Evaluation of a real time DGPS data server

The goal of the this paper is to show that the DGPS data Internet service we designed and developed provides campus-wide real time access to Differential GPS (DGPS) data and, thus, supports precise outdoor navigation. First we describe the developed distributed system in terms of architecture (a three tier client/server application), services provided (real time DGPS data transportation from remote DGPS sources and campus wide data dissemination) and transmission modes implemented (raw and frame mode over TCP and UDP). Then we present and discuss the results obtained and, finally, we draw some conclusions.

Scheduling real-time communications with P-NET

In this paper we address the P-NET Medium Access Control (MAC) ability to schedule traffic according to its real-time requirements, in order to support real-time distributed applications. We provide a schedulability analysis based on the P-NET standard, and propose mechanisms to overcome priority inversion problems resulting from the use of FIFO outgoing buffers

Guaranteeing real-time message deadlines in PROFIBUS networks

The paper provides a comprehensive study on how to use Profibus networks to support real time communications, that is, ensuring the transmission of the real time messages before their deadlines. Profibus is based on a simplified Timed Token (TT) protocol, which is a well proved solution for real time communication systems. However, Profibus differences from the TT protocol prevent the application of the usual TT analysis. The main reason is that, conversely to the TT protocol, in the worst case, only one high priority message is processed per token visit. The major contribution of the paper is to prove that, despite this shortcoming, it is possible to guarantee communication real time behaviour with the Profibus protocol

Pre-run-time schedulability analysis of P-NET fieldbus networks

P-NET is a fieldbus industrial communication standard, which uses a Virtual Token Passing MAC mechanism. In this paper we establish pre-run-time schedulability conditions for supporting real-time traffic with P-NET. Essentially we provide formulae to evaluate the minimum message deadline, ensuring the transmission of real-time messages within a maximum time bound

A communication support for real-time distributed computer controlled systems

In this paper, we analyse the ability of P-NET [1] fieldbus to cope with the timing requirements of a Distributed Computer Control System (DCCS), where messages associated to discrete events should be made available within a maximum bound time. The main objective of this work is to analyse how the network access and queueing delays, imposed by P-NET’s virtual token Medium Access Control (MAC) mechanism, affect the realtime behaviour of the supported DCCS.

Relatório de estágio

I (Prática Pedagógica) - O estágio foi realizado na Academia de Música de Almada (AMA) com três alunos de níveis diferentes: Aluno x, Iniciação Musical; Aluna y, 2º grau; e Aluna z, 5º grau. A planificação do trabalho foi feita com a colaboração do professor Vasco Broco e sob a supervisão do professor Pedro Saglimbeni Muñoz, tendo por base o programa da AMA e procurando corresponder às necessidades individuais de cada aluno, bem como respeitar os diferentes ritmos de aprendizagem. Dadas as diferenças de idade e de nível, os objectivos que procurei atingir com cada aluno durante o ano lectivo são naturalmente díspares, bem como a perspectiva de cada um em relação ao próprio instrumento e ao ensino da música. Enquanto que os mais novos encaram a aprendizagem musical como uma actividade meramente recreativa, pelo menos por enquanto, a Aluna z ambiciona fazer uma carreira como instrumentista. Mesmo entre os mais novos há diferenças, pois apesar de o Aluno x ainda estar a frequentar a Iniciação Musical, já iniciou a sua aprendizagem há mais tempo do que a Aluna y, encarando o ensino com mais seriedade. A AMA tem a vantagem de ter um pianista acompanhador disponível para cada dia da semana, o que tornou possível desenvolver um trabalho consistente com os alunos em termos de ensaios e audições. As audições e momentos de avaliação foram marcados em reuniões de Departamento Curricular, à excepção da calendarização das Provas Globais que foi feita em reunião de Conselho Pedagógico. O aproveitamento foi positivo para os três alunos no final do estágio, tendo todos transitado para o nível de ensino seguinte.

Adaptação cultural da versão brasileira do Godin-Shephard Leisure-Time Physical Activity Questionnaire

OBJETIVO: Realizar adaptação cultural para versão brasileira do questionário de atividade física no tempo de lazer e avaliar a validade de conteúdo, praticabilidade, aceitabilidade e confiabilidade.MÉTODOS: Foram realizadas as etapas de tradução, síntese, retrotradução, avaliação por comitê de especialistas e pré-teste, seguidos pela avaliação da praticabilidade, aceitabilidade e confiabilidade (teste-reteste). Os juízes avaliaram as equivalências semântico-idiomática, conceitual, cultural e metabólica. A versão adaptada foi submetida ao pré-teste (n = 20) e teste-reteste (n = 80) em indivíduos saudáveis e pacientes com doenças cardiovasculares, em Limeira, SP, entre 2010 e 2011. A proporção de concordância do comitê de juízes foi quantificada por meio do Índice de Validade de Conteúdo. A confiabilidade foi avaliada segundo critério de estabilidade, com intervalo de 15 dias entre as aplicações, a praticabilidade pelo tempo gasto na entrevista e a aceitabilidade pelo percentual de itens não respondidos e proporção de pacientes que responderam a todos os itens.RESULTADOS: A versão traduzida do questionário apresentou equivalências semântico-idiomática, conceitual, cultural e metabólica adequadas, com substituição de algumas atividades físicas mais adequadas para a população brasileira. A análise da praticabilidade evidenciou curto tempo de aplicação do instrumento (média de 3,0 min). Quanto à aceitabilidade, todos os pacientes responderam a 100% dos itens. A análise do teste-reteste sugeriu estabilidade temporal do instrumento (Índice de Correlação Intraclasse = 0,84).CONCLUSÕES: A versão brasileira do questionário apresentou propriedades de medida satisfatórias. Recomenda-se sua aplicação a populações diversas em estudos futuros, a fim de disponibilizar propriedades de medida robustas.

Response time analysis of slotted WiDom in noisy wireless channels

WiDom is a wireless prioritized medium access control protocol which offers very large number of priority levels. Hence, it brings the potential to employ non-preemptive static-priority scheduling and schedulability analysis for a wireless channel assuming that the overhead of WiDom is modeled properly. Recent research has created a new version of WiDom (we call it: Slotted WiDom) which offers lower overhead compared to the previous version. In this paper we propose a new schedulability analysis for slotted WiDom and extend it to work for message streams with release jitter. Furthermore, to provide an accurate timing analysis, we must include the effect of transmission faults on message latencies. Thus, in the proposed analysis we consider the existence of different noise sources and develop the analysis for the case where messages are transmitted under noisy wireless channels. Evaluation of the proposed analysis is done by testing the slotted WiDom in two different modes on a real test-bed. The results from the experiments provide a firm validation on our findings.

A feedback-based decentralised coordination model for distributed open real-time systems

Moving towards autonomous operation and management of increasingly complex open distributed real-time systems poses very significant challenges. This is particularly true when reaction to events must be done in a timely and predictable manner while guaranteeing Quality of Service (QoS) constraints imposed by users, the environment, or applications. In these scenarios, the system should be able to maintain a global feasible QoS level while allowing individual nodes to autonomously adapt under different constraints of resource availability and input quality. This paper shows how decentralised coordination of a group of autonomous interdependent nodes can emerge with little communication, based on the robust self-organising principles of feedback. 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 proposed protocol is general enough to be used in a wide range of scenarios characterised by a high degree of openness and dynamism where coordination tasks need to be time dependent. As the reported results demonstrate, it requires less messages to be exchanged and it is faster to achieve a globally acceptable near-optimal solution than other available approaches.

Real-time scheduling of parallel tasks in the Linux Kernel

This paper proposes a global multiprocessor scheduling algorithm for the Linux kernel that combines the global EDF scheduler with a priority-aware work-stealing load balancing scheme, enabling parallel real-time tasks to be executed on more than one processor at a given time instant. We state that some priority inversion may actually be acceptable, provided it helps reduce contention, communication, synchronisation and coordination between parallel threads, while still guaranteeing the expected system’s predictability. Experimental results demonstrate the low scheduling overhead of the proposed approach comparatively to an existing real-time deadline-oriented scheduling class for the Linux kernel.

Supporting real-time parallel task models with work-stealing

Dynamic parallel scheduling using work-stealing has gained popularity in academia and industry for its good performance, ease of implementation and theoretical bounds on space and time. Cores treat their own double-ended queues (deques) as a stack, pushing and popping threads from the bottom, but treat the deque of another randomly selected busy core as a queue, stealing threads only from the top, whenever they are idle. However, this standard approach cannot be directly applied to real-time systems, where the importance of parallelising tasks is increasing due to the limitations of multiprocessor scheduling theory regarding parallelism. Using one deque per core is obviously a source of priority inversion since high priority tasks may eventually be enqueued after lower priority tasks, possibly leading to deadline misses as in this case the lower priority tasks are the candidates when a stealing operation occurs. Our proposal is to replace the single non-priority deque of work-stealing with ordered per-processor priority deques of ready threads. The scheduling algorithm starts with a single deque per-core, but unlike traditional work-stealing, the total number of deques in the system may now exceed the number of processors. Instead of stealing randomly, cores steal from the highest priority deque.

Parallel real-time support for distributed adaptive embedded applications

Real-time embedded applications require to process large amounts of data within small time windows. Parallelize and distribute workloads adaptively is suitable solution for computational demanding applications. The purpose of the Parallel Real-Time Framework for distributed adaptive embedded systems is to guarantee local and distributed processing of real-time applications. This work identifies some promising research directions for parallel/distributed real-time embedded applications.

Aplicação de redes neuronais artificiais à deteção e isolamento de falhas em processos industriais

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Mecânica

Device power management for real-time embedded systems

A large part of power dissipation in a system is generated by I/O devices. Increasingly these devices provide power saving mechanisms to inter alia 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 huge overhead of device transition. The technology enhancement has 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 the system schedulability. Our results show an energy gain of up to 90% in the best case when compared to the state-of-the-art.

CoS: a new perspective of operating systems design for the cyber-physical world

Our day-to-day life is dependent on several embedded devices, and in the near future, many more objects will have computation and communication capabilities enabling an Internet of Things. Correspondingly, with an increase in the interaction of these devices around us, developing novel applications is set to become challenging with current software infrastructures. In this paper, we argue that a new paradigm for operating systems needs to be conceptualized to provide aconducive base for application development on Cyber-physical systems. We demonstrate its need and importance using a few use-case scenarios and provide the design principles behind, and an architecture of a co-operating system or CoS that can serve as an example of this new paradigm.