{"title":"PttAcc: Pipeline-Based Taylor Expansion Fitting Arctangent Angle Hardware Accelerator Design for Descriptor Duty in ORB-SLAM System","authors":"Meng Liu;Fei Xiao;Ruijie Wang;Peiyuan Wan;Zhijie Chen;Dejian Li;Chongfei Shen","doi":"10.1109/LES.2024.3472731","DOIUrl":"https://doi.org/10.1109/LES.2024.3472731","url":null,"abstract":"In simultaneous localization and mapping (SLAM), the oriented FAST and rotated BRIEF (ORB) algorithm is key for feature detection and description, but its computational demands, particularly in arctangent angle computation, hinder real-time use on embedded systems. To solve this, we introduce PttAcc, a hardware accelerator using pipeline architecture and the Taylor expansion fitting algorithm. Our simulations show PttAcc significantly accelerates arctangent computation while maintaining accuracy, reducing total area by 82.56% and power consumption by 63.49% compared to coordinate rotation digital computer (CORDIC) components. It achieves a performance acceleration ratio of 15.8 and speeds up descriptor tasks by up to 4.3 times.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"17 2","pages":"75-78"},"PeriodicalIF":1.7,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143845583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A Provably Secure Scheme to Prevent Master Key Recovery by Fault Attack on AES Hardware","authors":"Sneha Swaroopa;Sivappriya Manivannan;Rajat Subhra Chakraborty;Indrajit Chakrabarti","doi":"10.1109/LES.2024.3472673","DOIUrl":"https://doi.org/10.1109/LES.2024.3472673","url":null,"abstract":"We explore a relatively lightweight scheme to prevent key recovery by fault attacks on the advanced encryption standard (AES) cipher. We employ a transformed key (derived from the original key through a nonlinear and possibly one-way mapping) for AES encryption hardware. The mapping combines processing using a pseudorandom bitstream generator (the keystream generator of the Grain-128a stream cipher), followed by a self-shrinking generator (SSG). We provide formal proof of security of the scheme, based on the assumed difficulty of inverting the output of the proposed key transformer. The design of the key transformer ensures that it is itself resistant to fault-attack. Our scheme requires a 96-bit secret initial value (IV), a one-time initial latency (approximately 256 clock cycles for a 128-bit key) of generating the transformed key, and a key transformation layer. However, the core AES hardware is left unchanged. We present hardware platform-based experimental results for an FPGA implementation, which incurs less hardware overhead than previously proposed fault attack prevention/detection schemes.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"16 4","pages":"521-524"},"PeriodicalIF":1.7,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142777518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Navigating Time and Energy Tradeoffs in Reactive Heterogeneous Systems","authors":"Shaokai Lin;Tassilo Tanneberger;Jiahong Bi;Guangyu Feng;Yimo Xu;Julian Robledo;Robert Khasanov;Jeronimo Castrillon","doi":"10.1109/LES.2024.3469278","DOIUrl":"https://doi.org/10.1109/LES.2024.3469278","url":null,"abstract":"Reactive software poses challenging requirements: deterministic execution with stringent timing constraints under a tight energy budget. Meeting these requirements is particularly hard when executing on the increasingly heterogeneous platforms of today. In this letter, we integrate Mocasin, a design space exploration tool, into Lingua Franca, a programming framework for building deterministic and timed reactive software. We show that this integration enables choosing a desired timing and energy performance at design time. We demonstrate our approach in satellite attitude control, consisting of periodic real-time tasks and sporadic non-real-time tasks. The latter sporadic tasks are coordinated using quasi-static schedules, computed by Mocasin, leading to less energy consumption compared to the Linux scheduler under CPU frequency scaling governors, such as <monospace>powersave</monospace>, <monospace>schedutil</monospace>, and <monospace>ondemand</monospace>.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"17 2","pages":"103-106"},"PeriodicalIF":1.7,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143845519","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Francesco Paladino;Erling Jellum;Efsane Soyer;Edward A. Lee
{"title":"Layered Scheduling: Toward Better Real-Time Lingua Franca","authors":"Francesco Paladino;Erling Jellum;Efsane Soyer;Edward A. Lee","doi":"10.1109/LES.2024.3467992","DOIUrl":"https://doi.org/10.1109/LES.2024.3467992","url":null,"abstract":"Lingua Franca (LF) is a programming paradigm that eases the development of distributed cyber-physical systems and ensures determinism. These systems are subject to stringent timing constraints, generally expressed as task deadlines, and meeting them requires real-time scheduling. This letter presents a layered scheduling strategy for LF for enhanced real-time performance that builds upon any priority-based operating system thread scheduler. The application designers need to specify only the application-specific deadlines, and the LF runtime automatically converts them into appropriate priority values for the OS scheduler to obtain earliest deadline first scheduling.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"17 2","pages":"127-130"},"PeriodicalIF":1.7,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10697337","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143845411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Benjamin Asch;Erling Jellum;Marten Lohstroh;Edward A. Lee
{"title":"Software-Defined Watchdog Timers for Cyber-Physical Systems","authors":"Benjamin Asch;Erling Jellum;Marten Lohstroh;Edward A. Lee","doi":"10.1109/LES.2024.3467332","DOIUrl":"https://doi.org/10.1109/LES.2024.3467332","url":null,"abstract":"This letter introduces software-defined watchdogs, a programming model for handling faults that manifest as delayed or missing signals. The programming model is implemented as an extension to the polyglot coordination language L<sc>ingua</small> F<sc>ranca</small>, where it acts as an eager deadline for delayed inputs. The technique is compared against hardware-defined watchdogs and software watchdogs in other reactive languages.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"17 2","pages":"115-118"},"PeriodicalIF":1.7,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10693560","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143845512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"GNN-MiCS: Graph Neural-Network-Based Bounding Time in Embedded Mixed-Criticality Systems","authors":"Behnaz Ranjbar;Paul Justen;Akash Kumar","doi":"10.1109/LES.2024.3466268","DOIUrl":"https://doi.org/10.1109/LES.2024.3466268","url":null,"abstract":"In mixed-criticality (MC) systems, each task has multiple WCETs for different operation modes. Determining WCETs for low-criticality modes (LO modes) is challenging. A lower WCET improves processor utilization, but a longer one reduces mode switches, maintaining smooth task execution even with low utilization. Most research focuses on WCETs for the highest-criticality mode, with fewer solutions for LO modes in graph-based applications. This letter proposes GNN-MiCS, a machine learning and graph neural networks (GNNs) scheme to determine WCETs for directed acyclic graph applications in LO modes. GNN-MiCS generates test sets and computes proper WCETs based on the application graph to enhance system timing behavior. Experiments show our approach improves MC system utilization by up to 45.85% and 22.45% on average while maintaining a reasonable number of mode switches in the worst-case scenario.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"17 2","pages":"107-110"},"PeriodicalIF":1.7,"publicationDate":"2024-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143845581","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Phu Khanh Huynh;Ilknur Mustafazade;Francky Catthoor;Nagarajan Kandasamy;Anup Das
{"title":"A Scalable Dynamic Segmented Bus Interconnect for Neuromorphic Architectures","authors":"Phu Khanh Huynh;Ilknur Mustafazade;Francky Catthoor;Nagarajan Kandasamy;Anup Das","doi":"10.1109/LES.2024.3452551","DOIUrl":"https://doi.org/10.1109/LES.2024.3452551","url":null,"abstract":"Large-scale neuromorphic architectures consist of computing tiles that communicate spikes using a shared interconnect. We propose ADIONA, a dynamic segmented bus interconnect to address design scalability while reducing energy and latency of spike traffic. ADIONA consists of parallel bus lanes arranged in a ladder-shaped structure that allows any tile to connect to another, offers multiple routing options for communication links, and provides a high level of customization for different mapping scenarios and use cases. Each lane in the ladder bus is partitioned into segments using lightweight bufferless switches. Based on compile-time communication information, these switches can be dynamically reconfigured at runtime to execute the target application. Our dynamic segmented bus interconnect substantially enhances hardware utilization, improves fault tolerance, and offers adaptability to execute different applications on a single hardware platform. We evaluate ADIONA using three synthetic and three realistic machine learning workloads on a cycle-accurate neuromorphic simulator. Our results show that ADIONA reduces energy consumption by \u0000<inline-formula> <tex-math>$2.1times $ </tex-math></inline-formula>\u0000, latency by \u0000<inline-formula> <tex-math>$40times $ </tex-math></inline-formula>\u0000, and interconnect area by \u0000<inline-formula> <tex-math>$2times $ </tex-math></inline-formula>\u0000, compared to a state-of-the-art interconnect for neuromorphic systems.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"16 4","pages":"505-508"},"PeriodicalIF":1.7,"publicationDate":"2024-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142777790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"An Embedded Module of Enhanced Turbo Product Code Algorithm","authors":"Jianjun Luo;Yifan Shen;Boming Huang;Michael Etzkorn;Hongqiang Chen;Cong Yu","doi":"10.1109/LES.2024.3464517","DOIUrl":"https://doi.org/10.1109/LES.2024.3464517","url":null,"abstract":"Low density parity check code (LDPC) is the most popular error correction code (ECC) for current nand flash memory controllers. Next generation flash memory, such as triple-level cell (TLC) and quad-level cell (QLC) with a higher bit error rate, bring up the demand for superior ECC algorithms providing excellent performance and acceptable hardware overhead. This letter proposes turbo product code (TPC) as an alternative to LDPC by exploring embedding of a TPC engine into a solid-state drive (SSD) controller architecture. The implementation of this TPC engine uses 2-D error coding and applies the Bose-Chaudhuri–Hocquenghem (BCH) code in each dimension. The algorithm is further improved by flipping the dedicated bit matrix when the basic TPC decoding algorithm terminates with uncorrectable conditions. This bit-flipping enhanced TPC (BFE-TPC) module is finally integrated into a nonvolatile memory express (NVMe) SSD controller driving eight flash memory channels. This BFE-TPC module illustrates the potential of 2D-TPCs as a replacement for LDPCs due to its high throughput and low hardware overhead.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"16 4","pages":"509-512"},"PeriodicalIF":1.7,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142777726","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Toward Dynamism in Distributed Lingua Franca Programs","authors":"Chadlia Jerad;Edward A. Lee","doi":"10.1109/LES.2024.3465408","DOIUrl":"https://doi.org/10.1109/LES.2024.3465408","url":null,"abstract":"Distributed systems often require dynamic capabilities to ensure adaptability, efficiency, and fault-tolerance. In applications where determinism and timing are crucial, a clear and well-defined approach to deterministic dynamism is much needed, but inherently difficult to define. This letter gives dynamism deterministic semantics, thus enabling precise and repeatable behavior. To this end, we select the Lingua Franca (LF) coordination language that is based on the reactor model, and introduce dynamism to the distributed LF programs, referred to as federations. This letter outlines the challenges associated with incorporating transient federates, which are capable of joining and leaving the federation at arbitrary times, and proposes solutions to the identified problems. A realistic example of an online auction system is used to illustrate the approach. Furthermore, the potential applications of this mechanism are discussed, along with the challenges that need to be addressed.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"17 2","pages":"111-114"},"PeriodicalIF":1.7,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10684763","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143845511","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Time-Sensitive Networking in Low Latency Cyber-Physical Systems","authors":"Henrik Austad;Geir Mathisen","doi":"10.1109/LES.2024.3463545","DOIUrl":"10.1109/LES.2024.3463545","url":null,"abstract":"As the usage of cyber-physical systems (CPSs) continues to grow, the demand for low-latency, reliable networks increases. This article covers available traffic control mechanisms in time sensitive networks and discusses how they can provide strict latency guarantees, analyzable networks, and reliable sensor streams. We discuss the pros and cons of each approach in an attempt to guide the selection of the most appropriate technology with an extra focus on low-latency CPSs.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"17 2","pages":"123-126"},"PeriodicalIF":1.7,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142263899","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}