Online intra-task device scheduling for hard real-time systems

A large part of power dissipation in a system is generated by I/O devices. Increasingly these devices provide power saving mechanisms, inter alia to enhance battery life. While I/O device scheduling has been studied in the past for realtime systems, the use of energy resources by these scheduling algorithms may be improved. These approaches are crafted considering a very large overhead of device transitions. Technology enhancements have allowed the hardware vendors to reduce the device transition overhead and energy consumption. We propose an intra-task device scheduling algorithm for real time systems that allows to shut-down devices while ensuring system schedulability. Our results show an energy gain of up to 90% when compared to the techniques proposed in the state-of-the-art.

Partitioned scheduling of multimode systems on multiprocessor platforms: when to do the mode transition?

Systems composed of distinct operational modes are a common necessity for embedded applications with strict timing requirements. With the emergence of multi-core platforms protocols to handle these systems are required in order to provide this basic functionality.In this work a description on the problems of creating an effective mode-transition protocol are presented and it is proven that in some cases previous single-core protocols can not be extended to handle the mode-transition in multi-core.

On the implementation of real-time slotbased task-splitting scheduling algorithms for multiprocessor systems

In this paper we discuss challenges and design principles of an implementation of slot-based tasksplitting algorithms into the Linux 2.6.34 version. We show that this kernel version is provided with the required features for implementing such scheduling algorithms. We show that the real behavior of the scheduling algorithm is very close to the theoretical. We run and discuss experiments on 4-core and 24-core machines.

Global-EDF scheduling of multimode real- time systems considering mode independent tasks

Embedded real-time systems often have to support the embedding system in very different and changing application scenarios. An aircraft taxiing, taking off and in cruise flight is one example. The different application scenarios are reflected in the software structure with a changing task set and thus different operational modes. At the same time there is a strong push for integrating previously isolated functionalities in single-chip multicore processors. On such multicores the behavior of the system during a mode change, when the systems transitions from one mode to another, is complex but crucial to get right. In the past we have investigated mode change in multiprocessor systems where a mode change requires a complete change of task set. Now, we present the first analysis which considers mode changes in multicore systems, which use global EDF to schedule a set of mode independent (MI) and mode specific (MS) tasks. In such systems, only the set of MS tasks has to be replaced during mode changes, without jeopardizing the schedulability of the MI tasks. Of prime concern is that the mode change is safe and efficient: i.e. the mode change needs to be performed in a predefined time window and no deadlines may be missed as a function of the mode change.

A compositional scheduling framework for digital avionics systems

ARINC specification 653-2 describes the interface between application software and underlying middleware in a distributed real-time avionics system. The real-time workload in this system comprises of partitions, where each partition consists of one or more processes. Processes incur blocking and preemption overheads and can communicate with other processes in the system. In this work we develop compositional techniques for automated scheduling of such partitions and processes. At present, system designers manually schedule partitions based on interactions they have with the partition vendors. This approach is not only time consuming, but can also result in under utilization of resources. In contrast, the technique proposed in this paper is a principled approach for scheduling ARINC-653 partitions and therefore should facilitate system integration.

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.

Scheduling arbitrary-deadline sporadic task systems on multiprocessors

A new algorithm is proposed for scheduling preemptible arbitrary-deadline sporadic task systems upon multiprocessor platforms, with interprocessor migration permitted. This algorithm is based on a task-splitting approach - while most tasks are entirely assigned to specific processors, a few tasks (fewer than the number of processors) may be split across two processors. This algorithm can be used for two distinct purposes: for actually scheduling specific sporadic task systems, and for feasibility analysis. Simulation- based evaluation indicates that this algorithm offers a significant improvement on the ability to schedule arbitrary- deadline sporadic task systems as compared to the contemporary state-of-art. With regard to feasibility analysis, the new algorithm is proved to offer superior performance guarantees in comparison to prior feasibility tests.

Optimal generation scheduling of wind-CSP systems in day-ahead electricity markets

This paper presents a coordination approach to maximize the total profit of wind power systems coordinated with concentrated solar power systems, having molten-salt thermal energy storage. Both systems are effectively handled by mixed-integer linear programming in the approach, allowing enhancement on the operational during non-insolation periods. Transmission grid constraints and technical operating constraints on both systems are modeled to enable a true management support for the integration of renewable energy sources in day-ahead electricity markets. A representative case study based on real systems is considered to demonstrate the effectiveness of the proposed approach. © IFIP International Federation for Information Processing 2015.

Intra-Task Device Scheduling for Real-Time Embedded Systems

An ever increasing need for extra functionality in a single embedded system demands for extra Input/Output (I/O) devices, which are usually connected externally and are expensive in terms of energy consumption. To reduce their energy consumption, these devices are equipped with power saving mechanisms. While I/O device scheduling for real-time (RT) systems with such power saving features has been studied in the past, the use of energy resources by these scheduling algorithms may be improved. Technology enhancements in the semiconductor industry have allowed the hardware vendors to reduce the device transition and energy overheads. The decrease in overhead of sleep transitions has opened new opportunities to further reduce the device energy consumption. In this research effort, we propose an intra-task device scheduling algorithm for real-time systems that wakes up a device on demand and reduces its active time while ensuring system schedulability. This intra-task device scheduling algorithm is extended for devices with multiple sleep states to further minimise the overall device energy consumption of the system. The proposed algorithms have less complexity when compared to the conservative inter-task device scheduling algorithms. The system model used relaxes some of the assumptions commonly made in the state-of-the-art that restrict their practical relevance. Apart from the aforementioned advantages, the proposed algorithms are shown to demonstrate the substantial energy savings.

Graphical tracking systems revisited: a practical approach to computer scheduling in horticulture

Graphical tracking is a technique for crop scheduling where the actual plant state is plotted against an ideal target curve which encapsulates all crop and environmental characteristics. Management decisions are made on the basis of the position of the actual crop against the ideal position. Due to the simplicity of the approach it is possible for graphical tracks to be developed on site without the requirement for controlled experimentation. Growth models and graphical tracks are discussed, and an implementation of the Richards curve for graphical tracking described. In many cases, the more intuitively desirable growth models perform sub-optimally due to problems with the specification of starting conditions, environmental factors outside the scope of the original model and the introduction of new cultivars. Accurate specification for a biological model requires detailed and usually costly study, and as such is not adaptable to a changing cultivar range and changing cultivation techniques. Fitting of a new graphical track for a new cultivar can be conducted on site and improved over subsequent seasons. Graphical tracking emphasises the current position relative to the objective, and as such does not require the time consuming or system specific input of an environmental history, although it does require detailed crop measurement. The approach is flexible and could be applied to a variety of specification metrics, with digital imaging providing a route for added value. For decision making regarding crop manipulation from the observed current state, there is a role for simple predictive modelling over the short term to indicate the short term consequences of crop manipulation.

Interior point method for long-term generation scheduling of large-scale hydrothermal systems

This paper presents an interior point method for the long-term generation scheduling of large-scale hydrothermal systems. The problem is formulated as a nonlinear programming one due to the nonlinear representation of hydropower production and thermal fuel cost functions. Sparsity exploitation techniques and an heuristic procedure for computing the interior point method search directions have been developed. Numerical tests in case studies with systems of different dimensions and inflow scenarios have been carried out in order to evaluate the proposed method. Three systems were tested, with the largest being the Brazilian hydropower system with 74 hydro plants distributed in several cascades. Results show that the proposed method is an efficient and robust tool for solving the long-term generation scheduling problem.

Scheduling in service systems: an application in the event-tourism industry

This paper deals with an event-bus tour booked by Bollywood film fans. During the tour, the participants visit selected locations of famous Bollywood films at various sites in Switzerland. Moreover, the tour includes stops for lunch and shopping. Each day, up to five buses operate the tour; for organizational reasons, two or more buses cannot stay at the same location simultaneously. The planning problem is how to compute a feasible schedule for each bus such that the total waiting time (primary objective) and the total travel time (secondary objective) are minimized. We formulate this problem as a mixed-integer linear program, and we report on computational results obtained with the Gurobi solver.