Coordinated runtime adaptations in cooperative open real-time systems

This paper proposes an one-step decentralised coordination model based on an effective feedback mechanism to reduce the complexity of the needed interactions among interdependent nodes of a cooperative distributed system until a collective adaptation behaviour is determined. Positive feedback is used to reinforce the selection of the new desired global service solution, while negative feedback discourages nodes to act in a greedy fashion as this adversely impacts on the provided service levels at neighbouring nodes. The reduced complexity and overhead of the proposed decentralised coordination model are validated through extensive evaluations.

A synchronous transition protocol with periodicity for global scheduling of multimode real-time systems on multiprocessors

We consider the global scheduling problem of multimode real-time systems upon identical multiprocessor platforms. During the execution of a multimode system, the system can change from one mode to another such that the current task set is replaced with a new task set. Thereby, ensuring that deadlines are met requires not only that a schedulability test is performed on tasks in each mode but also that (i) a protocol for transitioning from one mode to another is specified and (ii) a schedulability test for each transition is performed. In this paper, we extend the synchronous transition protocol SM-MSO in order to take into account mode-independent tasks [1], i.e., tasks of which the execution pattern must not be jeopardized by the mode changes.

Two protocols without periodicity for the global and preemptive scheduling problem of multi-mode real-time systems upon multiprocessor Platforms

We consider the problem of scheduling a multi-mode real-time system upon identical multiprocessor platforms. Since it is a multi-mode system, the system can change from one mode to another such that the current task set is replaced with a new task set. Ensuring that deadlines are met requires not only that a schedulability test is performed on tasks in each mode but also that (i) a protocol for transitioning from one mode to another is specified and (ii) a schedulability test for each transition is performed. We propose two protocols which ensure that all the expected requirements are met during every transition between every pair of operating modes of the system. Moreover, we prove the correctness of our proposed algorithms by extending the theory about the makespan determination problem.

Managing contention of software transactional memory in real-time systems

The foreseen evolution of chip architectures to higher number of, heterogeneous, cores, with non-uniform memory and non-coherent caches, brings renewed attention to the use of Software Transactional Memory (STM) as an alternative to lock-based synchronisation. However, STM relies on the possibility of aborting conflicting transactions to maintain data consistency, which impacts on the responsiveness and timing guarantees required by real-time systems. In these systems, contention delays must be (efficiently) limited so that the response times of tasks executing transactions are upperbounded and task sets can be feasibly scheduled. In this paper we defend the role of the transaction contention manager to reduce the number of transaction retries and to help the real-time scheduler assuring schedulability. For such purpose, the contention management policy should be aware of on-line scheduling information.

Simulation relations, interface complexity, and resource optimality for real-time hierachical systems

Compositional schedulability analysis of hierarchical realtime systems is a well-studied problem. Various techniques have been developed to abstract resource requirements of components in such systems, and schedulability has been addressed using these abstract representations (also called component interfaces). These approaches for compositional analysis incur resource overheads when they abstract components into interfaces. In this talk, we define notions of resource schedulability and optimality for component interfaces, and compare various approaches.

Implementing multicore real-time scheduling algorithms based on task splitting using ada 2012

Multiprocessors, particularly in the form of multicores, are becoming standard building blocks for executing reliable software. But their use for applications with hard real-time requirements is non-trivial. Well-known realtime scheduling algorithms in the uniprocessor context (Rate-Monotonic [1] or Earliest-Deadline-First [1]) do not perform well on multiprocessors. For this reason the scientific community in the area of real-time systems has produced new algorithms specifically for multiprocessors. In the meanwhile, a proposal [2] exists for extending the Ada language with new basic constructs which can be used for implementing new algorithms for real-time scheduling; the family of task splitting algorithms is one of them which was emphasized in the proposal [2]. Consequently, assessing whether existing task splitting multiprocessor scheduling algorithms can be implemented with these constructs is paramount. In this paper we present a list of state-of-art task-splitting multiprocessor scheduling algorithms and, for each of them, we present detailed Ada code that uses the new constructs.

Evaluating Android OS for embedded real-time systems

Since its official public release, Android has captured the interest from companies, developers and the general audience. From that time up to now, this software platform has been constantly improved either in terms of features or supported hardware and, at the same time, extended to new types of devices different from the originally intended mobile ones. However, there is a feature that has not been explored yet - its real-time capabilities. This paper intends to explore this gap and provide a basis for discussion on the suitability of Android in order to be used in Open Real-Time environments. By analysing the software platform, with the main focus on the virtual machine and its underlying operating system environments, we are able to point out its current limitations and, therefore, provide a hint on different perspectives of directions in order to make Android suitable for these environments. It is our position that Android may provide a suitable architecture for real-time embedded systems, but the real-time community should address its limitations in a joint effort at all of the platform layers.

Online robust optimization framework for QoS guarantees in distributed soft real-time systems

In distributed soft real-time systems, maximizing the aggregate quality-of-service (QoS) is a typical system-wide goal, and addressing the problem through distributed optimization is challenging. Subtasks are subject to unpredictable failures in many practical environments, and this makes the problem much harder. In this paper, we present a robust optimization framework for maximizing the aggregate QoS in the presence of random failures. We introduce the notion of K-failure to bound the effect of random failures on schedulability. Using this notion we define the concept of K-robustness that quantifies the degree of robustness on QoS guarantee in a probabilistic sense. The parameter K helps to tradeoff achievable QoS versus robustness. The proposed robust framework produces optimal solutions through distributed computations on the basis of Lagrangian duality, and we present some implementation techniques. Our simulation results show that the proposed framework can probabilistically guarantee sub-optimal QoS which remains feasible even in the presence of random failures.

Flexible and dynamic replication control for interdependent distributed real-time embedded systems

Replication is a proven concept for increasing the availability of distributed systems. However, actively replicating every software component in distributed embedded systems may not be a feasible approach. Not only the available resources are often limited, but also the imposed overhead could significantly degrade the system’s performance. This paper proposes heuristics to dynamically determine which components to replicate based on their significance to the system as a whole, its consequent number of passive replicas, and where to place those replicas in the network. The activation of passive replicas is coordinated through a fast convergence protocol that reduces the complexity of the needed interactions among nodes until a new collective global service solution is determined.

A traffic differentiation add-on to the IEEE 802.15.4 protocol: implementation and experimental validation over a real-time operating system

The IEEE 802.15.4 is the most widespread used protocol for Wireless Sensor Networks (WSNs) and it is being used as a baseline for several higher layer protocols such as ZigBee, 6LoWPAN or WirelessHART. Its MAC (Medium Access Control) supports both contention-free (CFP, based on the reservation of guaranteed time-slots GTS) and contention based (CAP, ruled by CSMA/CA) access, when operating in beacon-enabled mode. Thus, it enables the differentiation between real-time and best-effort traffic. However, some WSN applications and higher layer protocols may strongly benefit from the possibility of supporting more traffic classes. This happens, for instance, for dense WSNs used in time-sensitive industrial applications. In this context, we propose to differentiate traffic classes within the CAP, enabling lower transmission delays and higher success probability to timecritical messages, such as for event detection, GTS reservation and network management. Building upon a previously proposed methodology (TRADIF), in this paper we outline its implementation and experimental validation over a real-time operating system. Importantly, TRADIF is fully backward compatible with the IEEE 802.15.4 standard, enabling to create different traffic classes just by tuning some MAC parameters.

Slow down or race to halt: towards managing complexity of real-time energy management decisions

Existing work in the context of energy management for real-time systems often ignores the substantial cost of making DVFS and sleep state decisions in terms of time and energy and/or assume very simple models. Within this paper we attempt to explore the parameter space for such decisions and possible constraints faced.

Real-time communications over wired/wireless PROFIBUS networks supporting inter-cell mobility

PROFIBUS is an international standard (IEC 61158, EN 50170) for factory-floor communications, with several thousands of installations worldwide. Taking into account the increasing need for mobile devices in industrial environments, one obvious solution is to extend traditional wired PROFIBUS networks with wireless capabilities. In this paper, we outline the major aspects of a hybrid wired/wireless PROFIBUS-based architecture, where most of the design options were made in order to guarantee the real-time behaviour of the overall network. We also introduce the timing unpredictability problems resulting from the co-existence of heterogeneous physical media in the same network. However, the major focus of this paper is on how to guarantee real-time communications in such a hybrid network, where nodes (and whole segments) can move between different radio cells (inter-cell mobility). Assuming a simple mobility management mechanism based on mobile nodes performing periodic radio channel assessment and switching, we propose a methodology to compute values for specific parameters that enable an optimal (minimum) and bounded duration of the handoff procedure.

Capacity sharing and stealing in dynamic server-based real-time systems

This paper proposes a dynamic scheduler that supports the coexistence of guaranteed and non-guaranteed bandwidth servers to efficiently handle soft-tasks’ overloads by making additional capacity available from two sources: (i) residual capacity allocated but unused when jobs complete in less than their budgeted execution time; (ii) stealing capacity from inactive non-isolated servers used to schedule best-effort jobs. The effectiveness of the proposed approach in reducing the mean tardiness of periodic jobs is demonstrated through extensive simulations. The achieved results become even more significant when tasks’ computation times have a large variance.

Real-time tracking and reporting of dynamic events in hierarchical wireless sensor networks

Wireless Sensor Networks (WSNs) are highly distributed systems in which resource allocation (bandwidth, memory) must be performed efficiently to provide a minimum acceptable Quality of Service (QoS) to the regions where critical events occur. In fact, if resources are statically assigned independently from the location and instant of the events, these resources will definitely be misused. In other words, it is more efficient to dynamically grant more resources to sensor nodes affected by critical events, thus providing better network resource management and reducing endto- end delays of event notification and tracking. In this paper, we discuss the use of a WSN management architecture based on the active network management paradigm to provide the real-time tracking and reporting of dynamic events while ensuring efficient resource utilization. The active network management paradigm allows packets to transport not only data, but also program scripts that will be executed in the nodes to dynamically modify the operation of the network. This presumes the use of a runtime execution environment (middleware) in each node to interpret the script. We consider hierarchical (e.g. cluster-tree, two-tiered architecture) WSN topologies since they have been used to improve the timing performance of WSNs as they support deterministic medium access control protocols.

Handling QoS dependencies in distributed cooperative real-time systems

Due to the growing complexity and adaptability requirements of real-time embedded systems, which often exhibit unrestricted inter-dependencies among supported services and user-imposed quality constraints, it is increasingly difficult to optimise the level of service of a dynamic task set within an useful and bounded time. This is even more difficult when intending to benefit from the full potential of an open distributed cooperating environment, where service characteristics are not known beforehand. This paper proposes an iterative refinement approach for a service’s QoS configuration taking into account services’ inter-dependencies and quality constraints, and trading off the achieved solution’s quality for the cost of computation. Extensive simulations demonstrate that the proposed anytime algorithm is able to quickly find a good initial solution and effectively optimises the rate at which the quality of the current solution improves as the algorithm is given more time to run. The added benefits of the proposed approach clearly surpass its reducedoverhead.