research-article

SkyBridge: Fast and Secure Inter-Process Communication for Microkernels

Authors:

Xinran Wang, and

Haibo ChenAuthors Info & Claims

EuroSys '19: Proceedings of the Fourteenth EuroSys Conference 2019

March 2019

Article No.: 9, Pages 1 - 15

https://doi.org/10.1145/3302424.3303946

Published: 25 March 2019 Publication History

Abstract

Microkernels have been extensively studied over decades. However, IPC (Inter-Process Communication) is still a major factor of runtime overhead, where fine-grained isolation usually leads to excessive IPCs. The main overhead of IPC comes from the involvement of the kernel, which includes the direct cost of mode switches and address space changes, as well as indirect cost due to the pollution of processor structures.

In this paper, we present SkyBridge, a new communication facility designed and optimized for synchronous IPC in microkernels. SkyBridge requires no involvement of kernels during communication and allows a process to directly switch to the virtual address space of the target process and invoke the target function. SkyBridge retains the traditional virtual address space isolation and thus can be easily integrated into existing microkernels. The key idea of SkyBridge is to leverage a commodity hardware feature for virtualization (i.e., VMFUNC) to achieve efficient IPC. To leverage the hardware feature, SkyBridge inserts a tiny virtualization layer (Rootkernel) beneath the original microkernel (Subkernel). The Rootkernel is carefully designed to eliminate most virtualization overheads. SkyBridge also integrates a series of techniques to guarantee the security properties of IPC.

We have implemented SkyBridge on three popular open-source microkernels (seL4, Fiasco.OC, and Google Zircon). The evaluation results show that SkyBridge improves the speed of IPC by 1.49x to 19.6x for microbenchmarks. For real-world applications (e.g., SQLite3 database), SkyBridge improves the throughput by 81.9%, 1.44x and 9.59x for the three microkernels on average.

References

[1]

The fiasco.oc microkernel. https://os.inf.tu-dresden.de/fiasco/.

[2]

Intel 64 and ia-32 architectures software developer's manual volume 3c. https://software.intel.com/en-us/articles/intel-sdm.

[3]

sel4 benchmark results. http://sel4.systems/About/Performance/.

[4]

Sqlite3. https://www.sqlite.org/index.html.

[5]

The zircon microkernel. https://fuchsia.googlesource.com/zircon.

[6]

Paul Barham, Boris Dragovic, Keir Fraser, Steven Hand, Timothy L. Harris, Alex Ho, Rolf Neugebauer, Ian Pratt, and Andrew Warfield. Xen and the art of virtualization. In Proceedings of the ACM 19th Symposium on Operating Systems Principles, volume 37, pages 164--177, 2003.

Digital Library

[7]

Adam Belay, Andrea Bittau, Ali José Mashtizadeh, David Terei, David Maziéres, and Christoforos E. Kozyrakis. Dune: safe user-level access to privileged cpu features. In Proceedings of the 10th USENIX conference on Operating Systems Design and Implementation, pages 335--348, 2012.

Digital Library

[8]

Brian N. Bershad, Thomas E. Anderson, Edward D. Lazowska, and Henry M. Levy. Lightweight remote procedure call. ACM Transactions on Computer Systems, 8(1):37--55, 1990.

Digital Library

[9]

Brian N. Bershad, Stefan Savage, Przemyslaw Pardyak, Emin Gün Sirer, Marc E. Fiuczynski, David Becker, Craig Chambers, and Susan J. Eggers. Extensibility safety and performance in the spin operating system. In Proceedings of the ACM 15th Symposium on Operating Systems Principles, volume 29, pages 267--283, 1995.

Digital Library

[10]

Xen Project Blog. Stealthy monitoring with xen altp2m. https://blog.xenproject.org/2016/04/13/stealthy-monitoring-with-xen-altp2m.

[11]

Miguel Castro, Manuel Costa, Jean-Philippe Martin, Marcus Peinado, Periklis Akritidis, Austin Donnelly, Paul Barham, and Richard Black. Fast byte-granularity software fault isolation. In Proceedings of the ACM 22nd Symposium on Operating Systems Principles, pages 45--58, 2009.

Digital Library

[12]

Jeffrey S. Chase, Henry M. Levy, Michael J. Feeley, and Edward D. Lazowska. Sharing and protection in a single-address-space operating system. ACM Transactions on Computer Systems, 12(4):271--307, 1994.

Digital Library

[13]

Haibo Chen, Rong Chen, Fengzhe Zhang, Binyu Zang, and Pen-Chung Yew. Live updating operating systems using virtualization. In Proceedings of the 2nd international conference on Virtual execution environments, pages 35--44. ACM, 2006.

Digital Library

[14]

Haibo Chen, Jie Yu, Chengqun Hang, Binyu Zang, and Pen-Chung Yew. Dynamic software updating using a relaxed consistency model. IEEE Transactions on Software Engineering, 37(5):679--694, 2011.

Digital Library

[15]

Haogang Chen, Daniel Ziegler, Tej Chajed, Adam Chlipala, M. Frans Kaashoek, and Nickolai Zeldovich. Using crash hoare logic for certifying the fscq file system. In Proceedings of the ACM 25th Symposium on Operating Systems Principles, pages 18--37, 2015.

Digital Library

[16]

Yaohui Chen, Sebassujeen Reymondjohnson, Zhichuang Sun, and Long Lu. Shreds: Fine-grained execution units with private memory. In 2016 IEEE Symposium on Security and Privacy (SP), pages 56--71, 2016.

[17]

Raymond K Clark, E Douglas Jensen, and Franklin D Reynolds. An architectural overview of the alpha real-time distributed kernel. In Proceedings of the USENIX Workshop on Micro-kernels and other Kernel Architectures, pages 27--28, 1992.

Digital Library

[18]

Nathan Dautenhahn, Theodoros Kasampalis, Will Dietz, John Criswell, and Vikram Sadanand Adve. Nested kernel: An operating system architecture for intra-kernel privilege separation. In Proceedings of the 20th International Conference on Architectural Support for Programming Languages and Operating Systems, volume 50, pages 191--206, 2015.

Digital Library

[19]

Kevin Elphinstone and Gernot Heiser. From l3 to sel4 what have we learnt in 20 years of l4 microkernels. In Proceedings of the ACM 24th Symposium on Operating Systems Principles, pages 133--150, 2013.

Digital Library

[20]

Dawson R. Engler, Frans M. Kaashoek, and James O'Toole Jr. Exokernel: an operating system architecture for application-level resource management. In Proceedings of the ACM 15th Symposium on Operating Systems Principles, volume 29, pages 251--266, 1995.

Digital Library

[21]

Manuel Fahndrich, Mark Aiken, Chris Hawblitzel, Orion Hodson, Galen C. Hunt, James R. Larus, and Steven Levi. Language support for fast and reliable message-based communication in singularity os. In Proceedings of the 1st ACM SIGOPS/EuroSys European Conference on Computer Systems 2006, volume 40, pages 177--190, 2006.

Digital Library

[22]

Bryan Ford, Mike Hibler, Jay Lepreau, Patrick Tullmann, Godmar Back, and Stephen Clawson. Microkernels meet recursive virtual machines. In Proceedings of the 2nd USENIX Symposium on Operating Systems Design and Implementation, volume 30, pages 137--151, 1996.

Digital Library

[23]

Bryan Ford and Jay Lepreau. Evolving mach 3.0 to a migrating thread model. In Proceedings of the USENIX Winter 1994 Technical Conference on USENIX Winter 1994 Technical Conference, pages 9--9, 1994.

Digital Library

[24]

Tommaso Frassetto, Patrick Thomas Jauernig, Christopher Liebchen, and Ahmad-Reza Sadeghi. Imix: In-process memory isolation extension. In 27th USENIX Security Symposium (USENIX Security 18), pages 83--97, 2018.

Digital Library

[25]

Benjamin Gamsa, Orran Krieger, Jonathan Appavoo, and Michael Stumm. Tornado: maximizing locality and concurrency in a shared memory multiprocessor operating system. In Proceedings of the 3rd Symposium on Operating Systems Design and Implementation, pages 87--100, 1999.

Digital Library

[26]

Jayneel Gandhi, Mark D. Hill, and Michael M. Swift. Agile paging: exceeding the best of nested and shadow paging. In 2016 ACM/IEEE 43rd Annual International Symposium on Computer Architecture (ISCA), volume 44, pages 707--718, 2016.

Digital Library

[27]

David B. Golub, Randall W. Dean, Alessandro Forin, and Richard F. Rashid. Unix as an application program. Proceedings of the USENIX Summer 1990 Technical Conference on Summer Technical Conference, pages 87--95, 1990.

[28]

Per Brinch Hansen. The nucleus of a multiprogramming system. Communications of The ACM, 13(4):238--241, 1970.

Digital Library

[29]

Dan Hildebrand. An architectural overview of qnx. Proceedings of the Workshop on Microkernels and Other Kernel Architectures, pages 113--126, 1992.

Digital Library

[30]

Zhichao Hua, Dong Du, Yubin Xia, Haibo Chen, and Binyu Zang. EPTI: Efficient defence against meltdown attack for unpatched vms. In 2018 USENIX Annual Technical Conference (USENIX ATC 18), pages 255--266, 2018.

Digital Library

[31]

Galen C. Hunt and James R. Larus. Singularity: rethinking the software stack. Operating Systems Review, 41(2):37--49, 2007.

Digital Library

[32]

jandem's blog. W&oplus;x jit-code enabled in firefox. https://jandemooij.nl/blog/2015/12/29/wx-jit-code-enabled-in-firefox/.

[33]

Qin Jia, Zhiming Shen, Weijia Song, Robbert van Renesse, and Hakim Weatherspoon. Supercloud: Opportunities and challenges. Operating Systems Review, 49(1):137--141, 2015.

Digital Library

[34]

Robert Kaiser and Stephan Wagner. Evolution of the pikeos microkernel. In First International Workshop on Microkernels for Embedded Systems, page 50, 2007.

[35]

Avi Kivity, Yaniv Kamay, Dor Laor, Uri Lublin, and Anthony Liguori. kvm: the linux virtual machine monitor. In Linux Symposium, page 225, 2007.

[36]

Gerwin Klein, Kevin Elphinstone, Gernot Heiser, June Andronick, David Cock, Philip Derrin, Dhammika Elkaduwe, Kai Engelhardt, Rafal Kolanski, Michael Norrish, Thomas Sewell, Harvey Tuch, and Simon Winwood. sel4: Formal verification of an os kernel. In Proceedings of the ACM 22nd Symposium on Operating Systems Principles, pages 207--220. ACM, 2009.

Digital Library

[37]

Eric J. Koldinger, Jeffrey S. Chase, and Susan J. Eggers. Architecture support for single address space operating systems. In Proceedings of the 5th International Conference on Architectural Support for Programming Languages and Operating Systems, volume 27, pages 175--186, 1992.

Digital Library

[38]

Andreas Krall. Efficient javavm just-in-time compilation. In Parallel Architectures and Compilation Techniques, 1998. Proceedings. 1998 International Conference on, pages 205--212. IEEE, 1998.

Digital Library

[39]

Orran Krieger, Marc A. Auslander, Bryan S. Rosenburg, Robert W. Wisniewski, Jimi Xenidis, Dilma Da Silva, Michal Ostrowski, Jonathan Appavoo, Maria A. Butrico, Mark F. Mergen, Amos Waterland, and Volkmar Uhlig. K42: building a complete operating system. In Proceedings of the 1st ACM SIGOPS/EuroSys European Conference on Computer Systems 2006, volume 40, pages 133--145, 2006.

Digital Library

[40]

Chuanpeng Li, Chen Ding, and Kai Shen. Quantifying the cost of context switch. In Proceedings of the 2007 Workshop on Experimental Computer Science, pages 1--1, 2007.

Digital Library

[41]

Wenhao Li, Yubin Xia, Haibo Chen, Binyu Zang, and Haibing Guan. Reducing world switches in virtualized environment with flexible cross-world calls. In 2015 ACM/IEEE 42nd Annual International Symposium on Computer Architecture (ISCA), volume 43, pages 375--387, 2015.

Digital Library

[42]

Jochen Liedtke. Improving ipc by kernel design. In Proceedings of the ACM 14th Symposium on Operating Systems Principles, volume 27, pages 175--188, 1994.

Digital Library

[43]

Jochen Liedtke. On microkernel construction. In Proceedings of the ACM 15th Symposium on Operating Systems Principles, volume 29, pages 237--250, 1995.

Digital Library

[44]

Jochen Liedtke, Kevin Elphinstone, Sebastian Schönberg, Hermman Härtig, Gernot Heiser, Nayeem Islam, and Trent Jaeger. Achieved ipc performance (still the foundation for extensibility). In The Sixth Workshop on Hot Topics in Operating Systems, pages 28--31, 1997.

Digital Library

[45]

Moritz Lipp, Michael Schwarz, Daniel Gruss, Thomas Prescher, Werner Haas, Anders Fogh, Jann Horn, Stefan Mangard, Paul Kocher, Daniel Genkin, Yuval Yarom, and Mike Hamburg. Meltdown: reading kernel memory from user space. In 27th USENIX Security Symposium (USENIX Security 18), pages 973--990, 2018.

Digital Library

[46]

Yutao Liu, Tianyu Zhou, Kexin Chen, Haibo Chen, and Yubin Xia. Thwarting memory disclosure with efficient hypervisor-enforced intradomain isolation. In Proceedings of the 22nd ACM SIGSAC Conference on Computer and Communications Security, pages 1607--1619. ACM, 2015.

Digital Library

[47]

Michael L. Scott, Thomas J. LeBlanc, and Brian D. Marsh. Design rationale for psyche a general-purpose multiprocessor operating system. In ICPP (2), pages 255--262, 1988.

[48]

Jonathan S. Shapiro, Jonathan M. Smith, and David J. Farber. Eros: a fast capability system. In Proceedings of the ACM 17th Symposium on Operating Systems Principles, volume 34, pages 170--185, 1999.

Digital Library

[49]

Zhiming Shen, Zhen Sun, Gur-Eyal Sela, Eugene Bagdasaryan, Christina Delimitrou, Robbert Van Renesse, and Hakim Weatherspoon. X-containers: Breaking down barriers to improve performance and isolation of cloud-native containers. In ACM International Conference on Architectural Support for Programming Languages and Operating Systems, 2019.

[50]

Lei Shi, Yuming Wu, Yubin Xia, Nathan Dautenhahn, Haibo Chen, and Binyu Zang. Deconstructing xen. In 24th Network and Distributed System Security Symposium (NDSS 2017), 2017.

[51]

Livio Soares and Michael Stumm. Flexsc: flexible system call scheduling with exception-less system calls. In Proceedings of the 9th USENIX Conference on Operating Systems Design and Implementation, pages 33--46, 2010.

Digital Library

[52]

Dan Tsafrir. The context-switch overhead inflicted by hardware interrupts (and the enigma of do-nothing loops). In Proceedings of the 2007 Workshop on Experimental Computer Science, pages 3--3, 2007.

Digital Library

[53]

Anjo Vahldiek-Oberwagner, Eslam Elnikety, Deepak Garg, and Peter Druschel. Erim: Secure and efficient in-process isolation with memory protection keys. arXiv preprint arXiv:1801.06822, 2018.

[54]

Lluïs Vilanova, Muli Ben-Yehuda, Nacho Navarro, Yoav Etsion, and Mateo Valero. Codoms: protecting software with code-centric memory domains. 2014 ACM/IEEE 41st Annual International Symposium on Computer Architecture (ISCA), 42(3):469--480, 2014.

Digital Library

[55]

Lluís Vilanova, Marc Jordà, Nacho Navarro, Yoav Etsion, and Mateo Valero. Direct inter-process communication (dipc): Repurposing the codoms architecture to accelerate ipc. In Proceedings of the Twelfth European Conference on Computer Systems, pages 16--31, 2017.

Digital Library

[56]

Huaimin Wang, Peichang Shi, and Yiming Zhang. Jointcloud: A cross-cloud cooperation architecture for integrated internet service customization. In 2017 IEEE 37th International Conference on Distributed Computing Systems (ICDCS), pages 1846--1855, 2017.

[57]

Robert N.M. Watson, Robert M. Norton, Jonathan Woodruff, Simon W. Moore, Peter G. Neumann, Jonathan Anderson, David Chisnall, Brooks Davis, Ben Laurie, Michael Roe, Nirav H. Dave, Khilan Gudka, Alexandre Joannou, A. Theodore Markettos, Ed Maste, Steven J. Murdoch, Colin Rothwell, Stacey D. Son, and Munraj Vadera. Fast protection-domain crossing in the cheri capability-system architecture. IEEE Micro, 36(5):38--49, 2016.

Digital Library

[58]

Wikipedia. Kernel page-table isolation. https://en.wikipedia.org/wiki/Kernel_page-table_isolation.

[59]

Jonathan Woodruff, Robert N. M. Watson, David Chisnall, Simon W. Moore, Jonathan Anderson, Brooks Davis, Ben Laurie, Peter G. Neumann, Robert Norton, and Michael Roe. The cheri capability model: revisiting risc in an age of risk. 2014 ACM/IEEE 41st Annual International Symposium on Computer Architecture (ISCA), 42(3):457--468, 2014.

Digital Library

[60]

William A. Wulf, Ellis S. Cohen, William M. Corwin, Anita K. Jones, Roy Levin, C. Pierson, and Fred J. Pollack. Hydra: the kernel of a multiprocessor operating system. Communications of The ACM, 17(6):337--345, 1974.

Digital Library

[61]

Fengzhe Zhang, Jin Chen, Haibo Chen, and Binyu Zang. Cloudvisor: retrofitting protection of virtual machines in multi-tenant cloud with nested virtualization. In Proceedings of the ACM 23rd Symposium on Operating Systems Principles, pages 203--216, 2011.

Digital Library

[62]

Yajin Zhou, Xiaoguang Wang, Yue Chen, and Zhi Wang. Armlock: Hardware-based fault isolation for arm. In Proceedings of the 21th ACM SIGSAC Conference on Computer and Communications Security, pages 558--569, 2014.

Digital Library

[63]

Khawar M. Zuberi, Padmanabhan Pillai, and Kang G. Shin. Emeralds: a small-memory real-time microkernel. In Proceedings of the ACM 17th Symposium on Operating Systems Principles, volume 34, pages 277--299, 1999.

Digital Library

Cited By

GU JLI HXIA YGUAN HDING ZZHAO YCHEN H(2024)BrickOS: specialized kernels for heterogeneous hardware resourcesSCIENTIA SINICA Informationis10.1360/SSI-2022-041354:3(491)Online publication date: 11-Mar-2024
https://doi.org/10.1360/SSI-2022-0413
Kappes GAnastasiadis S(2023)Diciclo: Flexible User-level Services for Efficient Multitenant IsolationACM Transactions on Computer Systems10.1145/363940442:1-2(1-47)Online publication date: 30-Dec-2023
https://dl.acm.org/doi/10.1145/3639404
Bitchebe SKone YOlivier PBoukhobza JBromberg YHagimont DTchana A(2023)GuaNary: Efficient Buffer Overflow Detection In Virtualized Clouds Using Intel EPT-based Sub-Page Write Protection SupportProceedings of the ACM on Measurement and Analysis of Computing Systems10.1145/36267877:3(1-26)Online publication date: 7-Dec-2023
https://dl.acm.org/doi/10.1145/3626787
Show More Cited By

Recommendations

Linux on HP Integrity Servers
Read More
Transparently bridging semantic gap in CPU management for virtualized environments

Consolidated environments are progressively accommodating diverse and unpredictable workloads in conjunction with virtual desktop infrastructure and cloud computing. Unpredictable workloads, however, aggravate the semantic gap between the virtual ...
Read More
VMware Workstation - No Experience Necessary
Read More

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

EuroSys '19: Proceedings of the Fourteenth EuroSys Conference 2019

March 2019

714 pages

ISBN:9781450362818

DOI:10.1145/3302424

Copyright © 2019 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

SIGOPS: ACM Special Interest Group on Operating Systems

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 25 March 2019

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Qualifiers

Research-article
Research
Refereed limited

Funding Sources

the National Key R&D Program of China
the National Natural Science Foundation of China

Conference

EuroSys '19

Sponsor:

SIGOPS

EuroSys '19: Fourteenth EuroSys Conference 2019

March 25 - 28, 2019

Dresden, Germany

Acceptance Rates

Overall Acceptance Rate 241 of 1,308 submissions, 18%

Upcoming Conference

EuroSys '25

Sponsor:
sigops

Twentieth European Conference on Computer Systems

March 30 - April 3, 2025

Rotterdam , Netherlands

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

37
Total Citations
View Citations
1,478
Total Downloads

Downloads (Last 12 months)193
Downloads (Last 6 weeks)27

Other Metrics

View Author Metrics

Citations

Cited By

GU JLI HXIA YGUAN HDING ZZHAO YCHEN H(2024)BrickOS: specialized kernels for heterogeneous hardware resourcesSCIENTIA SINICA Informationis10.1360/SSI-2022-041354:3(491)Online publication date: 11-Mar-2024
https://doi.org/10.1360/SSI-2022-0413
Kappes GAnastasiadis S(2023)Diciclo: Flexible User-level Services for Efficient Multitenant IsolationACM Transactions on Computer Systems10.1145/363940442:1-2(1-47)Online publication date: 30-Dec-2023
https://dl.acm.org/doi/10.1145/3639404
Bitchebe SKone YOlivier PBoukhobza JBromberg YHagimont DTchana A(2023)GuaNary: Efficient Buffer Overflow Detection In Virtualized Clouds Using Intel EPT-based Sub-Page Write Protection SupportProceedings of the ACM on Measurement and Analysis of Computing Systems10.1145/36267877:3(1-26)Online publication date: 7-Dec-2023
https://dl.acm.org/doi/10.1145/3626787
Tchana AGoepp DBitchebe SLachaize R(2023)xOSProceedings of the 14th ACM SIGOPS Asia-Pacific Workshop on Systems10.1145/3609510.3609817(1-8)Online publication date: 24-Aug-2023
https://dl.acm.org/doi/10.1145/3609510.3609817
Li BXiang ZWang XRuan HZhou JTan K(2023)FastWake: Revisiting Host Network Stack for Interrupt-mode RDMAProceedings of the 7th Asia-Pacific Workshop on Networking10.1145/3600061.3600063(1-7)Online publication date: 29-Jun-2023
https://dl.acm.org/doi/10.1145/3600061.3600063
Yasukata KTazaki HAublin PAamodt TJerger NSwift M(2023)Exit-Less, Isolated, and Shared Access for Virtual MachinesProceedings of the 28th ACM International Conference on Architectural Support for Programming Languages and Operating Systems, Volume 310.1145/3582016.3582042(224-237)Online publication date: 25-Mar-2023
https://dl.acm.org/doi/10.1145/3582016.3582042
Fan SHua ZXia YChen HZang BSolihin YHeinrich M(2023)ISA-Grid: Architecture of Fine-grained Privilege Control for Instructions and RegistersProceedings of the 50th Annual International Symposium on Computer Architecture10.1145/3579371.3589050(1-15)Online publication date: 17-Jun-2023
https://dl.acm.org/doi/10.1145/3579371.3589050
Mi ZGuo ZHuang FChen H(2023)Hawkeye: Eliminating Kernel Address Leakage in Normal Data FlowsIEEE Transactions on Dependable and Secure Computing10.1109/TDSC.2022.319332720:4(3208-3221)Online publication date: 1-Jul-2023
https://doi.org/10.1109/TDSC.2022.3193327
Hui HMcLaughlin KSiddiqui FSezer STasdemir SSonigara B(2023)A Runtime Security Monitoring Architecture for Embedded Hypervisors2023 IEEE 36th International System-on-Chip Conference (SOCC)10.1109/SOCC58585.2023.10256735(1-6)Online publication date: 5-Sep-2023
https://doi.org/10.1109/SOCC58585.2023.10256735
Narayanan VBurtsev A(2023)The Opportunities and Limitations of Extended Page Table Switching for Fine-Grained IsolationIEEE Security and Privacy10.1109/MSEC.2023.325138521:3(16-26)Online publication date: 1-May-2023
https://dl.acm.org/doi/10.1109/MSEC.2023.3251385
Show More Cited By

View Options

Get Access

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Media

Figures

Other

Tables

View Table of Contents