This paper introduces the hardware platform of the structured light processing based on depth imaging to perform a 3D modeling of cluttered workspace for home service robots. We have discovered that the degradation of precision and robustness comes mainly from the overlapping of multiple codes in the signal received at a camera pixel. Considering the criticality of separating the overlapped codes to precision and robustness, we proposed a novel signal separation code, referred to here as "Hierarchically Orthogonal Code (HOC)," for depth imaging. The proposed HOC algorithm was implemented by using hardware platform which applies the Xilinx XC2V6000 FPGA to perform a real time 3D modeling and the invisible IR (Infrared) pattern lights to eliminate any inconveniences for the home environment. The experimental results have shown that the proposed HOC algorithm significantly enhances the robustness and precision in depth imaging, compared to the best known conventional approaches. Furthermore, after we processed the HOC algorithm implemented on our hardware platform, the results showed that it required 34 ms of time to generate one 3D image. This processing time is about 24 times faster than the same implementation of HOC algorithm using software, and the real-time processing is realized.

File systems make use of the buffer cache to enhance their performance. Traditionally, part of DRAM, which is volatile memory, is used as the buffer cache. In this paper, we consider the use of of Non-Volatile RAM (NVRAM) as a write cache for metadata of the file system in embedded systems. NVRAM is a state-of-the-art memory that provides characteristics of both non-volatility and random byte addressability. By employing NVRAM as a write cache for dirty metadata, we retain the same integrity of a file system that always synchronously writes its metadata to storage, while at the same time improving file system performance to the level of a file system that always writes asynchronously. To show quantitative results, we developed an embedded board with NVRAM and modify the VFAT file system provided in Linux 2.6.11 to accommodate the NVRAM write cache. We performed a wide range of experiments on this platform for various synthetic and realistic workloads. The results show that substantial reductions in execution time are possible from an application viewpoint. Another consequence of the write cache is its benefits at the FTL layer, leading to improved wear leveling of Flash memory and increased energy savings, which are important measures in embedded systems. From the real numbers obtained through our experiments, we show that wear leveling is improved considerably and also quantify the improvements in terms of energy.

In this paper, we propose three techniques to improve the performance of YAFFS (Yet Another Flash File System), while enhancing the reliability of the system. Specifically, we first propose to manage metadata and user data separately on segregated blocks. This modification not only leads to the reduction of the mount time but also reduces the garbage collection time. Second, we tailor the wear-leveling to the segregated metadata and user data blocks. That is, worn out blocks between the segregated blocks are swapped, which leads to more evenly worn out blocks increasing the lifetime of the system. Finally, we devise an analytic model to predict the expected garbage collection time. By accurately predicting the garbage collection time, the system can perform garbage collection at more opportune times when the user's perceived performance may not be negatively affected. Performance evaluation results based on real implementations show that our modifications enhance performance and reliability without incurring additional overheads. Specifically, the YAFFS with our proposed techniques outperforms the original YAFFS by six times in terms of mount speed and five times in terms of benchmark performance, while reducing the average erase count of blocks by 14%.

As the virtualization technology becomes the core ingredient for recent promising IT infrastructures such as utility computing and cloud computing, accurate analysis of the internal behaviors of virtual machines becomes more and more important. In this paper, we first propose a novel I/O fairness analysis tool for virtualization systems. It supports the following three features: fine-grained, multimodal and multidimensional. Then, using the tool, we observe various I/O behaviors in our experimental XEN-based virtualization system. Our observations disclose that 1) I/O fairness among virtual machines is broken frequently even though each virtual machine requests the same amount of I/Os, 2) the unfairness is caused by an intricate combination of factors including I/O scheduling, CPU scheduling and interactions between the I/O control domain and virtual machines, and 3) some mechanisms, especially the CFQ (Completely Fair Queuing) I/O scheduler that supports fairness reasonable well in a non-virtualization system, do not work well in a virtualization system due to the virtualization-unawareness. These observations drive us to design a new virtualization-aware I/O scheduler for enhancing I/O fairness. It gives scheduling opportunities to asynchronous I/Os in a controlled manner so that it can avoid the unfairness caused by the priority inversion between the low-priority asynchronous I/Os and high-priority synchronous I/Os. Real implementation based experimental results have shown that our proposal can enhance I/O fairness reducing the standard deviation of the finishing time among virtual machines from 4.5 to 1.2.

The Log-structured File System (LFS) transforms random writes to a huge sequential one to provide superior write performance on storage devices. However, LFS inherently suffers from overhead incurred by cleaning segments. Specifically, when file system utilization is high and the system is busy, write performance of LFS degenerates significantly due to high cleaning cost. Also, in the newer flash memory based SSD storage devices, cleaning leads to reduced SSD lifetime as it incurs more writes. In this paper, we propose an enhancement to the original LFS to alleviate the performance degeneration due to cleaning when the system is busy. The new scheme, which we call Slack Space Recycling (SSR), allows LFS to delay on-demand cleaning during busy hours such that cleaning may be done when the load is much lighter. Specifically, it writes modified data directly to invalid areas (slack space) of used segments instead of cleaning on-demand, pushing back cleaning for later. SSR also has the added benefit of increasing the lifetime of the now popular SSD storage devices. We implement the new SSR-LFS file system in Linux and perform a large set of experiments. The results of these experiments show that the SSR scheme significantly improves performance of LFS for a wide range of storage utilization settings and that the lifetime of SSDs is extended considerably.

As the use of electronic voting systems and e-commerce systems increases, the efficient batch verification of digital signatures becomes more and more important. In this paper, we first propose a new method to identify bad signatures in batches efficiently for the case when the batch contains one bad signature. The method can find out the bad signature using smaller number of modular multiplications than the existing method. We also propose an extension to the proposed method to find out two or more bad signatures in a batch instance. Experimental results show that our method yields better performance than the existing method in terms of the number of modular multiplications.

Due to the detachability of Flash storage, which is a dominant portable storage, data integrity stored in Flash storages becomes an important issue. This study considers the performance of Flash Translation Layer (FTL) schemes embedded in Flash storages in conjunction with file system behavior that pursue high data integrity. To assure extreme data integrity, file systems synchronously write all file data to storage accompanying hot write references. In this study, we concentrate on the effect of hot write references on Flash storage, and we consider the effect of absorbing the hot write references via nonvolatile write cache on the performance of the FTL schemes in Flash storage. In so doing, we quantify the performance of typical FTL schemes for a realistic digital camera workload that contains hot write references through experiments on a real system environment. Results show that for the workload with hot write references FTL performance does not conform with previously reported studies. We also conclude that the impact of the underlying FTL schemes on the performance of Flash storage is dramatically reduced by absorbing the hot write references via nonvolatile write cache.

The traditional mobile consumer electronics such as media players and smart phones use two distinct memories, SDRAM and Flash memory. SDRAM is used as main memory since it has characteristic of byte-unit random accessibility while Flash memory as secondary storage due to its characteristic of non-volatility. However, the advent of Storage Class Memory (SCM) that supports both SDRAM and Flash memory characteristics gives an opportunity to design a new system configuration. In this paper, we explore four feasible system configurations, namely RAM-Flash, RAM-SCM, SCM-Flash and SCM-Only. Then, using a real embedded system equipped with FeRAM, a type of SCM, we analyze the tradeoffs between performance and energy efficiency of each configuration. Experimental results have shown that SCM has great potential to reduce energy consumption for all configurations while performance is highly application dependent and might be degraded on the SCM-Flash and SCM-Only configuration.