Resource sharing in global fixed-priority preemptive multiprocessor scheduling

In this paper we consider global fixed-priority preemptive multiprocessor scheduling of constrained-deadline sporadic tasks that share resources in a non-nested manner. We develop a novel resource-sharing protocol and a corresponding schedulability test for this system. We also develop the first schedulability analysis of priority inheritance protocol for the aforementioned system. Finally, we show that these protocols are efficient (based on the developed schedulability tests) for a class of priority-assignments called reasonable priority-assignments.

A vision of cyber-physical internet

When the Internet was born, the purpose was to interconnect computers to share digital data at large-scale. On the other hand, when embedded systems were born, the objective was to control system components under real-time constraints through sensing devices, typically at small to medium scales. With the great evolution of the Information and Communication Technology (ICT), the tendency is to enable ubiquitous and pervasive computing to control everything (physical processes and physical objects) anytime and at a large-scale. This new vision gave recently rise to the paradigm of Cyber-Physical Systems (CPS). In this position paper, we provide a realistic vision to the concept of the Cyber-Physical Internet (CPI), discuss its design requirements and present the limitations of the current networking abstractions to fulfill these requirements. We also debate whether it is more productive to adopt a system integration approach or a radical design approach for building large-scale CPS. Finally, we present a sample of realtime challenges that must be considered in the design of the Cyber-Physical Internet.

Scheduling sporadic tasks on multiprocessors with mutual exclusion constraints

Consider the problem of scheduling sporadic tasks on a multiprocessor platform under mutual exclusion constraints. We present an approach which appears promising for allowing large amounts of parallel task executions and still ensures low amounts of blocking.

The utilization bound of non-preemptive rate-monotonic scheduling in controller area networks is 25%

Consider a distributed computer system comprising many computer nodes, each interconnected with a controller area network (CAN) bus. We prove that if priorities to message streams are assigned using rate-monotonic (RM) and if the requested capacity of the CAN bus does not exceed 25% then all deadlines are met.

Provably good multiprocessor scheduling with resource sharing

We present a 12(1 + 3R/(4m)) competitive algorithm for scheduling implicit-deadline sporadic tasks on a platform comprising m processors, where a task may request one of R shared resources.

Finding an upper bound on the increase in execution time due to contention on the memory bus in COTS-based multicore systems

Contention on the memory bus in COTS based multicore systems is becoming a major determining factor of the execution time of a task. Analyzing this extra execution time is non-trivial because (i) bus arbitration protocols in such systems are often undocumented and (ii) the times when the memory bus is requested to be used are not explicitly controlled by the operating system scheduler; they are instead a result of cache misses. We present a method for finding an upper bound on the extra execution time of a task due to contention on the memory bus in COTS based multicore systems. This method makes no assumptions on the bus arbitration protocol (other than assuming that it is work-conserving).

Efficient computation of min and max sensor values in multihop networks

Consider a wireless sensor network (WSN) where a broadcast from a sensor node does not reach all sensor nodes in the network; such networks are often called multihop networks. Sensor nodes take individual sensor readings, however, in many cases, it is relevant to compute aggregated quantities of these readings. In fact, the minimum and maximum of all sensor readings at an instant are often interesting because they indicate abnormal behavior, for example if the maximum temperature is very high then it may be that a fire has broken out. In this context, we propose an algorithm for computing the min or max of sensor readings in a multihop network. This algorithm has the particularly interesting property of having a time complexity that does not depend on the number of sensor nodes; only the network diameter and the range of the value domain of sensor readings matter.

Assigning real-time tasks on heterogeneous multiprocessors with two types of processors

Consider the problem of scheduling a set of implicitdeadline sporadic tasks on a heterogeneous multiprocessor so as to meet all deadlines. Tasks cannot migrate and the platform is restricted in that each processor is either of type-1 or type-2 (with each task characterized by a different speed of execution upon each type of processor). We present an algorithm for this problem with a timecomplexity of O(n·m), where n is the number of tasks and m is the number of processors. It offers the guarantee that if a task set can be scheduled by any non-migrative algorithm to meet deadlines then our algorithm meets deadlines as well if given processors twice as fast. Although this result is proven for only a restricted heterogeneous multiprocessor, we consider it significant for being the first realtime scheduling algorithm to use a low-complexity binpacking approach to schedule tasks on a heterogeneous multiprocessor with provably good performance.

A pseudo-medium-wide 8-competitive interface for two-level compositional real-time scheduling of constrained- deadline sporadic tasks on a uniprocessor

Compositional real-time scheduling clearly requires that ”normal” real-time scheduling challenges are addressed but challenges intrinsic to compositionality must be addressed as well, in particular: (i) how should interfaces be described? and (ii) how should numerical values be assigned to parameters constituting the interfaces? The real-time systems community has traditionally used narrow interfaces for describing a component (for example, a utilization/bandwidthlike metric and the distribution of this bandwidth in time). In this paper, we introduce the concept of competitive ratio of an interface and show that typical narrow interfaces cause poor performance for scheduling constrained-deadline sporadic tasks (competitive ratio is infinite). Therefore, we explore more expressive interfaces; in particular a class called medium-wide interfaces. For this class, we propose an interface type and show how the parameters of the interface should be selected. We also prove that this interface is 8-competitive.

Estimating the number of nodes in wireless sensor networks

We propose an efficient algorithm to estimate the number of live computer nodes in a network. This algorithm is fully distributed, and has a time-complexity which is independent of the number of computer nodes. The algorithm is designed to take advantage of a medium access control (MAC) protocol which is prioritized; that is, if two or more messages on different nodes contend for the medium, then the node contending with the highest priority will win, and all nodes will know the priority of the winner.

Notional processors: an approach for multiprocessor scheduling

Consider the problem of designing an algorithm with a high utilisation bound for scheduling sporadic tasks with implicit deadlines on identical processors. A task is characterised by its minimum interarrival time and its execution time. Task preemption and migration is permitted. Still, low preemption and migration counts are desirable. We formulate an algorithm with a utilisation bound no less than 66.¯6%, characterised by worst-case preemption counts comparing favorably against the state-of-the-art.

Improving the reliability of WiDom in a single broadcast domain

WiDom is a previously proposed prioritized medium access control protocol for wireless channels. We present a modification to this protocol in order to improve its reliability. This modification has similarities with cooperative relaying schemes, but, in our protocol, all nodes can relay a carrier wave. The preliminary evaluation shows that, under transmission errors, a significant reduction on the number of failed tournaments can be achieved.

Efficient aggregate computations in large-scale dense WSN

We focus on large-scale and dense deeply embedded systems where, due to the large amount of information generated by all nodes, even simple aggregate computations such as the minimum value (MIN) of the sensor readings become notoriously expensive to obtain. Recent research has exploited a dominance-based medium access control(MAC) protocol, the CAN bus, for computing aggregated quantities in wired systems. For example, MIN can be computed efficiently and an interpolation function which approximates sensor data in an area can be obtained efficiently as well. Dominance-based MAC protocols have recently been proposed for wireless channels and these protocols can be expected to be used for achieving highly scalable aggregate computations in wireless systems. But no experimental demonstration is currently available in the research literature. In this paper, we demonstrate that highly scalable aggregate computations in wireless networks are possible. We do so by (i) building a new wireless hardware platform with appropriate characteristics for making dominance-based MAC protocols efficient, (ii) implementing dominance-based MAC protocols on this platform, (iii) implementing distributed algorithms for aggregate computations (MIN, MAX, Interpolation) using the new implementation of the dominance-based MAC protocol and (iv) performing experiments to prove that such highly scalable aggregate computations in wireless networks are possible.

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.