System Introspection for System Analysis on Mobile Devices

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(a) Average CPU load on the lower laptop(b) Average CPU load on the upper laptopFigure 7.3: Average CPU load with and without the probe activated- On the upper (b) and the lower (a) laptop the averageCPU load is higher with the probe active. The peak at thebeginning of each test shown in image b is created by theinitialization of the navigation process which consumes alot of processing power.63
8 ConclusionsIn the context of this thesis two systems were designed and implemented. Thefirst system is a probe attached to the software of a running robot system.This probe collects data of the components of the robot and publishes thisin<strong>for</strong>mation. The second system is the client receiving the data on request. Thedescribed design and the implementation allow to extend the system by usingpredefined elements. New components or changes on the existing elements canbe applied on both systems.By designing and implementing a communication interface both systems canexchange and understand data the same way. Also this interface makes theunderlying communication framework replaceable. The use of XMPP as underlyingcommunication framework offers all needed elements to support thedesigned communication interface. The only weakness here is the missing support<strong>for</strong> exchanging complex data structures (e.g. binary attachments). Forthe implementation several tests showed that even this problem could be solvedin an acceptable way (e.g. compress data to Base64). However <strong>for</strong> complexdata (e.g. video steams) the created system should only establishes a way <strong>for</strong>the communication and leave the communication itself to a better technique.The probe offers two different ways to look at the inner processes of the robot.With the live observation elements designed and implemented, the differentcomponents of the robot can published their data on request. The developercan directly monitor the output and make a decision if applied changes workas expected. Due to the possibility to receive commands from the client, eachcomponent can also change its state or how its data is published. The createdlogging cycles allow the developer to choose from the the component of therobot and to collect only data of interest. Different outputs of different componentscan be combined into one output file <strong>for</strong> further processing. Due tothe use of an threaded architecture multiple users can use the live observationor the logging cycles in parallel.Live observation and the logging cycles are presented inside correspondingviews on the client side. Using a tabbed navigation allows the developer tochoose from the different view at any time. Each view can also be used tosend a command to the corresponding component on the probe. This allows64
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Bringing System <s
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AbstractSystem <st
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output, so each component is offeri
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of the system and the decisions mad
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created a telelaboratory where two
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Like the telelaboratory there is a
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with a very high frequency which ma
Page 17 and 18: Due to improving technology the use
Page 19 and 20: Figure 4.1: ToBI platfor</s
Page 21 and 22: Figure 4.3: The architecture behind
Page 23 and 24: Figure 4.5: Typical instant messagi
Page 25 and 26: 5 System DesignThe
Page 27 and 28: Figure 5.2: Message exchange betwee
Page 29 and 30: Figure 5.4: Beacon running between
Page 31 and 32: Figure 5.5: Reading and processing
Page 33 and 34: data and only forw
Page 35 and 36: For example a developer can select
Page 37 and 38: Figure 5.13: Principle of tabbed na
Page 39 and 40: 6.1 The Communication InterfaceThe
Page 41 and 42: 6.2 The Probe - Implementation of t
Page 43 and 44: stop all active processes of the co
Page 45 and 46: is received containing the TAG of t
Page 47 and 48: The selected sensors give a good im
Page 49 and 50: 1 2 4 6 8 Listing 6.2: Example of t
Page 51 and 52: TabConfig - The Status ViewThe TabC
Page 53 and 54: Each view adds a listener to the co
Page 55 and 56: LoginController which also observes
Page 57 and 58: tends the JPanel class. The templat
Page 59 and 60: 7 EvaluationIn the previous chapter
Page 61 and 62: Name Description CharactersSingleli
Page 63 and 64: Figure 7.1: Latency of receiving da
Page 65 and 66: For this thesis only a rough estima
Page 67: Laptop CPU load without Probe CPU l
Page 71 and 72: 9 OutlookGiven this new tool its no
Page 74: BibliographyBurrell, A. and A. Soda
Page 77 and 78: 6.10 Main classes of the Java clien
Page 79 and 80: AppendixUse CasesUse Case 1: Connec
Page 81 and 82: Use Case 4: Disconnect from compone
Page 83 and 84: Use Case 9: Sending beacon to keep
Page 85 and 86: Figure 9.4: Latency of receiving da
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System Introspection for System Analysis on Mobile Devices

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