{"id":"https://openalex.org/W7160406998","doi":"https://doi.org/10.48550/arxiv.2605.03641","title":"Jiao: Bridging Isolation and Customization in Mixed Criticality Robotics","display_name":"Jiao: Bridging Isolation and Customization in Mixed Criticality Robotics","publication_year":2026,"publication_date":"2026-05-05","ids":{"openalex":"https://openalex.org/W7160406998","doi":"https://doi.org/10.48550/arxiv.2605.03641"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.03641","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.03641","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.03641","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5121259042","display_name":"James Yen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yen, James","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076770034","display_name":"Zhibai Huang","orcid":"https://orcid.org/0000-0002-8883-5269"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Zhibai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039998730","display_name":"Zhixiang Wei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Zhixiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135522272","display_name":"Tinghao Yi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi, Tinghao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035368650","display_name":"Shupeng Zeng","orcid":"https://orcid.org/0000-0002-2923-0788"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Shupeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135490009","display_name":"Liang Pang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pang, Liang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135424870","display_name":"Songtao Xue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xue, Songtao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135467182","display_name":"Zhengwei Qi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qi, Zhengwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.6504999995231628,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.6504999995231628,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10904","display_name":"Embedded Systems Design Techniques","score":0.13699999451637268,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12216","display_name":"Network Time Synchronization Technologies","score":0.03799999877810478,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6036999821662903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5361999869346619},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.5353999733924866},{"id":"https://openalex.org/keywords/personalization","display_name":"Personalization","score":0.5350000262260437},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.48820000886917114},{"id":"https://openalex.org/keywords/mixed-criticality","display_name":"Mixed criticality","score":0.4246000051498413},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.41769999265670776},{"id":"https://openalex.org/keywords/multi-core-processor","display_name":"Multi-core processor","score":0.41110000014305115},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.40610000491142273},{"id":"https://openalex.org/keywords/service-oriented-architecture","display_name":"Service-oriented architecture","score":0.3646000027656555}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6187000274658203},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6036999821662903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5361999869346619},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.5353999733924866},{"id":"https://openalex.org/C183003079","wikidata":"https://www.wikidata.org/wiki/Q1000371","display_name":"Personalization","level":2,"score":0.5350000262260437},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.48820000886917114},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4586000144481659},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.45649999380111694},{"id":"https://openalex.org/C2781124451","wikidata":"https://www.wikidata.org/wiki/Q6883956","display_name":"Mixed criticality","level":3,"score":0.4246000051498413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42260000109672546},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.41769999265670776},{"id":"https://openalex.org/C78766204","wikidata":"https://www.wikidata.org/wiki/Q555032","display_name":"Multi-core processor","level":2,"score":0.41110000014305115},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.40610000491142273},{"id":"https://openalex.org/C57041688","wikidata":"https://www.wikidata.org/wiki/Q220644","display_name":"Service-oriented architecture","level":3,"score":0.3646000027656555},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.359499990940094},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.34540000557899475},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34380000829696655},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.3418000042438507},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.32580000162124634},{"id":"https://openalex.org/C2778814252","wikidata":"https://www.wikidata.org/wiki/Q5156715","display_name":"Composability","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3147999942302704},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C134652429","wikidata":"https://www.wikidata.org/wiki/Q1052698","display_name":"Jitter","level":2,"score":0.3075000047683716},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3041999936103821},{"id":"https://openalex.org/C147358964","wikidata":"https://www.wikidata.org/wiki/Q1200992","display_name":"Abstraction layer","level":3,"score":0.2985000014305115},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.29809999465942383},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2883000075817108},{"id":"https://openalex.org/C2778787235","wikidata":"https://www.wikidata.org/wiki/Q49007","display_name":"Yarn","level":2,"score":0.28630000352859497},{"id":"https://openalex.org/C2777986313","wikidata":"https://www.wikidata.org/wiki/Q1661989","display_name":"Industry 4.0","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C125611927","wikidata":"https://www.wikidata.org/wiki/Q17008131","display_name":"Criticality","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C48105269","wikidata":"https://www.wikidata.org/wiki/Q1141160","display_name":"Header","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C72414096","wikidata":"https://www.wikidata.org/wiki/Q1367461","display_name":"Mass customization","level":3,"score":0.27300000190734863},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.272599995136261},{"id":"https://openalex.org/C5941749","wikidata":"https://www.wikidata.org/wiki/Q19768","display_name":"Machine tool","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C2775941552","wikidata":"https://www.wikidata.org/wiki/Q25212305","display_name":"Isolation (microbiology)","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2540999948978424},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.03641","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.03641","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.03641","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.03641","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Consumer":[0],"robotics":[1],"demands":[2],"consolidation":[3],"of":[4,105],"safety-critical":[5],"control,":[6],"perception":[7],"pipelines,":[8],"and":[9,96],"user":[10],"applications":[11],"on":[12,82],"shared":[13],"multicore":[14],"platforms.":[15],"While":[16],"static":[17],"partitioning":[18],"hypervisors":[19],"provide":[20],"hardware-enforced":[21],"isolation,":[22],"directly":[23],"transplanting":[24],"automotive":[25],"architectures":[26],"encounters":[27],"an":[28,48,83,103],"expertise":[29],"asymmetry":[30],"problem":[31],"in":[32],"which":[33],"end-users":[34],"modifying":[35],"robot":[36],"behavior":[37],"lack":[38],"the":[39],"systems":[40],"knowledge":[41],"that":[42,88],"platform":[43,86],"developers":[44],"possess.":[45],"We":[46],"present":[47],"architecture":[49],"addressing":[50],"this":[51],"challenge":[52],"through":[53],"three":[54],"integrated":[55],"components.":[56],"A":[57,65,72],"Safe":[58],"IO":[59],"Cell":[60],"provides":[61],"hardware-level":[62],"override":[63],"capability.":[64],"Parameter":[66],"Synchronization":[67],"Service":[68],"encapsulates":[69],"cross-domain":[70],"complexity.":[71],"Safety":[73],"Communication":[74],"Layer":[75],"implements":[76],"IEC~61508-aligned":[77],"verification.":[78],"Our":[79],"empirical":[80],"evaluation":[81],"ARM":[84],"Cortex-A55":[85],"demonstrates":[87],"partition":[89],"isolation":[90],"reduces":[91],"cycle-period":[92],"jitter":[93],"by":[94,101],"84.5\\%":[95],"cuts":[97],"tail":[98],"timing":[99],"error":[100],"nearly":[102],"order":[104],"magnitude":[106],"(p99":[107],"$|$jitter$|$":[108],"from":[109],"69.0\\,$\u03bc$s":[110],"to":[111],"7.8\\,$\u03bc$s),":[112],"eliminating":[113],"all":[114],"$&gt;$50\\,$\u03bc$s~excursions.":[115]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-07T00:00:00"}
