{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T18:57:01Z","timestamp":1771700221511,"version":"3.50.1"},"reference-count":45,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2012,12,1]],"date-time":"2012-12-01T00:00:00Z","timestamp":1354320000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000144","name":"Division of Computer and Network Systems","doi-asserted-by":"publisher","award":["CPS-0931239, CSR-0834517, MRI-0923518"],"award-info":[{"award-number":["CPS-0931239, CSR-0834517, MRI-0923518"]}],"id":[{"id":"10.13039\/100000144","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CPS-0931239, CSR-0834517, MRI-0923518"],"award-info":[{"award-number":["CPS-0931239, CSR-0834517, MRI-0923518"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000083","name":"Directorate for Computer and Information Science and Engineering","doi-asserted-by":"publisher","award":["CPS-0931239, CSR-0834517, MRI-0923518"],"award-info":[{"award-number":["CPS-0931239, CSR-0834517, MRI-0923518"]}],"id":[{"id":"10.13039\/100000083","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Embed. Comput. Syst."],"published-print":{"date-parts":[[2012,12]]},"abstract":"<jats:p>Networked cyber-physical systems are fundamentally constrained by the tight coupling and closed-loop control of physical processes. To address actuation in such closed-loop wireless control systems there is a strong need to rethink the communication architectures and protocols for reliability, coordination, and control. We introduce the Embedded Virtual Machine (EVM), a programming abstraction where controller tasks with their control and timing properties are maintained across physical node boundaries and functionality is capable of migrating to the most competent set of physical controllers. In the context of process and discrete control, an EVM is the distributed runtime system that dynamically selects primary-backup sets of controllers given spatial and temporal constraints of the underlying wireless network. EVM-based algorithms allow network control algorithms to operate seamlessly over less reliable wireless networks with topological changes. They introduce new capabilities such as predictable outcomes during sensor\/actuator failure, adaptation to mode changes, and runtime optimization of resource consumption. An automated design flow from Simulink to platform-independent domain-specific languages, and subsequently, to platform-dependent code generation is presented. Through case studies in discrete and process control we demonstrate the capabilities of EVM-based wireless network control systems.<\/jats:p>","DOI":"10.1145\/2362336.2362349","type":"journal-article","created":{"date-parts":[[2013,1,11]],"date-time":"2013-01-11T15:42:48Z","timestamp":1357918968000},"page":"1-24","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":9,"title":["Robust architectures for embedded wireless network control and actuation"],"prefix":"10.1145","volume":"11","author":[{"given":"Miroslav","family":"Pajic","sequence":"first","affiliation":[{"name":"University of Pennsylvania, Philadelphia, PA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexander","family":"Chernoguzov","sequence":"additional","affiliation":[{"name":"Honeywell Process Solutions"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rahul","family":"Mangharam","sequence":"additional","affiliation":[{"name":"University of Pennsylvania, Pennsylvania, PA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2013,1]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS.2009.40"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.5555\/1160162.1160178"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/jgt.v37:1"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/1317103.1317105"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/IPSN.2008.54"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1015394302429"},{"key":"e_1_2_1_7_1","unstructured":"Conklin E. K. and Rather E. D. 2007. FORTH Programmer's Handbook. FORTH Inc.   Conklin E. K. and Rather E. D. 2007. FORTH Programmer's Handbook. FORTH Inc."},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/LCN.2004.38"},{"key":"e_1_2_1_9_1","unstructured":"EVM. 2009. website - http:\/\/mlab.seas.upenn.edu\/evm.  EVM. 2009. website - http:\/\/mlab.seas.upenn.edu\/evm."},{"key":"e_1_2_1_10_1","volume-title":"New Features of SAT'04 version of zChaff. In Proceedings of the International Conference on Theory and Applications of Satisfiability Testing.","author":"Fu Z.","unstructured":"Fu , Z. , Mahajan , Y. , and Malik , S . 2004 . New Features of SAT'04 version of zChaff. In Proceedings of the International Conference on Theory and Applications of Satisfiability Testing. Fu, Z., Mahajan, Y., and Malik, S. 2004. New Features of SAT'04 version of zChaff. In Proceedings of the International Conference on Theory and Applications of Satisfiability Testing."},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2022094"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1007\/11502593_12"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2024567"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/1067170.1067188"},{"key":"e_1_2_1_15_1","unstructured":"HART. 2007. Field communication protocol specification Rev 7. http: \/\/www.hartcom.org\/.  HART. 2007. Field communication protocol specification Rev 7. http: \/\/www.hartcom.org\/."},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.887288"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/356989.356998"},{"key":"e_1_2_1_18_1","volume-title":"Fault Tolerance in Distributed Systems","author":"Jalote P.","unstructured":"Jalote , P. 1994. Fault Tolerance in Distributed Systems . Prentice-Hall . Jalote, P. 1994. Fault Tolerance in Distributed Systems. Prentice-Hall."},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2002.805821"},{"key":"e_1_2_1_20_1","doi-asserted-by":"crossref","unstructured":"Lee P. A. and Anderson T. 1990. Fault Tolerance - Principles and Practice. Springer.   Lee P. A. and Anderson T. 1990. Fault Tolerance - Principles and Practice. Springer.","DOI":"10.1007\/978-3-7091-8990-0"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/605397.605407"},{"key":"e_1_2_1_22_1","volume-title":"Using Process Simulators in Chemical Engineering: A Multimedia Guide For The Core Curriculum","author":"Lewin D. R.","unstructured":"Lewin , D. R. 2009. Using Process Simulators in Chemical Engineering: A Multimedia Guide For The Core Curriculum . Wiley . Lewin, D. R. 2009. Using Process Simulators in Chemical Engineering: A Multimedia Guide For The Core Curriculum. Wiley."},{"key":"e_1_2_1_23_1","volume-title":"Real-Time Systems","author":"Liu J.","unstructured":"Liu , J. 2000. Real-Time Systems . Prentice Hall . Liu, J. 2000. Real-Time Systems. Prentice Hall."},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/1460412.1460434"},{"key":"e_1_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICDCSW.2009.31"},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11241-007-9028-z"},{"key":"e_1_2_1_27_1","unstructured":"MathWorks. 2010. Simulink documentation. www.mathworks.com\/access\/helpdesk\/help\/toolbox\/simulink.  MathWorks. 2010. Simulink documentation. www.mathworks.com\/access\/helpdesk\/help\/toolbox\/simulink."},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/1272996.1273013"},{"key":"e_1_2_1_29_1","unstructured":"nanoRK. 2010. Sensor RTOS. http:\/\/www.nanork.org.  nanoRK. 2010. Sensor RTOS. http:\/\/www.nanork.org."},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/1236360.1236422"},{"key":"e_1_2_1_31_1","doi-asserted-by":"crossref","unstructured":"Nielsen Research. 2006. Downtime Costs Auto Industry. Nielsen Research.  Nielsen Research. 2006. Downtime Costs Auto Industry. Nielsen Research.","DOI":"10.1093\/nar\/gkl144"},{"key":"e_1_2_1_32_1","unstructured":"Pajic M. and Mangharam R. 2009. Embedded Virtual Machines: Technical Report.  Pajic M. and Mangharam R. 2009. Embedded Virtual Machines: Technical Report."},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS.2010.43"},{"key":"e_1_2_1_34_1","volume-title":"Proceedings of the 49th IEEE Conference on Decision and Control.","author":"Pajic M.","unstructured":"Pajic , M. , Sundaram , S. , Le Ny , J. , Mangharam , R. , and Pappas , G. J . 2010. The wireless control network: Synthesis and robustness . In Proceedings of the 49th IEEE Conference on Decision and Control. Pajic, M., Sundaram, S., Le Ny, J., Mangharam, R., and Pappas, G. J. 2010. The wireless control network: Synthesis and robustness. In Proceedings of the 49th IEEE Conference on Decision and Control."},{"key":"e_1_2_1_35_1","unstructured":"Prett D. and Morari M. 1986. The shell process control workshop. Butterworths.  Prett D. and Morari M. 1986. The shell process control workshop. Butterworths."},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1023\/B:TIME.0000016129.97430.c6"},{"key":"e_1_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2008.080508"},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2007.11.008"},{"key":"e_1_2_1_39_1","volume-title":"Theory of Linear and Integer Programming","author":"Schrijver A.","unstructured":"Schrijver , A. 1998. Theory of Linear and Integer Programming . John Wiley & Sons . Schrijver, A. 1998. Theory of Linear and Integer Programming. John Wiley & Sons."},{"key":"e_1_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00365439"},{"key":"e_1_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.5555\/518918.837528"},{"key":"e_1_2_1_42_1","volume-title":"Proceedings of the 1st Conference on Symposium on Networked Systems Design and Implementation (NSDI'04)","author":"Welsh M.","unstructured":"Welsh , M. and Mainland , G . 2004. Programming sensor networks using abstract regions . In Proceedings of the 1st Conference on Symposium on Networked Systems Design and Implementation (NSDI'04) . Welsh, M. and Mainland, G. 2004. Programming sensor networks using abstract regions. In Proceedings of the 1st Conference on Symposium on Networked Systems Design and Implementation (NSDI'04)."},{"key":"e_1_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2005.849717"},{"key":"e_1_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1007\/11602613_95"},{"key":"e_1_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/37.898794"}],"container-title":["ACM Transactions on Embedded Computing Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2362336.2362349","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2362336.2362349","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T20:14:16Z","timestamp":1750277656000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2362336.2362349"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,12]]},"references-count":45,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2012,12]]}},"alternative-id":["10.1145\/2362336.2362349"],"URL":"https:\/\/doi.org\/10.1145\/2362336.2362349","relation":{},"ISSN":["1539-9087","1558-3465"],"issn-type":[{"value":"1539-9087","type":"print"},{"value":"1558-3465","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,12]]},"assertion":[{"value":"2010-02-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2010-11-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2013-01-01","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}