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Documents authored by Leva, Alberto

Document
DOI: 10.4230/OASIcs.NG-RES.2023.4
Efficient Abstraction of Clock Synchronization at the Operating System Level

Authors: Alessandro Sorrentino, Federico Terraneo, and Alberto Leva

Published in: OASIcs, Volume 108, Fourth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2023)

Abstract
Distributed embedded systems are emerging and gaining importance in various domains, including industrial control applications where time determinism - hence network clock synchronization - is fundamental. In modern applications, moreover, this core functionality is required by many different software components, from OS kernel and radio stack up to applications. An abstraction layer devoted to handling time needs therefore introducing, and to encapsulate time corrections at the lowest possible level, the said layer should take the form of a timer device driver offering a Virtual Clock to the entire system. In this paper we show that doing so introduces a nonlinearity in the dynamics of the clock, and we design a controller based on feedback linearization to handle the issue. To put the idea to work, we extend the Miosix RTOS with a generic interface allowing to implement virtual clocks, including the newly designed controller that we call FLOPSYNC-3 after its ancestor. Also, we introduce the resulting virtual clock in the TDMH [Terraneo et al., 2018] real-time wireless mesh protocol.
Cite as

Alessandro Sorrentino, Federico Terraneo, and Alberto Leva. Efficient Abstraction of Clock Synchronization at the Operating System Level. In Fourth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2023). Open Access Series in Informatics (OASIcs), Volume 108, pp. 4:1-4:11, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@InProceedings{sorrentino_et_al:OASIcs.NG-RES.2023.4,
  author =	{Sorrentino, Alessandro and Terraneo, Federico and Leva, Alberto},
  title =	{{Efficient Abstraction of Clock Synchronization at the Operating System Level}},
  booktitle =	{Fourth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2023)},
  pages =	{4:1--4:11},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-268-6},
  ISSN =	{2190-6807},
  year =	{2023},
  volume =	{108},
  editor =	{Terraneo, Federico and Cattaneo, Daniele},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NG-RES.2023.4},
  URN =		{urn:nbn:de:0030-drops-177357},
  doi =		{10.4230/OASIcs.NG-RES.2023.4},
  annote =	{Keywords: Clock synchronization, Real-time operating systems, Embedded software, Real-time control}
}
Document
DOI: 10.4230/OASIcs.NG-RES.2022.3
Overlapping-Horizon MPC: A Novel Approach to Computational Constraints in Real-Time Predictive Control

Authors: Alberto Leva, Simone Formentin, and Silvano Seva

Published in: OASIcs, Volume 98, Third Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2022)

Abstract
Model predictive control (MPC) represents the state of the art technology for multivariable systems subject to hard signal constraints. Nonetheless, in many real-time applications MPC cannot be employed as the minimum acceptable sampling frequency is not compatible with the computational limits of the available hardware, i.e., the optimisation task cannot be accomplished in one sampling period. In this paper we generalise the classical receding-horizon MPC rationale to the case where n > 1 sampling intervals are required to compute the control trajectory. We call our scheme Overlapping-horizon MPC - OH-MPC for short - and we numerically show its attitude at providing a tunable trade-off between optimisation quality and real-time capabilities.
Cite as

Alberto Leva, Simone Formentin, and Silvano Seva. Overlapping-Horizon MPC: A Novel Approach to Computational Constraints in Real-Time Predictive Control. In Third Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2022). Open Access Series in Informatics (OASIcs), Volume 98, pp. 3:1-3:10, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2022)

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@InProceedings{leva_et_al:OASIcs.NG-RES.2022.3,
  author =	{Leva, Alberto and Formentin, Simone and Seva, Silvano},
  title =	{{Overlapping-Horizon MPC: A Novel Approach to Computational Constraints in Real-Time Predictive Control}},
  booktitle =	{Third Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2022)},
  pages =	{3:1--3:10},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-221-1},
  ISSN =	{2190-6807},
  year =	{2022},
  volume =	{98},
  editor =	{Bertogna, Marko and Terraneo, Federico and Reghenzani, Federico},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NG-RES.2022.3},
  URN =		{urn:nbn:de:0030-drops-161118},
  doi =		{10.4230/OASIcs.NG-RES.2022.3},
  annote =	{Keywords: real-time control, model predictive control}
}
Document
DOI: 10.4230/OASIcs.NG-RES.2021.4
Event-Based Control Enters the Real-Time World: Perspectives and Pitfalls

Authors: Silvano Seva, William Fornaciari, and Alberto Leva

Published in: OASIcs, Volume 87, Second Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2021)

Abstract
In the last years, event-based control techniques have been gaining a steadily increasing importance owing to the advantages they bring, such as reduced network traffic, low actuator wear, reduced energy consumption of the involved devices. Applying the event-based paradigm in the context of real-time control opens up new opportunities, but introduces new challenges as well. In this paper we provide an overview of both opportunities and challenges, outlining the major problems to be tackled and as a consequence future research directions.
Cite as

Silvano Seva, William Fornaciari, and Alberto Leva. Event-Based Control Enters the Real-Time World: Perspectives and Pitfalls. In Second Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2021). Open Access Series in Informatics (OASIcs), Volume 87, pp. 4:1-4:11, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2021)

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@InProceedings{seva_et_al:OASIcs.NG-RES.2021.4,
  author =	{Seva, Silvano and Fornaciari, William and Leva, Alberto},
  title =	{{Event-Based Control Enters the Real-Time World: Perspectives and Pitfalls}},
  booktitle =	{Second Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2021)},
  pages =	{4:1--4:11},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-178-8},
  ISSN =	{2190-6807},
  year =	{2021},
  volume =	{87},
  editor =	{Bertogna, Marko and Terraneo, Federico},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NG-RES.2021.4},
  URN =		{urn:nbn:de:0030-drops-134803},
  doi =		{10.4230/OASIcs.NG-RES.2021.4},
  annote =	{Keywords: Real-time control, Wireless control, Event-based control, Cyber-physical systems, Industrial control networks, Industry 4.0}
}
Document
DOI: 10.4230/OASIcs.NG-RES.2020.4
A Low Energy FPGA Platform for Real-Time Event-Based Control

Authors: Silvano Seva, Claudia Esther Lukaschewsky Mauriziano, William Fornaciari, and Alberto Leva

Published in: OASIcs, Volume 77, Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2020)

Abstract
We present a wireless sensor node suitable for event-based real-time control networks. The node achieves low-power operation thanks to tight clock synchronisation with the network master (at present we refer to a star network but extensions are envisaged). Also, the node does not employ any programmable device but rather an FPGA, thus being inherently immune to attacks based on code tampering. Experimental results on a simple laboratory apparatus are presented.
Cite as

Silvano Seva, Claudia Esther Lukaschewsky Mauriziano, William Fornaciari, and Alberto Leva. A Low Energy FPGA Platform for Real-Time Event-Based Control. In Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2020). Open Access Series in Informatics (OASIcs), Volume 77, pp. 4:1-4:11, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2020)

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@InProceedings{seva_et_al:OASIcs.NG-RES.2020.4,
  author =	{Seva, Silvano and Lukaschewsky Mauriziano, Claudia Esther and Fornaciari, William and Leva, Alberto},
  title =	{{A Low Energy FPGA Platform for Real-Time Event-Based Control}},
  booktitle =	{Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2020)},
  pages =	{4:1--4:11},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-136-8},
  ISSN =	{2190-6807},
  year =	{2020},
  volume =	{77},
  editor =	{Bertogna, Marko and Terraneo, Federico},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NG-RES.2020.4},
  URN =		{urn:nbn:de:0030-drops-117808},
  doi =		{10.4230/OASIcs.NG-RES.2020.4},
  annote =	{Keywords: real-time, event-based control, FPGA, wireless control networks}
}
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