Saad Mubeen

• PhD in Computer Science and Engineering
• Professor at Mälardalen University

The edge-cloud computing continuum effectively uses fog and cloud servers to meet the quality of service (QoS) requirements of tasks when edge devices cannot meet those requirements. This paper focuses on the workflow offloading problem in edge-cloud computing and formulates this problem as a nonlinear mathematical programming model. The objective...

In this paper, we introduce a novel scheduling approach tailored for real-time tasks executing on heterogeneous computing platforms, which encompass both multi-core processors and multiple identical GPUs. The proposed approach addresses the limitations of traditional scheduling approaches for multi-core and multi-GPU systems, which typically rely o...

In this paper, a novel dynamic priority scheduling algorithm for ROS 2 systems is proposed. The algorithm is based on determining deadlines of callbacks by taking the buffer size and update rates of channels into account. The efficacy of the scheduling algorithm is demonstrated on an illustrative example, where the needed buffer size is reduced in...

This paper proposes a pattern-based modeling and Uppaal-based verification of latencies and buffer overflow in distributed robotic systems that use ROS 2. We apply pattern-based modeling to simplify the construction of formal models for ROS 2 systems. Specifically, we propose Timed Automata templates for modeling callbacks in Uppaal, including all...

The integration of Time-Sensitive Networks (TSN) with 5G cellular networks requires a defined architecture for network configuration and management. Although 3GPP specifications provide necessary means for the TSN-5G integration, the operation of such converged TSN-5G network remains an open challenge for the research community. To address this cha...

Novel industrial applications are leading to important changes in industrial systems. One of the most important changes is the need for systems that are capable to adapt to changes in the environment or the system itself. Because of their nature many of these applications are distributed, and their network infrastructure is key to guarantee the cor...

Integrating wired Ethernet networks, such as Time-Sensitive Networks (TSN), to 5G cellular network requires a flow management technique to efficiently map TSN traffic to 5G Quality-of-Service (QoS) flows. The 3GPP Release 16 provides a set of predefined QoS characteristics, such as priority level, packet delay budget, and maximum data burst volume,...

The Time-Sensitive Network (TSN) amendments and protocols add capabilities on top of standard 802.1 Ethernet for guaranteeing the timeliness of both (isochronous) scheduled traffic (ST) and shaped (audio-video) communication (AVB) in distributed applications. ST streams are guaranteed via an offline computed schedule controlling the time-aware gate...

Time Sensitive Networking (TSN) is a set of IEEE standards based on switched Ethernet that aim at meeting high-bandwidth and low-latency requirements in wired communication. TSN implementations typically do not support integration of wireless networks, which limits their applicability to many industrial applications that need both wired and wireles...

Time-sensitive networking (TSN) is a set of standards developed by the IEEE 802.1 task group to support high-bandwidth and low-latency predictable network communication. Configuration of TSN networks is a daunting task as there are several novel features in TSN and numerous possibilities can arise by considering combinations of these features. This...

In this paper, we propose a conceptual framework to facilitate the design and development of an automation system in which time-sensitive networking (TSN) is utilized for the backbone network and OPC UA is used for modeling of data exchange over TSN. As the configuration of OPC UA over TSN in a large automation setup can be a challenging task and r...

Handling the software complexity of modern vehicular systems has become very challenging due to their non-centralized nature and real-time requirements that they impose. Among many software development paradigms for these systems, model-based development excels for several reasons including its ability to verify timing predictability of software ar...

Software-intensive systems in most domains, from autonomous vehicles to health, are becoming predominantly parallel to efficiently manage large amount of data in short (even real-) time. There is an incredibly rich literature on languages for parallel computing, thus it is difficult for researchers and practitioners, even experienced in this very f...

In a distributed system, applications can perform both reads and updates without costly synchronous network round-trips by using Conflict-free Replicated Data Types (CRDTs). Most CRDTs are based on some variant of atomic broadcast, as that enables them to support causal dependencies between updates of multiple objects. However, the overhead of this...

Embedded systems typically have limited processing and storage capabilities, and may only intermittently be powered on. After sending data from its sensors upstream, the system must therefore be able to trust that the data, once acknowledged, is not lost. The purpose of this work is to propose a novel solution for replicating data between the upstr...

Scheduling of real-time applications modelled according to the periodic and the sporadic task model under hierarchical and compositional real-time systems has been widely studied to provide temporal isolation among independent applications running on shared resources. However, for some real-time applications which are amenable to variation in their...

On-board data processing is one of the prior on-orbit activities that improves the performance capability of in-orbit space systems such as deep-space exploration, earth and atmospheric observation satellites, and CubeSat constellations. However, on-board data processing encounters higher energy consumption compared to traditional on-board space sy...

The contemporary processors are unable to meet the increasing data-intensive and computation-demanding requirements in autonomous vehicle software applications. Recently, the new Heterogeneous System Architecture (HSA) has emerged as a promising solution to meet these requirements. The HSA reduces the latency of data exchange between the compute un...

The functionality advancements and novel customer features that are currently found in modern automotive systems require high-bandwidth and low-latency in-vehicle communications, which become even more compelling for autonomous vehicles. In a recent effort to meet these requirements, the IEEE Time-Sensitive Networking (TSN) task group has developed...

This paper proposes a systematic three-stage methodology for migrating complex real-time industrial software systems from single-core to multi-core computing platforms. Single-core platforms have limited computational capabilities that prevent integration of computationally demanding applications such as image processing within the existing system....

This paper identifies a limitation in the frame preemption model in the TSN standard (IEEE 802.1Q-2018), due to which high priority frames can experience significantly long blocking delays, thereby exacerbating their worst-case response times. This limitation can have a considerable impact on the design, analysis and performance of TSN-based system...

Software in modern vehicles consists of multi-criticality functions, where a function can be safety-critical with stringent real-time requirements, less critical from the vehicle operation perspective, but still with real-time requirements, or not critical at all. Next-generation autonomous vehicles will require higher computational power to run mu...

The cloud computing paradigm provides remote computing resources to the cloud service consumers and businesses. When combined with Internet of Things (IoT), both technologies open up a wide range of new possibilities for more agile and flexible applications. However, guaranteed quality of service is essential in provisioning of cloud services, whic...

Cyber Physical Systems (CPSs) are systems that are developed by seamlessly integrating computational algorithms and physical components, and they are a result of the technological advancement in the embedded systems and distributed systems domains, as well as the availability of sophisticated networking technology. Many industrial CPSs are subject...

Time-Sensitive Networking (TSN) is a set of ongoing projects within the IEEE standardization to guarantee timeliness and low-latency communication based on switched Ethernet for industrial applications. The huge demand is mainly coming from industries where intensive data transmission is required, such as in the modern vehicles where cameras, lidar...

It is desirable to optimize the power consumption of distributed safety-critical software that realizes fault tolerance and maximizes reliability as a result, to support the increasing complexity of software functionality in safety-critical embedded systems. Likewise, safety-critical applications that are required to meet end-to-end timing constrai...

The collective use of several models and tools at various abstraction levels and phases during the development of vehicular distributed embedded systems poses many challenges. Within this context, this paper targets the challenges that are concerned with the unambiguous refinement of timing requirements, constraints and other timing information amo...

The papers in this special section focus on embedded and networked systems for intelligent vehicles and robots. Embedded and networked systems for intelligent vehicles and robots are expected to have a significant economic, societal, and technological impact on industrial and automotive applications. Among the aspects that will benefit from these t...

This paper presents an adapter to link the Mat-lab/Simulink model of a custom braking system into an open-source road traffic simulator, namely SUMO. The traditional braking models in SUMO work on a coarser level, generally mod-eling the deceleration of the vehicle based on a single equation. Substituting this model with a detailed system allows ad...

This paper proposes an Integer Linear Programming optimization approach for the allocation of fault-tolerant embedded software applications that are developed using the AUTOSAR standard. The allocation takes into account the timing and reliability requirements of the multi-rate cause-effect chains in these applications and the heterogeneity of thei...

Modern cars consist of a number of complex embedded and networked systems with steadily increasing requirements in terms of processing and communication resources. Novel automotive applications, such as, automated driving, rise new needs and novel design challenges that cover a broad range of hardware/software engineering aspects. In this context,...

Model-based development and component-based software engineering have emerged as a promising approach to deal with enormous software complexity in automotive systems. This approach supports the development of software archi- tectures by interconnecting (and reusing) software components (SWCs) at various abstraction levels. Automotive software ar- c...

Model- and component-based software development has emerged as an attractive option for the development of vehicle software on single-core platforms. There are many challenges that are encountered when the existing component models, that are originally designed for the software development of vehicular distributed single-core embedded systems, are...

Developing automotive software is becoming increasingly challenging due to continuous increase in its size and complexity. The development challenge is amplified when the industrial requirements dictate extensions to the legacy (previously developed) automotive software while requiring to meet the existing timing requirements. To cope with these ch...

This paper discusses an end-user's experiences of utilizing timing analysis tools to verify predictability of distributed embedded systems in the vehicle industry. The analysis tools are plug-ins for an industrial tool suite, namely Rubus-ICE, that is based on the principles of model-based engineering (MBE) and component-based software engineering...

Access to shared memory is one of the main challenges for many-core pro- cessors. One group of scheduling strategies for such platforms focuses on the division of tasks’ access to shared memory and code execution. This allows to orchestrate the access to shared local and off-chip memory in a way such that access contention between different compute...

This paper introduces a novel model-driven methodology for the software development of real-time distributed vehicular embedded systems on single- and multi-core platforms. The proposed methodology discloses the opportunity of improving the cost-efficiency of the development process by providing automated support to identify viable design solutions...

Software design for automotive systems is highly complex due to the presence of strict data age constraints for event chains in addition to task specific requirements. These age constraints define the maximum time for the propagation of data through an event chain consisting of independently triggered tasks. Tasks in event chains can have different...

Distributed embedded systems in many domains are becoming highly complex, mostly due to ever-increasing demand for advanced computer controlled functionality. These systems are realized by several embedded systems communicating through network channels. These systems are often required to be predictable, i.e., their responses to internal or externa...

Contemporary distributed embedded systems in many domains have become highly complex due to ever-increasing demand on advanced computer controlled functionality. The resource reservation techniques can be effective in lowering the software complexity, ensuring predictability and allowing flexibility during the development and execution of these sys...

Automotive embedded systems are subjected to stringent timing requirements that need to be verified. One of the most complex timing requirement in these systems is the data age constraint. This constraint is specified on cause-effect chains and restricts the maximum time for the propagation of data through the chain. Tasks in a cause-effect chain c...

Cloud computing and Internet of Things (IoT) are computing technologies that provide services to consumers and businesses, allowing organizations to become more agile and flexible. Therefore, ensuring Quality of Service (QoS) through Service Level Agreements (SLAs) for such cloud-based services is crucial for both the service providers and service...

Cloud computing and Internet of Things (IoT) are computing technologies that provide services to consumers and businesses, allowing organizations to become more agile and flexible. The potential business values that cloud consumers can achieve depend a lot on the quality of service in the provided cloud services. Therefore, ensuring the quality of...

A majority of multi-rate real-time systems are constrained by a multitude of timing requirements, in addition to the traditional deadlines on well-studied response times. This means, the timing predictability of these systems not only depends on the schedulability of certain task sets but also on the timely propagation of data through the chains of...

The vehicular industry has exploited model-based engineering for design, analysis, and develop of single-core vehicular systems. Next generation of autonomous vehicles will require higher computational power, which can only be provided by multi-core platforms. Current model-based solutions and related modelling languages, originally conceived for s...