| 1. |
- Behnam, Moris
(author)
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Hierarchical Real Time Scheduling and Synchronization
- 2008
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Licentiate thesis (other academic/artistic)abstract
- The Hierarchical Scheduling Framework (HSF) has been introduced to enable compositional schedulability analysis and execution of embedded software systems with real-time constraints. In this thesis, we consider a system consisting of a number of semi-independent components called subsystems, and these subsystems are allowed to share logical resources. The HSF provides CPU-time to the subsystems and it guarantees that the individual subsystems respect their allocated CPU budgets. However, if subsystems are allowed to share logical resources, extra complexity with respect to analysis and run-time mechanisms is introduced. In this thesis we address three issues related to hierarchical scheduling of semi-independent subsystems. In the first part, we investigate the feasibility of implementing the hierarchical scheduling framework in a commercial operating system, and we present the detailed figures of various key properties with respect to the overhead of the implementation. In the second part, we studied the problem of supporting shared resources in a hierarchical scheduling framework and we propose two different solutions to support resource sharing. The first proposed solution is called SIRAP, a synchronization protocol for resource sharing in hierarchically scheduled open real-time systems, and the second solution is an enhanced overrun mechanism. In the third part, we present a resource efficient approach to minimize system load (i.e., the collective CPU requirements to guarantee the schedulability of hierarchically scheduled subsystems). Our work is motivated from a tradeoff between reducing resource locking times and reducing system load. We formulate an optimization problem that determines the resource locking times of each individual subsystem with the goal of minimizing the system load subject to system schedulability. We present linear complexity algorithms to find an optimal solution to the problem, and we prove their correctness
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| 2. |
- Behnam, Moris, et al.
(author)
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Overrun Methods for Semi-Independent Real-Time Hierarchical Scheduling
- 2009
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Reports (other academic/artistic)abstract
- The Hierarchical Scheduling Framework (HSF) has been introduced as a design-time framework to enable compositional schedulability analysis of embedded software systems with real-time properties. In this paper a software system consists of a number of semi-independent components called subsystems. Subsystems are developed independently and later integrated to form a system. To support this design process, in the paper, the proposed methods allow non-intrusive configuration and tuning of subsystem timing-behaviour via subsystem interfaces for selecting scheduling parameters. This paper considers three methods to handle overruns due to resource sharing between subsystems in the HSF. For each one of these three overrun methods corresponding scheduling algorithms The work in this paper is supported by the Swedish Foundation for Strategic Research (SSF), via the research programme PROGRESS. and associated schedulability analysis are presented together with analysis that shows under what circumstances one or the other is preferred. The analysis is generalized to allow for both Fixed Priority Scheduling (FPS) and Earliest Deadline First (EDF) scheduling. Also, a further contribution of the paper is the technique of calculating resource-holding times within the framework under different scheduling algorithms. The resource holding times being an important parameter in the global schedulability analysis.
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| 3. |
- Behnam, Moris, et al.
(author)
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SIRAP: A Global Resource Sharing Protocol Facilitating Integration of Semi-independent Real-Time Systems
- 2007
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Reports (other academic/artistic)abstract
- This paper presents a protocol for resource sharing in a hierarchical real-time scheduling framework. Together, the protocol and the scheduling framework significantly reduce the efforts and errors associated with integrating multiple semi-independent subsystems on a single processor. Thus, our proposed techniques facilitate modern software development processes, where subsystems are developed by independent teams (or subcontractors) and at a later stage integrated into a single product. Using our solution, a subsystem need not know, and is not dependent on, the timing behaviour of other subsystems; even though they share mutually exclusive resources. In this paper we also prove the correctness of our approach and evaluate its efficiency.
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| 4. |
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| 5. |
- Nemati, Farhang, et al.
(author)
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A Framework for Real-Time Systems Migration to Multi-Cores
- 2009
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Reports (other academic/artistic)abstract
- Power consumption and thermal problems limit a further increase of speed in single-core processors. Processor architects are therefore moving toward multicore processors. However, a shift to multi-core processors is a big challenge for developers of embedded real-time systems, especially considering existing “legacy†systems which have been developed with single-core processor assumptions. These systems have been developed and maintained by many developers over many years, and cannot easily be replaced due to the huge development investments they represent. In this paper we investigate challenges of migrating complex legacy real-time systems to multi-core architectures. We propose a partitioning algorithm to prepare the migration. Partitioning groups task and maps them to the different cores on the multicore processor, increasing system performance while ensuring correctness. We have run experiments that compare outputs of the algorithm to the outputs of an exhaustive search. Based on a cost function, the algorithm produces systems very close to optimal partitioning with respect to the cost function.
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| 6. |
- Nolte, Thomas, et al.
(author)
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Introducing Substitution-Queries in Distributed Real-Time Database Management Systems
- 2005
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In: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 9780780394025 ; , s. 707-714
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Conference paper (other academic/artistic)abstract
- This paper introduces query mechanisms that allow automotive control-systems (using a distributed real-time database management system(RTDBMS)) to be queried, monitored and stimulated during run-time without violating its temporal properties. The mechanisms are completely transparent to the control application since they are handled by the RTDBMS. The COMET RTDBMS is extended with ad hoc capabilities to support the introduction of subscription and substitution queries, which are used for monitoring and stimulation. These queries are intended to be used by service and calibration tools to help in the development and maintenance of modern automotive systems. Using these queries could reduce development costs, result in higher quality of the system design and consequently yield higher reliability.
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| 7. |
- Nolte, Thomas, 1977-
(author)
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Share-Driven Scheduling of Embedded Networks
- 2006
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Doctoral thesis (other academic/artistic)abstract
- Many products are built from more or less independently developed subsystems. For instance, a car consists of subsystems for transmission, braking, suspension, etc. These subsystems are frequently controlled by an embedded computer system. In the automotive industry, as well as in other application domains, there is currently a trend from an approach where subsystems have dedicated computer hardware and other resources (a federated approach) to an approach where subsystems share hardware and other resources (an integrated approach). This is motivated by a strong pressure to reduce product cost, at the same time as an increasing number of subsystems are being introduced.When integrating subsystems, it is desirable that guarantees valid before integration are also valid after integration, since this would eliminate the need for costly reverifications. The computer network is a resource that is typically shared among all subsystems. Hence, a central issue when integrating subsystems is to provide an efficient scheduling of message transmissions on the network. There are essentially three families of schedulers that can be used: priority-driven schedulers that assign priorities to messages, time-driven schedulers that assign specific time-slots for transmission of specific messages, and share-driven schedulers that assign shares of the available network capacity to groups of messages.This thesis presents a framework for share-driven scheduling, to be implemented and used in embedded networks, with the aim to facilitate subsystem integration by reducing the risk of interference between subsystems. The framework is applied in the automotive domain.The initial parts of the thesis give an overview of systems, subsystems and network technologies found and used in the automotive domain. Then, the share-driven scheduling framework is presented, analytically investigated and proven, as well as evaluated in a simulation study. Finally it is shown how the framework is to be configured and used in the context of subsystem integration. The results show that the framework allows for flexible and efficient scheduling of messages with real-time constraints, facilitating integration of subsystems from a network point of view.
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| 8. |
- Shin, Insik, et al.
(author)
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On Optimal Hierarchical Resource Sharing in Open Environments
- 2008
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Reports (other academic/artistic)abstract
- This paper presents a new perspective in the context of supporting logical resource sharing under hierarchical scheduling. Our work is motivated from a tradeoff between reducing resource holding times and reducing system load (i.e., the collective processor requirements to guarantee the schedulability of hierarchical scheduling frameworks). We formulate an optimization problem that determines the resource holding times of each individual tasks (and therefore those of subsystems) with the goal of minimizing the system load subject to the system's schedulability. We present efficient algorithms to find an optimal solution to the problem, and we prove their correctness.
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| 9. |
- Åkerholm, Mikael, et al.
(author)
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The SaveCCM Language Reference Manual
- 2007
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Reports (other academic/artistic)abstract
- This language reference describes the syntax and semantics of SaveCCM, acomponent modeling language for embedded systems designed with vehicle applications and safety concerns in focus. The SaveCCM component model wasdefined within the SAVE project. The SAVE components are influenced mainlyby the Rubus component technology, with a switch concept similar to thatin Koala. The semantics is defined by a transformation into timed automatawith tasks, a formalism that explicitly models timing and real-time task scheduling.The purpose of this document is to describe a semantics of the SAVE component modeling language, which can be used to describe timing and functional behavior of components. The model of a system is in some cases an over approximation of the actual system behavior. An implementation of a model can resolve non-determinism e.g. by merging tasks or assigning a scheduling policy (such as static scheduling or fixed priority, preemptive or not) that will resolvethe non-determinism.
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