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{"Abstract":["Distributed Systems are commonly built using a set of standard assumptions: we assume that message delays are unbounded, that any packet can be lost in the network, and that clocks cannot be closely synchronized. On the one hand, these conservative assumptions result in robust systems that can operate reliably in a wide variety of conditions. On the other hand, they also force the system to do a lot of complex ad-hoc coordination and thus limit the performance it can achieve. \r\nIn this paper, we take a look at what lies beyond this standard model. We observe that, on modern hardware in a single-tenant data center, distributed systems are able to closely coordinate and essentially "run like clockwork" with very little effort. If we are willing to additionally rule out some worst-case failure scenarios, this results in a large performance improvement, both in practice and even in theory. We demonstrate this effect using state-machine replication (SMR) as a case study: our SMR protocol, Watchmaker, exceeds the throughput of state-of-the-art algorithms by two orders of magnitude, and it requires only half as many replicas to tolerate the same number of faults."]} 

As multicore hardware becomes increasingly prevalent in real-time embedded systems, traditional scheduling techniques that assume a single worst-case execution time for each task are no longer adequate, as they fail to account for the impact of shared resources—such as cache and memory bandwidth—on execution time. When tasks execute concurrently on different cores, their execution times can vary substantially with their allocated resources. Moreover, the instruction rate of a task during a job execution varies with time, and this variation pattern differs across tasks. Therefore, to improve performance it is crucial to incorporate the relationship between the resource budget allocated to each task and its time-varying instruction rate in task modeling, resource allocation, and scheduling algorithm design. Yet, no prior work has considered the fine-grained dynamic resource allocation and scheduling problems jointly while also providing hard real-time guarantees. In this article, we introduce a resource-dependent multi-phase timing model that captures the time-varying instruction rates of a task under different resource allocations and that enables worst-case analysis under dynamic allocation. We present a method for constructing estimates of such a model based on task execution profiles, which can be obtained through measurements. We then presentRasco, a co-design technique for multicore resource allocation and scheduling of real-time DAG applications with end-to-end deadlines.Rascoleverages the resource-dependent multi-phase model of each task to simultaneously allocate resources at a fine granularityandassign task deadlines. This approach maximizes execution progress under resource constraints while providing hard real-time schedulability guarantees. Our evaluation shows thatRascosubstantially enhances schedulability and reduces end-to-end latency compared to the state of the art. 

Byzantine Fault Tolerance (BFT) is a classic technique for defending distributed systems against a wide range of faults and attacks. However, existing solutions are designed for systems where nodes can interact only by exchanging messages. They are not directly applicable to systems where nodes have sensors and actuators and can also interact in the physical world – perhaps by blocking each other’s path or by crashing into each other. In this paper, we take a first stab at extending BFT to this larger class of systems. We focus on multi-robot systems (MRS), an emerging technology that is increasingly being deployed for applications such as target tracking, warehouse logistics, and exploration. An MRS can consist of dozens of interacting robots and is thus a bona-fide distributed system. The classic masking guarantee is not practical in a MRS, but we propose a variant called bounded-time interaction that can be implemented, and we present an algorithm that achieves it, in combination with a few small hardware tweaks. We built a simulator and prototyped wheeled robots to show that our algorithm is effective, and that it has a reasonable overhead. 

Aerial vehicles with dozens of rotors are becoming increasingly common in important applications such as transportation and construction. One challenge with building such a system is to ensure that the system is robust against faults: as the number of rotors increases, the likelihood of a rotor failing during operation also increases; despite the spare thrust capacity provided by the redundant rotors, a rotor fault can significantly impact the motion and safety of the system. This paper presents an efficient fault detection and isolation (FDI) method for aerial vehicles with a large number of rotors. Our approach relies on two key insights: First, the effect of a faulty rotor directly affects the tracking error in roll and in pitch. This property can be used to order our faulty rotor search space. Second, the error in either roll or pitch is related to both the distance from the (relevant) axis and the severity of a fault. With these observations, we can use probe faults to isolate faulty rotors. Evaluation results show that our technique can efficiently detect and isolate faults in multi-rotor aerial vehicles with up to 64 rotors (8 more rotors than in existing FDI work), and that it can help improve robustness. To the best of our knowledge, our FDI method is the first that scales to several dozens of rotors. 

To design performant, expressive, and reliable cyber-physical systems (CPSs), researchers extensively perform quasi-static scheduling for concurrent models of computation (MoCs) on multi-core hardware. However, these quasi-static scheduling approaches are developed independently for their corresponding MoCs, despite commonality in the approaches. To help generalize the use of quasi-static scheduling to new and emerging MoCs, this article proposes aunifiedapproach for a class of deterministic timed concurrent models (DTCMs), including prominent models such as synchronous dataflow (SDF), Boolean-controlled dataflow (BDF), scenario-aware dataflow (SADF), and Logical Execution Time (LET). In contrast to scheduling techniques tailored exclusively to specific MoCs, our unified approach leverages a commonintermediateformalism called state space finite automata (SSFA), bridging the gap between high-level MoCs and executable schedules. Once identified as DTCMs, new MoCs can directly adopt SSFA-based scheduling, significantly easing adoption. We show that quasi-static schedules facilitated by SSFA are provably free from timing anomalies and enable straightforward worst-case makespan analysis. We demonstrate the approach using the reactor model—an emerging discrete-event MoC—programmed using the Lingua Franca (LF) language. Experiments show that quasi-statically scheduledLFprograms exhibit lower runtime overhead compared to the dynamically scheduledLFprograms, and that the analyzable worst-case makespans enable compile-time deadline checking. 

In contemporary database applications, the demand for memory resources is intensively high. To enhance adaptability to varying resource needs and improve cost efficiency, the integration of diverse storage technologies within heterogeneous memory architectures emerges as a promising solution. Despite the potential advantages, there exists a significant gap in research related to the security of data within these complex systems. This paper endeavors to fill this void by exploring the intricacies and challenges of ensuring data security in object-oriented heterogeneous memory systems. We introduce the concept of Unified Encrypted Memory (UEM) management, a novel approach that provides unified object references essential for data management platforms, while simultaneously concealing the complexities of physical scheduling from developers. At the heart of UEM lies the seamless and efficient integration of data encryption techniques, which are designed to ensure data integrity and guarantee the freshness of data upon access. Our research meticulously examines the security deficiencies present in existing heterogeneous memory system designs. By advancing centralized security enforcement strategies, we aim to achieve efficient object-centric data protection. Through extensive evaluations conducted across a variety of memory configurations and tasks, our findings highlight the effectiveness of UEM. The security features of UEM introduce low and acceptable overheads, and UEM outperforms conventional security measures in terms of speed and space efficiency.