Instability – over poor network connectivity Sample Clauses

Instability – over poor network connectivity. The PEIS Kernel has been under devopment at partner ORU since many years, and the version cre- ated for the Robot-Era project was considered very stable. Despite this, some stability problems were encountered at the Italian test site. The problems manifested mainly with the two following symptoms: • Occasional unpredictable long latencies (up to many seconds) in receiving a tuple; • Occasional crashes of the PEIS Kernel in some components. These problems were never observed in the Swedish test site during the development and execution of the first exeprimental loop – neither wre they observed before. A unit test was designed by SSSA, and it was run both at the Italian test site and at the Swedish test site. The following observations were made. • The code contained some improper uses of the PEIS functionalities, which caused a unneces- sary explosion of network traffic at the PEIS Kernel level; some of these originated in errors in the PEIS documentation. • With these improper use, the unit test causes crashes both when run in the Italian test site and in the Swedish test site. • With the corrected code, the unit test could be executed for several hours without observing any crash at the Swedish test site. The test included 15 PEIS components exchanging data at 100 Hz. The test was also successfully run with the PEIS components distributed across far locations connected through a 20 Mb/sec ADSL link. • Even with the corrected code, the test still caused occasion crashes at the Italian site. The WLAN connectivity at the Italian site is rather unstable, although no quantitative data is cur- rently available. • Most crashes have been tracked to the overflow of queues used to resend failed messages. This led to the following conclusions and recommendations. • The PEIS Tutorial should be corrected, and it should be extended to include a section on good programming practices with the PEIS Kernel. • The PEIS Middleware is very stable over good network connectivity, but its stability over erratic behavior of the underlying network must be improved.
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