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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2605.03641 |
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| _version_ | 1866911648427540480 |
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| author | Yen, James Huang, Zhibai Wei, Zhixiang Yi, Tinghao Zeng, Shupeng Pang, Liang Xue, Songtao Qi, Zhengwei |
| author_facet | Yen, James Huang, Zhibai Wei, Zhixiang Yi, Tinghao Zeng, Shupeng Pang, Liang Xue, Songtao Qi, Zhengwei |
| contents | Consumer robotics demands consolidation of safety-critical control, perception pipelines, and user applications on shared multicore platforms. While static partitioning hypervisors provide hardware-enforced isolation, directly transplanting automotive architectures encounters an expertise asymmetry problem in which end-users modifying robot behavior lack the systems knowledge that platform developers possess. We present an architecture addressing this challenge through three integrated components. A Safe IO Cell provides hardware-level override capability. A Parameter Synchronization Service encapsulates cross-domain complexity. A Safety Communication Layer implements IEC~61508-aligned verification. Our empirical evaluation on an ARM Cortex-A55 platform demonstrates that partition isolation reduces cycle-period jitter by 84.5\% and cuts tail timing error by nearly an order of magnitude (p99 $|$jitter$|$ from 69.0\,$μ$s to 7.8\,$μ$s), eliminating all $>$50\,$μ$s~excursions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_03641 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Jiao: Bridging Isolation and Customization in Mixed Criticality Robotics Yen, James Huang, Zhibai Wei, Zhixiang Yi, Tinghao Zeng, Shupeng Pang, Liang Xue, Songtao Qi, Zhengwei Robotics Human-Computer Interaction Consumer robotics demands consolidation of safety-critical control, perception pipelines, and user applications on shared multicore platforms. While static partitioning hypervisors provide hardware-enforced isolation, directly transplanting automotive architectures encounters an expertise asymmetry problem in which end-users modifying robot behavior lack the systems knowledge that platform developers possess. We present an architecture addressing this challenge through three integrated components. A Safe IO Cell provides hardware-level override capability. A Parameter Synchronization Service encapsulates cross-domain complexity. A Safety Communication Layer implements IEC~61508-aligned verification. Our empirical evaluation on an ARM Cortex-A55 platform demonstrates that partition isolation reduces cycle-period jitter by 84.5\% and cuts tail timing error by nearly an order of magnitude (p99 $|$jitter$|$ from 69.0\,$μ$s to 7.8\,$μ$s), eliminating all $>$50\,$μ$s~excursions. |
| title | Jiao: Bridging Isolation and Customization in Mixed Criticality Robotics |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2605.03641 |