE) global estimator, and evaluate the performance of these fusion methods in the context of multiple-object tracking via extended Kalman filtering. Numerical results show the superior performance compared to the case when delay is ignored.