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Verification of MCU-Based Systems Software on an SDVRP Platform
P. 207-1–207-8.
The SLAM-based Static Driver Verifier Research Platform (SDVRP), as a tool that systematically analyzes source code and allows writing custom SLIC rules for various platforms, provided a potent verification mechanism for an embedded software system based on ARM Cortex-M0 microprocessor. The correctness of this software is of particular importance in the sense that there are program states which can cause physical damage to hardware.
Language:
English
In book
Ottawa: International ASET Inc, 2012.
Popov M., Romanov A., INTERNATIONAL JOURNAL OF RECONFIGURABLE AND EMBEDDED SYSTEMS 2025 Vol. 14 No. 3 P. 696–704
The typical challenge in embedded hardware development is the data transfer subsystem. As long as the required speeds are low and high latency is acceptable, there is quite a simple solution with serial bus like CAN. In case of high speed (hundreds of megabits per second) with the high temporal determinism, the solution becomes significantly more ...
Added: December 11, 2025
Kirill Muravyev, Yakovlev K., IEEE Access 2023 Vol. 11 P. 132683–132698
Mapping is one of the key components of mobile robot navigation. Representing a map as a topological structure is suitable for fast path planning and does not require high positioning precision or high computational resources, which is particularly useful in large environments. In recent years, numerous methods of topological graph building have emerged. Most of ...
Added: March 19, 2024
Safarova L., Abbyasov B., Tsoy T. et al., , in: 7th International Conference, ICR 2022, Fuzhou, China, December 16-18, 2022, Proceedings.: Springer, 2022. P. 81–92.
Added: January 31, 2023
Zakiev A., Lavrenov R., Magid E. et al., Journal of Advanced Research in Dynamical and Control Systems 2019 Vol. 11 No. 8 P. 1743–1753
This paper introduces a new indoor environment exploration method, which is designed to consider robot sensory perception constraints and indoor spaces predictable structure. Our new method is compared with a greedy approach exploration. The two algorithms were implemented and tested in simulation and in real-world experiments with a Russian Servosila Engineer crawler rescue robot. Robot ...
Added: October 10, 2021
Bokovoy A., Muravyev K., Yakovlev K., , in: Artificial Intelligence. RCAI 2020.: Switzerland: Springer, 2020. P. 46–60.
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of constructing accurate-enough maps that enable a mobile robot to autonomously navigate an unknown environment. In this work, we are interested in an ...
Added: November 2, 2020
Bokovoy A., Yakovlev K., , in: Interactive Collaborative Robotics: Third International Conference, ICR 2018, Leipzig, Germany, September 18–22, 2018, Proceedings.: Springer, 2018. P. 23–33.
The monocular vision-based simultaneous localization and mapping (vSLAM) is one of the most challenging problem in mobile robotics and computer vision. In this work we study the post-processing techniques applied to sparse 3D point-cloud maps, obtained by feature-based vSLAM algorithms. Map post-processing is split into 2 major steps: (1) noise and outlier removal and (2) ...
Added: August 13, 2019
Austin: IEEE Computer Society, 2018.
Added: July 3, 2019
Кринкин К. В., Huletski A., Kartashov D., , in: EEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017.: [б.и.], 2017. P. 6770–6776.
— A truly autonomous mobile robot have to solve the SLAM problem (i.e. simultaneous map building and pose estimation) in order to navigate in an unknown environment. Unfortunately, a universal solution for the problem hasn’t been proposed yet. The tinySLAM algorithm that has a compact and clear code was designed to solve SLAM in an ...
Added: February 4, 2019
[б.и.], 2017.
Added: February 4, 2019
Filatov A., Filatov A., Кринкин К. В. et al., , in: Proceedings of the 21st Conference of Open Innovations Association FRUCT, University of Helsinki, Helsinki, Finland.: [б.и.], 2017. P. 120–126.
—SLAM (Simultaneous Localization and mapping) is one of the most challenging problems for mobile platforms and there is a huge amount of modern SLAM algorithms. The choice of the algorithm that might be used in every particular problem requires prior knowledge about advantages and disadvantages of each algorithm. This paper presents the approach for comparison ...
Added: February 4, 2019
Podkopaev A., Lahav O., Vafeiadis V., , in: 31st European Conference on Object-Oriented Programming, {ECOOP} 2017Vol. 74.: Dagstuhl: Schloss Dagstuhl--Leibniz-Zentrum fuer Informatik, 2017. Ch. 22 P. 1–28.
We prove the correctness of compilation of relaxed memory accesses and release-acquire fences from the "promising" semantics of [Kang et al. POPL'17] to the ARMv8 POP machine of [Flur et al. POPL'16]. The proof is highly non-trivial because both the ARMv8 POP and the promising semantics provide some extremely weak consistency guarantees for normal memory ...
Added: December 24, 2018
Bokovoy A., Yakovlev K., , in: Analysis of Images, Social Networks and Texts. 6th International Conference, 2017, Revised Selected PapersVol. 10716.: Cham: Springer, 2018. P. 210–220.
Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core post-processing optimization mechanisms in vSLAM, e.g. loop-closure detection. We analyze the existing methods and propose original algorithm for loop-closure ...
Added: September 28, 2018
Mallachiev K. A., Pakulin N. V., Khoroshilov A. V. et al., Proceedings of the Institute for System Programming of the RAS 2017 Vol. 29 No. 4 P. 283–294
Modern embedded OS are designed to be used in control solutions in various hardware contexts. Control computers may differ in the architecture of the CPU, the structure of communication channels, supported communication protocols, etc. Embedded OS are often statically configured to create an OS image, which intended to be executed on some specific control computer. ...
Added: August 11, 2018
IEEE, 2015.
Added: July 18, 2018
IEEE, 2017.
Added: July 18, 2018
Tatarnikov A., Kamkin A., Чупилко М. М. et al., Труды Института системного программирования РАН 2014 Т. 26 № 1 С. 149–200
Ensuring the correctness of microprocessors and other microelectronic equipment is a fundamental problem. To deal with it, various tools for functional verification are used. Unlike bugs in software programs which are relatively easy to fix (it does not apply to their consequences), defects in integrated circuits (both design and manufacturing ones) cannot be removed. In spite ...
Added: December 11, 2017
Tatarnikov A., Kamkin A., Проценко А. С., Proceedings of the Institute for System Programming of the RAS 2015 Vol. 27 No. 3 P. 125–138
A memory subsystem is one of the key components of a microprocessors. It consists of a number of storage devices (instruction buffers, address translation buffers, multilevel cache memory, main memory, and others) organized into a complex hierarchical structure. Huge state space of a memory subsystem makes its functional verification extremely labor consuming. Nowadays, the main ...
Added: December 10, 2017
Tatarnikov A., Proceedings of the Institute for System Programming of the RAS 2016 Vol. 28 No. 4 P. 77–98
Test program generation and simulation is the most widely used approach to functional verification of microprocessors. High complexity of modern hardware designs creates a demand for automated tools that are able to generate test programs covering non-trivial situations in microprocessor functioning. The majority of such tools use test program templates that describe scenarios to be ...
Added: November 26, 2017
Tatarnikov A., Kamkin A., Проценко А. С. et al., Труды Института системного программирования РАН 2016 Т. 28 № 6 С. 87–102
ARM is a family of microprocessor instruction set architectures developed in a company with the same name. The newest architecture of this family, ARMv8, contains a large number of instructions of various types and is notable for its complex organization of virtual memory, which includes hardware support for multilevel address translation and virtualization. All of ...
Added: November 24, 2017
Nikolskiy V., Vecher V., Stegailov V., , in: Supercomputing. RuSCDays 2016. Communications in Computer and Information Science. Revised Selected Papers.Vol. 687.: Springer, 2016. P. 199–211.
In this paper we consider the efficiency of hybrid systemson-a-chip for high-performance calculations. Firstly, we build Roofline performance models for the systems considered using Empirical Roofline Toolkit and compare the results with the theoretical estimates. Secondly, we use LAMMPS as an example of the molecular dynamic package to demonstrate its performance and efficiency in various ...
Added: May 31, 2017
Yakovlev K., Khithov V., Loginov M. et al., , in: Intelligent Systems'2014 - Proceedings of the 7th IEEE International Conference Intelligent Systems IS'2014, September 24-26, 2014, Warsaw, Poland, Volume 2: Tools, Architectures, Systems, ApplicationsТ. 323.: Springer, 2015. P. 49–56.
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple unmanned aerial vehicles is chosen as demo example. Developed intelligent control system complies with on 4D\RCS reference model and its implementation ...
Added: April 27, 2015
Юрий Леохин, Игорь Дворецкий, Сергей Салибекян, Системный администратор 2013 Т. 133 № 12 С. 66–68
Relevance of development of the power effective server equipment optimized for solution of standard problems of datasenter locates in article. The main characteristics of the unified multiprocessor hardware-software server complex developed by staff of National research university "Higher School of Economics" are described ...
Added: February 10, 2014
Santander: IEEE Computer Society Conference Publishing Services (CPS), 2013.
The Euromicro Conference on Digital System Design (DSD) addresses all aspects of (embedded, pervasive and high-performance) digital and mixed hardware/software system engineering, down to microarchitectures, digital circuits and VLSI techniques. It is a discussion forum for researchers and engineers from academia and industry working on state-of-the-art investigations, development and applications.
It focuses on advanced circuit and ...
Added: October 15, 2013