Composing Data-Rich Embedded Systems the Easy Way

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Composing Data-Rich Embedded Systems the Easy Way-------------------------------------------------Arvind Krishnamurthy and Henrik NilssonDepartment of Computer Science, Yale UniversityEmbedded computing increasingly takes place in a sensor rich environment wherethe acquisition of raw information is much easier than its interpretation. Inaddition to building components to process this data, embedded systemsprogrammers must also arrange the communication among potentially hundreds ofcomponents, distributing computation to the processing elements so as tominimize communication costs and maximize responsiveness, and scheduling ofthe processing elements to adapt to changing priorities and communicationpatterns. These challenges must be addressed at the system level rather thanthe processor level.This project develops a framework for composing distributed, data-richembedded systems that automates many of the low-level process allocation andscheduling tasks. It takes place against a backdrop of a "next generation"humanoid robot currently being developed at Yale. The robot contains asignificant number of processors connected in a heterogeneous fashion. Theproject addresses two fundamental research issues. The first is the use ofmodern programming language techniques to address critical embedded systemconcerns such as composability and dynamic configuration change. The second isimproving overall system performance by exploiting high level system knowledgein the run-time system. The end result will be a design methodology that willenable rapid and reliable construction of complex data-rich interactivesystems.