Due to advances in machine intelligence and increased demands for autonomous machines, the complexity of the underlying software platform is increasing at a rapid pace, overwhelming the developers with implementation details. We attempt to ease the burden that falls onto the developers by creating a graphical programming framework we named Splash. Splash is designed to provide an effective programming abstraction for autonomous machines that require stream processing. It also enables programmers to specify genuine, end-to-end timing constraints, which the Splash framework automatically monitors for violation. By utilizing the timing constraints, Splash provides three key language semantics: timing semantics, in-order delivery semantics, and rate-controlled data-driven stream processing semantics. These three semantics together collectively serve as a conceptual tool that can hide low-level details from programmers, allowing developers to focus on the main logic of their applications. In this paper, we introduce the three-language semantics in detail and explain their function in association with Splash’s language constructs. Furthermore, we present the internal workings of the Splash programming framework and validate its effectiveness via a lane keeping assist system.

Abstract
1. 서 론
2. Splash 프로그래밍 언어
    2.1 타이밍 시맨틱과 End-to-End 타이밍 제약 조건
    2.2 Splash의 언어 구성 요소
3. 속도가 제어된 데이터 기반 스트림 프로세싱
    3.1 시맨틱스
    3.2 런타임 메커니즘
4. Splash의 도구와 런타임
    4.1 Splash를 사용한 LKAS
    4.2 Splash 도구
    4.3 Splash 런타임
5. 실 험
    5.1 검증을 위한 실험 환경과 성능 메트릭
    5.2 실험 결과
6. 관련 연구
7. 결 론
References

• 노순현(Electrical and Computer Engineering Department, Seoul National University) | Soonhyun Noh
• 홍성수(Electrical and Computer Engineering Department, Seoul National University) | Seongsoo Hong
• 김명선(IT Convergence Engineering Department, Hansung University) | Myungsun Kim Corresponding author