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Overrun Methods and Resource Holding Times for Hierarchical Scheduling of Semi-Independent Real-Time Systems
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0002-1687-930X
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-6132-7945
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-7586-0409
Department of Computer Science, KAIST University , Korea.
2010 (English)In: IEEE Transactions on Industrial Informatics, ISSN 1551-3203, Vol. 6, no 1, 93-104 p.Article in journal (Refereed) Published
Abstract [en]

The Hierarchical Scheduling Framework (HSF) has been introduced as a design-time framework toenable compositional schedulability analysis of embedded software systems with real-time properties. Inthis paper a software system consists of a number of semi-independent components called subsystems.Subsystems are developed independently and later integrated to form a system. To support this designprocess, in the paper, the proposed methods allow non-intrusive configuration and tuning of subsystemtiming-behaviour via subsystem interfaces for selecting scheduling parameters.This paper considers three methods to handle overruns due to resource sharing between subsystemsin the HSF. For each one of these three overrun methods corresponding scheduling algorithms and associatedschedulability analysis are presented together with analysis that shows under what circumstances one or the other is preferred. The analysis is generalized to allow for both Fixed Priority Scheduling (FPS)and Earliest Deadline First (EDF) scheduling. Also, a further contribution of the paper is the techniqueof calculating resource-holding times within the framework under different scheduling algorithms; theresource holding times being an important parameter in the global schedulability analysis.

Place, publisher, year, edition, pages
2010. Vol. 6, no 1, 93-104 p.
Keyword [en]
Real time scheduling, resource sharing, hierarchical scheduling
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:mdh:diva-10442DOI: 10.1109/TII.2009.2037918ISI: 000274383700012Scopus ID: 2-s2.0-76849101765OAI: oai:DiVA.org:mdh-10442DiVA: diva2:357513
Available from: 2010-10-18 Created: 2010-10-18 Last updated: 2013-12-03Bibliographically approved
In thesis
1. Synchronization Protocols for a Compositional Real-Time Scheduling Framework
Open this publication in new window or tab >>Synchronization Protocols for a Compositional Real-Time Scheduling Framework
2010 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

In this thesis we propose techniques to simplify the integration of subsystems while minimizing the overall amount of CPU resources needed to guarantee the schedulability of real-time tasks. In addition, we provide solutions to the problem of allowing for the use of logical resources requiring mutual exclusion.

The contribution of the thesis is presented in three parts. In the first part, we propose a synchronization protocol, called SIRAP, to facilitate sharing of logical resources in a hierarchical scheduling framework. In addition, we extend an existing synchronization protocol, called HSRP, such that each subsystem can be developed independently. The performance of the proposed protocols is evaluated by extensive simulations. In the second part, we present an efficient schedulability analysis that exploits the lower scheduling overhead introduced by each of the proposed protocols. Finally, in the third part, we propose new methods and algorithms that find the optimal system parameters (e.g., optimal resource ceiling), that minimize the amount of CPU resources required to ensure schedulability, when using the proposed synchronization protocols in a hierarchical scheduling framework.

The motivation of this work comes from an emerging industrial trend in embedded software systems development to integrate multiple applications (subsystems) on a small number of processors. The purpose of this integration is to reduce the hardware related costs as well as the communication complexity between processors. In this setting a large number of industrial applications face the problem of preserving their real-time properties after their integration onto a single processor. In addition, temporal isolation between the applications during runtime may be required to prevent failure propagation between different applications.

Specifically, we propose a hierarchical scheduling framework that allows for a simplified integration of subsystems. The framework preserves the essential temporal characteristics of the subsystems, both when running in isolation as well as when they are integrated with other subsystems. In this thesis, we assume a model where a system consists of a number of subsystems. The subsystems can interact with each other using shared logical resources. The framework ensures that the individual subsystem respects its allocated share of the processor. The difficulty lies in allowing two or more subsystems to share logical resources, which introduces an additional complexity in the schedulability analysis and also increases the system load.

Place, publisher, year, edition, pages
Västerås: Mälardalen University, 2010
Series
Mälardalen University Press Dissertations, ISSN 1651-4238 ; 91
Research subject
Computer Science
Identifiers
urn:nbn:se:mdh:diva-10447 (URN)978-91-86135-95-9 (ISBN)
Public defence
2010-11-22, Delta, Mälardalens högskola, Västerås, 10:00 (English)
Opponent
Supervisors
Available from: 2010-10-29 Created: 2010-10-18 Last updated: 2014-05-26Bibliographically approved

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