01775nas a2200133   4500008004100000245009700041210006900138260000900207300001200216520132800228100002301556700001901579856004301598       2011                        eng d00aOn the Mitigation of MultiCore-Induced Behavioral Deviations of an Autonomous Ground Vehicle0 aMitigation of MultiCoreInduced Behavioral Deviations of an Auton  bIEEE  a159-1683 a<p>Complex systems such as autonomous vehicles frequently utilize a distributed network of computers for sensing, control, and supervisory tasks. A common way to abstract the deployment of the computational nodes that implement the system’s behavior is through the utilization of middleware, which treats each atomic processing element as a component. Multiple components may execute on a single node, and nodes are typically heterogeneous in their processing power. For component implementations that use an event-driven model of computation, however, significant behavioral deviations may occur when a single-core computational node is replaced with a multicore node, especially if that computational node is running more than one component. This paper discusses the observed behavioral deviations through a series of simulations with identical initial conditions, performed on various single core and multicore processing platforms. In addition to the empirical demonstration, the paper provides a technique to mitigate the behavioral deviations by inserting a time-triggered buffer between a key set of components, enforcing a loosely time-triggered execution even though the system is still defined through event-triggered components. This preserves existing legacy code, but provides a time-triggered execution.</p>1 aSprinkle, Jonathan1 aEames, Brandon  uhttp://dx.doi.org/10.1109/ECBS.2011.2902360nas a2200157   4500008004100000022001400041245006200055210006000117260002000177300001100197490000600208520189800214100002302112700001902135856004802154       2011                        eng d  a1614-504600aTime-Triggered Buffers for Event-Based Middleware Systems0 aTimeTriggered Buffers for EventBased Middleware Systems  bSpringer London  a9–220 v73 a<p>Application developers utilizing event-based middleware have sought to leverage domain-specific modeling for the advantages of intuitive specification, code synthesis, and support for design evolution. For legacy and cyber-physical systems, the use of event-based middleware may mean that changes in computational platform can result anomalous system behavior, due to the presence of implicit temporal dependencies. These anomalies are a function not of the component implementation, but of the model of computation employed for supporting system composition. In order to address these behavioral anomalies, the paper presents an approach where time-based blocks are inserted into the system to account for the temporal dependencies. An advantage of capturing the system composition in a domain-specific modeling language is the ability to efficiently refactor an application to include time-triggered, event-based schedulers. This paper describes how an existing event-based component topology can be modified to permit a time triggered model of computation, with no changes to the existing component software. Further, the time-triggered components can be deployed alongside standard publish/subscribe methodologies. This strategy is beneficial to the maintenance of existing legacy systems upon upgrade, since the current operational mode could be maintained with minimal changes to the legacy software even under changes to the target platform which alter execution speed. These time-triggered layers are discussed in three permutations: fully triggered, start triggered and release triggered. A discussion is provided regarding the limitations of each approach, and a brief example is given. The example shows how to apply these triggering approaches without the modification of existing components, but instead through the insertion of triggered buffers between legacy components.</p>1 aSprinkle, Jonathan1 aEames, Brandon  uhttp://dx.doi.org/10.1007/s11334-010-0139-700452nas a2200121   4500008004100000245009100041210006900132260001200201300001400213100002300227700001900250856006100269       2009                        eng d00aModel-Based Autosynthesis of Time-Triggered Buffers for Event-Based Middleware Systems0 aModelBased Autosynthesis of TimeTriggered Buffers for EventBased  cOctober  a119–1241 aSprinkle, Jonathan1 aEames, Brandon  uhttp://www.dsmforum.org/events/DSM09/Papers/Sprinkle.pdf00578nas a2200181   4500008004100000245007100041210006900112260001300181300001400194490000900208100002100217700001900238700002700257700002300284700001900307700002000326856005000346       2003                        eng d00aANEMIC: Automatic Interface Enabler for Model Integrated Computing0 aANEMIC Automatic Interface Enabler for Model Integrated Computin  cNovember  a138–1500 v28301 aNordstrom, Steve1 aShetty, Shweta1 aChhokra, Kumar, Guarav1 aSprinkle, Jonathan1 aEames, Brandon1 aLédeczi, Ákos  uhttp://dx.doi.org/10.1007/978-3-540-39815-8_900576nas a2200157   4500008004100000245007100041210006900112260001400181100002100195700001900216700002700235700002300262700001900285700002000304856009400324       2003                        eng d00aANEMIC: Automatic Interface Enabler for Model Integrated Computing0 aANEMIC Automatic Interface Enabler for Model Integrated Computin  cSeptember1 aNordstrom, Steve1 aShetty, Shweta1 aChhokra, Kumar, Guarav1 aSprinkle, Jonathan1 aEames, Brandon1 aLédeczi, Ákos  uhttp://www.isis.vanderbilt.edu/publications/archive/Nordstrom_SG_9_22_2003_ANEMIC__Au.pdf