Dynamic global scheduling of parallel real-time tasks

High-level parallel languages offer a simple way for application programmers to specify parallelism in a form that easily scales with problem size, leaving the scheduling of the tasks onto processors to be performed at runtime. Therefore, if the underlying system cannot efficiently execute those applications on the available cores, the benefits will be lost. In this paper, we consider how to schedule highly heterogenous parallel applications that require real-time performance guarantees on multicore processors. The paper proposes a novel scheduling approach that combines the global Earliest Deadline First (EDF) scheduler with a priority-aware work-stealing load balancing scheme, which enables parallel realtime tasks to be executed on more than one processor at a given time instant. Experimental results demonstrate the better scalability and lower scheduling overhead of the proposed approach comparatively to an existing real-time deadline-oriented scheduling class for the Linux kernel.

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.

Service offloading in adaptive real-time systems

Smartphones and other internet enabled devices are now common on our everyday life, thus unsurprisingly a current trend is to adapt desktop PC applications to execute on them. However, since most of these applications have quality of service (QoS) requirements, their execution on resource-constrained mobile devices presents several challenges. One solution to support more stringent applications is to offload some of the applications’ services to surrogate devices nearby. Therefore, in this paper, we propose an adaptable offloading mechanism which takes into account the QoS requirements of the application being executed (particularly its real-time requirements), whilst allowing offloading services to several surrogate nodes. We also present how the proposed computing model can be implemented in an Android environment

SPARTS: simulator for power aware and real-time systems

Real-time systems demand guaranteed and predictable run-time behaviour in order to ensure that no task has missed its deadline. Over the years we are witnessing an ever increasing demand for functionality enhancements in the embedded real-time systems. Along with the functionalities, the design itself grows more complex. Posed constraints, such as energy consumption, time, and space bounds, also require attention and proper handling. Additionally, efficient scheduling algorithms, as proven through analyses and simulations, often impose requirements that have significant run-time cost, specially in the context of multi-core systems. In order to further investigate the behaviour of such systems to quantify and compare these overheads involved, we have developed the SPARTS, a simulator of a generic embedded real- time device. The tasks in the simulator are described by externally visible parameters (e.g. minimum inter-arrival, sporadicity, WCET, BCET, etc.), rather than the code of the tasks. While our current implementation is primarily focused on our immediate needs in the area of power-aware scheduling, it is designed to be extensible to accommodate different task properties, scheduling algorithms and/or hardware models for the application in wide variety of simulations. The source code of the SPARTS is available for download at [1].

Bandwidth allocation in hexagonal wireless sensor networks for real-time communications

We present an algorithm for bandwidth allocation for delay-sensitive traffic in multi-hop wireless sensor networks. Our solution considers both periodic as well as aperiodic real-time traffic in an unified manner. We also present a distributed MAC protocol that conforms to the bandwidth allocation and thus satisfies the latency requirements of realtime traffic. Additionally, the protocol provides best-effort service to non real-time traffic. We derive the utilization bounds of our MAC protocol.

EMMON: a WSN system architecture for large scale and dense real-time embedded monitoring

Wireless sensor networks (WSNs) have attracted growing interest in the last decade as an infrastructure to support a diversity of ubiquitous computing and cyber-physical systems. However, most research work has focused on protocols or on specific applications. As a result, there remains a clear lack of effective, feasible and usable system architectures that address both functional and non-functional requirements in an integrated fashion. In this paper, we outline the EMMON system architecture for large-scale, dense, real-time embedded monitoring. EMMON provides a hierarchical communication architecture together with integrated middleware and command and control software. It has been designed to use standard commercially-available technologies, while maintaining as much flexibility as possible to meet specific applications requirements. The EMMON architecture has been validated through extensive simulation and experimental evaluation, including a 300+ node test-bed, which is, to the best of our knowledge, the largest single-site WSN test-bed in Europe to date.

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.

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 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.

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 communications over cluster-tree sensor networks with mobile sink behaviour

Modelling the fundamental performance limits of wireless sensor networks (WSNs) is of paramount importance to understand the behaviour of WSN under worst case conditions and to make the appropriate design choices. In that direction, this paper contributes with a methodology for modelling cluster tree WSNs with a mobile sink. We propose closed form recurrent expressions for computing the worst case end to end delays, buffering and bandwidth requirements across any source-destination path in the cluster tree assuming error free channel. We show how to apply our theoretical results to the specific case of IEEE 802.15.4/ZigBee WSNs. Finally, we demonstrate the validity and analyze the accuracy of our methodology through a comprehensive experimental study, therefore validating the theoretical results through experimentation.

GTS allocation analysis in IEEE 802.15.4 for real-time wireless sensor networks

The IEEE 802.15.4 protocol proposes a flexible communication solution for Low-Rate Wireless Personal Area Networks including sensor networks. It presents the advantage to fit different requirements of potential applications by adequately setting its parameters. When enabling its beacon mode, the protocol makes possible real-time guarantees by using its Guaranteed Time Slot (GTS) mechanism. This paper analyzes the performance of the GTS allocation mechanism in IEEE 802.15.4. The analysis gives a full understanding of the behavior of the GTS mechanism with regards to delay and throughput metrics. First, we propose two accurate models of service curves for a GTS allocation as a function of the IEEE 802.15.4 parameters. We then evaluate the delay bounds guaranteed by an allocation of a GTS using Network Calculus formalism. Finally, based on the analytic results, we analyze the impact of the IEEE 802.15.4 parameters on the throughput and delay bound guaranteed by a GTS allocation. The results of this work pave the way for an efficient dimensioning of an IEEE 802.15.4 cluster.

Real time fault injection using a modified debugging infrastructure

Dependability is a critical factor in computer systems, requiring high quality validation & verification procedures in the development stage. At the same time, digital devices are getting smaller and access to their internal signals and registers is increasingly complex, requiring innovative debugging methodologies. To address this issue, most recent microprocessors include an on-chip debug (OCD) infrastructure to facilitate common debugging operations. This paper proposes an enhanced OCD infrastructure with the objective of supporting the verification of fault-tolerant mechanisms through fault injection campaigns. This upgraded on-chip debug and fault injection (OCD-FI) infrastructure provides an efficient fault injection mechanism with improved capabilities and dynamic behavior. Preliminary results show that this solution provides flexibility in terms of fault triggering and allows high speed real-time fault injection in memory elements

Real time fault injection using enhanced OCD -- a performance analysis

Fault injection is frequently used for the verification and validation of dependable systems. When targeting real time microprocessor based systems the process becomes significantly more complex. This paper proposes two complementary solutions to improve real time fault injection campaign execution, both in terms of performance and capabilities. The methodology is based on the use of the on-chip debug mechanisms present in modern electronic devices. The main objective is the injection of faults in microprocessor memory elements with minimum delay and intrusiveness. Different configurations were implemented and compared in terms of performance gain and logic overhead.