让普通用户也能安全定制机器人，解决系统隔离与个性化之间的矛盾
Jiao: Bridging Isolation and Customization in Mixed Criticality Robotics
- 用硬件级输入输出控制实现安全覆盖，防止误操作
- 跨域参数同步使不同模块协同更稳定，延迟抖动降低84.5%
- 符合国际安全标准，适合需要高可靠性的机器人开发
消费类机器人需在共享多核平台上集成安全控制、感知流程和用户应用。静态分区虚拟机虽能提供硬件级隔离，但直接套用汽车架构会因知识不对称导致用户难以修改机器人行为。本文提出三种集成组件：安全输入输出单元实现硬件级覆盖；参数同步服务封装跨域复杂性；安全通信层符合IEC 61508标准验证。在ARM Cortex-A55平台上的实测表明，分区隔离使周期抖动减少84.5%，尾部延迟误差近乎降低一个量级（p99抖动从69.0 μs降至7.8 μs），彻底消除超过50 μs的异常波动。
原文摘要 · Abstract (English)
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.
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