Example WDF Circuit Model chowdsp_wdf wd_models RT-WDF LPF-2 0.3319 0.7685 3.141 FF-2 2.035 2.083 11.538 Diode Clipper 1.905 5.756 N/A Bassman Tone Stack 0.6576 0.7411 7.92 Baxandall EQ 1.184 1.021 We can construct a model of this circuit using a wave digital voltage source, resistor, and capacitor, all connected with a series adaptor. Real-Time Circuit Simulation with Wave Digital Filters in C++ sound-processing algorithms. Given that audio effects are typically required to run in “real-time”, traditional circuit modelling softwares (e.g. LTSpice) are typically not suitable for this purpose. Wave

Inc.iZotope real-time audio plug-ins | music, film, television, and radio iZotope Inc.iZotope real-time audio plug-ins | music, film, television, and radio iZotope Inc.iZotope real-time audio plug-ins plug-ins | music, film, television, and radio iZotope Inc.iZotope real-time audio plug-ins | music, film, television, and radio iZotope Inc.Glass Properties Making a legacy run-time system compile-time safe - Hosts can call us from any thread - Each host may do this this differently Challenges for real-time audio plug-ins Confidential property of iZotope Inc.Canvas (ca. 2002)JUCE (ca. 2004) Canvas

allow for the creation and management of task graphs - Large-scale circuit simulation workload • State-of-the-art CPU-GPU circuit simulator, RTLflow 75Experimental Results – Microbenchmarks (a) Linear Fixed-runtime task Both Taro and Boost::Fiber achieve the best results 80Experimental Results – Circuit Simulation Workload Evaluate design Set inputs Evaluate design Set inputs CPU operation GPU operation operation … … … A task graph that consists of multiple parallel lines 81Experimental Results – Circuit Simulation Workload Taro achieve 1.7x speed-up over the state-of-the-art simulator RTLflow Achieved

approach (SIL). Events can be: a. Sending/receiving a message b. A timer that expired 6. Test simulation scenarios in the CI© 2023 Apex.AI, Inc. | All rights reserved. Apex.AI, Apex.OS, Apex.Grace, not suitable for hard real time systems These changes are needed to bridge this gap to enable real-time behavior What is missing?© 2023 Apex.AI, Inc. | All rights reserved. Apex.AI, Apex.OS, Apex.Grace What is missing? 14 ROS is not actively tested against a real-time operating system (RTOS) on production grade ECUs, thus its real-time suitability is not guaranteed. To the contrary, the ROS implementation

Establishing a culture of safety at scale56 Aurora Innovation Custom comparison rules Language Agnostic Real-Time Feedback 3.8 Actual value Version v5.1 3.9 Previous value Version v2.0 Value passes minimum to developer feedback cycles. Track the effectiveness of existing testing practices. Extract real-time insights about software development life- cycle.68 Aurora Innovation Learning what to test Good Integration Tests Simulation Tests Perception Scenarios Hardware-in-The-Loop Tests On-vehicle Tests75 Aurora Innovation Simulation Tests 60,000 CPUs utilized each hour 6 million Simulation runs per day

implemen- tation. With support for both WebSocket and Server-Sent Events (SSE), Falcon facilitates real-time, event-oriented commu- nication between an ASGI application and a web browser, mobile app, or other generic HTTP status. Raise an instance of this class from a hook, middleware, or responder to short-circuit request processing in a manner similar to falcon.HTTPError, but for non-error status codes. Parameters Release 3.0.0b2 Short-Circuiting A process_request or process_resource middleware method may short-circuit further request processing by setting falcon.Response.complete to True, e.g.: resp.complete = True

implemen- tation. With support for both WebSocket and Server-Sent Events (SSE), Falcon facilitates real-time, event-oriented commu- nication between an ASGI application and a web browser, mobile app, or other generic HTTP status. Raise an instance of this class from a hook, middleware, or responder to short-circuit request processing in a manner similar to falcon.HTTPError, but for non-error status codes. Parameters process_response Short-Circuiting A process_request or process_resource middleware method may short-circuit further request processing by setting falcon.Response.complete to True, e.g.: resp.complete = True

implemen- tation. With support for both WebSocket and Server-Sent Events (SSE), Falcon facilitates real-time, event-oriented commu- nication between an ASGI application and a web browser, mobile app, or other generic HTTP status. Raise an instance of this class from a hook, middleware, or responder to short-circuit request processing in a manner similar to falcon.HTTPError, but for non-error status codes. Parameters process_response Short-Circuiting A process_request or process_resource middleware method may short-circuit further request processing by setting falcon.Response.complete to True, e.g.: resp.complete = True

implemen- tation. With support for both WebSocket and Server-Sent Events (SSE), Falcon facilitates real-time, event-oriented commu- nication between an ASGI application and a web browser, mobile app, or other generic HTTP status. Raise an instance of this class from a hook, middleware, or responder to short-circuit request processing in a manner similar to falcon.HTTPError, but for non-error status codes. Parameters process_response Short-Circuiting A process_request or process_resource middleware method may short-circuit further request processing by setting falcon.Response.complete to True, e.g.: resp.complete = True

implemen- tation. With support for both WebSocket and Server-Sent Events (SSE), Falcon facilitates real-time, event-oriented commu- nication between an ASGI application and a web browser, mobile app, or other generic HTTP status. Raise an instance of this class from a hook, middleware, or responder to short-circuit request processing in a manner similar to falcon.HTTPError, but for non-error status codes. Parameters Release 3.1.1b3 Short-Circuiting A process_request or process_resource middleware method may short-circuit further request processing by setting falcon.Response.complete to True, e.g.: resp.complete = True