EDF调度算法抢占行为的研究及其改进

通过对采用抢占式EDF算法的嵌入式系统中各实时任务抢占行为的分析,建立了一个周期性任务集的抢占模型,从数学上描述了抢占关系、可调度性、调度开销与实时任务的周期、执行时间、最终期限、启动时间等属性之间的关系.依据该抢占模型,提出了一个改进的抢占式EDF调度算法,通过将基于遗传算法的优化方法离线计算得到的实时任务启动时间作为目标系统的一个调度参数,减少抢占次数,改变抢占关系,从而提高系统的可调度能力和实时性能.最后用实验验证了改进的抢占式EDF调度算法的有效性.     

RM算法的运行时开销研究与算法改进

RM算法是经典的固定优先级实时调度算法.而在嵌入式实时系统中,系统的工作负荷往往是由很多频率快、执行时间较短的任务组成.因此,直接使用RM算法进行任务调度会由于实时操作系统中任务的上下文切换开销而导致嵌入式系统资源利用率的降低.分析了基于RM算法调度的任务之间的抢占关系,并建立了以任务属性为参数的上下文切换开销模型.在该模型的基础上,通过优化任务的释放时间来降低RM算法导致的系统运行时任务切换开销.最后的实验结果验证了该策略的有效性.     

基于嵌入式Linux的实时性分析

为了改善嵌入式Linux在实时应用中的不足，从软中断模拟技术、可抢占式内核机制等方面给出了改善系统实时性能的方法,中断软件模拟被用来解决多个中断同时发生的情形，双核结构使Linux内核成为完全可被抢占实时内核,使用实时核来运行实时任务，Linux内核来运行非实时任务，提高了嵌入式Linux内核的实时性，并且拓展了实时系统的应用范围。     

μCos-Ⅱ在嵌入式通信信号源中的应用

嵌入式通信信号源采用MCU控制DDS芯片的结构，产生FSK、LFM（线性调频）和MSK等多种信号模式。运行实时操作系统μCos-Ⅱ，将应用程序按功能划分为几个核心任务，由实时内核进行调度，实现了多任务的并行执行，提高了嵌入式系统开发的薮率、实时性和可靠性。通过以实时嵌入式操作系统μCos—Ⅱ为软件平台的嵌入式通信信号源的系统设计，介绍了μCos-Ⅱ的系统开销、移植和配置、多任务编程以及任务间同步、通信的实现方法。     

任务敏感的多模式视频编码系统功耗控制方法

在嵌入式多模式视频编码系统中,动态电压频率调整(Dynamic Voltage and Frequency Scaling,DVFS)技术可在一定程序上节约系统能耗,然而持续降低电压和频率可能影响处理器接口资源的传输性能,甚至导致系统无法正常工作.针对该问题,提出了一种任务敏感的功耗控制方法.通过研究多模式视频编码任务量和处理器资源之间的关系,建立一个任务敏感的资源配置模型,基于该模型设计了一个自适应功耗控制器,在系统工作过程中根据编码任务量的不同动态调节处理器工作频率和工作核数.实验表明,在满足多模式实时视频编码功能和性能要求的基础上,该文提出的方法与传统DVFS技术相比,单帧视频编码的平均功耗节省了11.4%.     

最佳中继协作通信系统的功率分配算法

 为提高基于最佳中继选择的协作通信系统的性能,提出了以最小化系统中断概率为目标的功率分配算法.首先建立了系统的优化模型并证明了待解的优化问题实质是凸优化问题,由此提出了最优功率分配算法并给出了算法步骤.其次,在此基础上提出了一种有效的次最优功率分配算法,该算法计算简单且仅需已知各个中继节点的平均信道状态信息,无需在传输中实时更新,因而不增加系统的额外开销.仿真结果表明,本文提出的最优算法和次最优算法所得到的功率分配方案与穷举搜索方法的结果非常接近;与等功率分配方案相比,这两种算法均能显著提高系统的中断概率性能.     

μCos-II在嵌入式通信信号源中的应用

嵌入式通信信号源采用MCU控制DDS芯片的结构,产生FSK、LFM(线性调频)和MSK等多种信号模式。运行实时操作系统μCos-II,将应用程序按功能划分为几个核心任务,由实时内核进行调度,实现了多任务的并行执行,提高了嵌入式系统开发的效率、实时性和可靠性。通过以实时嵌入式操作系统μCos-II为软件平台的嵌入式通信信号源的系统设计,介绍了μCos-II的系统开销、移植和配置、多任务编程以及任务间同步、通信的实现方法。     

LTE系统一种高效率准动态部分频率复用方案

部分频率复用(FFR)是下一代移动通信系统中提升系统容量与边缘用户性能的核心技术之一.准动态FFR在增益与额外开销的平衡上具有明显优势,成为优化静态FFR技术的主要研究方向.本文提出了一种新的准动态FFR方案,以很低的额外开销,同时达到提高系统容量和改善边缘用户性能的目的.通过在LTE系统级仿真平台上的仿真,论文对算法的适用场景、增益和代价进行了深入分析.     

一种面向应用优化的片上总线调度策略

该文提出了一种面向应用优化的片上总线调度策略。以系统通信事件信息为基础,使用最小任务松弛时间与最小总线空闲时间相结合的调度策略,在优先保证满足任务实时要求的基础上,最大限度利用总线空闲时间,提高调度效率。并提供了可配置的权重参数用于总线时间消耗与片上缓冲区容量之间的设计折衷。在双核SoC平台上实现了本文调度方法,并以最新视频编解码标准H.264/AVC为目标应用,与FP(Fixed Priority),SBA(Slack Based Arbitration),RR(Round Robin)等调度方法进行了性能对比。实验结果表明,=0.5时,较以上3种策略,分别平均可减少16.6％、13.2％与9.7％的总线时间,在实时性能方面,较最接近的SBA方法,未实时完成的任务数量减少了59.4％。额外缓冲区开销随的变化关系表明,在最坏情况下(=0)仅需435字节。     

基于多分支深度Q网络模型的卫星通信任务调度方法

针对卫星通信系统中的任务调度问题，基于深度强化学习框架提出了一种多分支深度Q网络模型的卫星通信任务调度方法。通过引入任务列表分支网络和资源池分支网络，该模型能够同时提取卫星任务状态和卫星资源池状态的特征，并通过价值分支网络计算动作价值函数；在模型输出部分引入了包括任务选择与资源优先级动作的多个动作的选择，增加了调度动作的选择空间。实验结果表明，在非零浪费和零浪费数据集上，多分支深度Q网络模型与启发式方法相比在提高平均资源占用性能的同时显著降低了运行的时间开销。     

Energy Efficient Real-Time Task Scheduling for Embedded Systems with Hybrid Main Memory

Available energy becomes a critical design issue for the increasingly complex real-time embedded systems. Phase Change Memory (PCM), with high density and low idle power, has recently been extensively studied as a promising alternative of DRAM. Hybrid PCM-DRAM main memory architecture has been proposed to leverage the low power of PCM and high speed of DRAM. In this paper, we propose energy-aware real-time task scheduling strategies for hybrid PCM-DRAM based embedded systems. Given the execution time variation when a task is loaded into PCM or DRAM, we re-design the static table-driven scheduling for a set of fixed tasks, as well as the Rate-Monotonic (RM) and Earliest Deadline First (EDF) scheduling policies for periodic task sets. Furthermore, since the actual execution time can be much shorter than the worst-case execution time in the actual execution, we propose online schedulers which migrates the tasks between PCM and DRAM to optimize the energy consumption by utilizing the slack time resulted from the completed tasks. All the proposed algorithms minimize the number of task migrations from PCM to DRAM by ensuring that aperiodic tasks are not migrated while each periodic task instance can be migrated at most once. Experimental results show our proposed scheduling algorithms satisfy the real-time constraints and significantly reduce the energy consumption.     

A Real-Time Scheduler Design for a Class of Embedded Systems

We consider here the design aspect of a real-time scheduler for a class of embedded systems. For this purpose, we design a feedback controller for a reservation-based CPU scheduler for soft real-time systems. The execution time of soft real-time systems, such as multimedia systems, portable MP3 players, personal digital assistants, cellular phones, and embedded Web servers is highly variable. Hence, it is crucial to assign an adequate amount of CPU resources for the running tasks to guarantee the quality of service. On the other hand, it is also important not to allocate the large amount of resources to avoid waste. The purpose of this paper is to attain the aforementioned crucial objectives for a class of embedded systems under real-time computing constraints. Specifically, we provide an analytical model for a real-time scheduler in terms of a switched system with time-varying uncertainty. Moreover, by using Lyapunov stability in a linear matrix inequalities (LMIs) framework, we design a state feedback controller that stabilizes the switched system. This, in fact, achieves the regulation of scheduling errors caused by time-varying uncertainty to a desired level. We extend an LMI-framework-based control scheme to a relatively new control application domain, i.e., a soft realtime scheduling domain. We provide performance analysis under scheduler simulation environments and implement a feedback bandwidth server scheduler under a real-time kernel simulator. In the simulation studies, the advantages of the controller design scheme are clearly highlighted in comparison with some conventional existing open-loop systems.     

Peak Temperature Minimization via Task Allocation and Splitting for Heterogeneous MPSoC Real-Time Systems

With the continued scaling of the CMOS devices, the exponential increase in power density has strikingly elevated the temperature of on-chip systems. Thus, thermal-aware design has become a pressing research issue in computing system, especially for real-time embedded systems with limited cooling techniques. In this paper, the authors formulate the thermal-aware real-time multiprocessor system-on-chip (MPSoC) task allocation and scheduling problem, present a task-to-processor assignment heuristics that improves the thermal profiles of tasks, and propose a task splitting policy that reduces the on-chip peak temperature. The thermal profiles of tasks are improved via task mapping by minimizing task steady state temperatures, and the task splitting technique is applied to reduce the peak temperature by enabling the alternation of hot task execution and slack time. The proposed algorithms explicitly exploits thermal characteristics of both tasks and processors to minimize the peak temperature without incurring significant overheads. Extensive simulations of benchmarking tasks were performed to validate the effectiveness of the proposed algorithms. Experimental results have shown that the task steady state temperature achieved by the proposed algorithm is 3.57 °C lower on average as compared to the benchmarking schemes, and the peak temperature of the proposed algorithm can be up to 11.5 % lower than that of the benchmarking schemes     

Design Issues in a Performance Monitor for Embedded Multi-core Systems

Multi-core processors have elevated the performance of software via true parallelization. However, this has also created new challenges. One serious issue is the bottleneck in system performance due to synchronization, cache misses, or resource starvation, which is hard to detect in application software with runtime changing behavior. Performance monitors are usually employed for such detection. Nevertheless, monitors have introduced their own computation and communication overheads, especially in embedded multi-core systems. In this work, we propose a multi-core performance monitor and evaluate the effects of monitor overheads on different types of tasks, such as CPU-bound and IO-bound tasks. Further, we give suggestions on the number of monitors and the type of monitor deployments for embedded multi-core applications. Besides trying to reduce monitor overheads, we also aim at the accuracy and the immediacy of the monitored information. Through a real-world example, namely digital video recording system, we demonstrate how different monitoring periods affect the tradeoff between the accuracy and the immediacy.     

The spring scheduling coprocessor: a scheduling accelerator

The spring scheduling coprocessor is a novel very large scale integration (VLSI) accelerator for multiprocessor real-time systems. The coprocessor can be used for static as well as online scheduling. Many different policies and their combinations can be used (e.g., earliest deadline first, highest value first, or resource-oriented policies such as earliest available time first). In this paper, we describe a coprocessor architecture, a CMOS implementation, an implementation of the host/coprocessor interface and a study of the overall performance improvement. We show that the current VLSI chip speeds up the main portion of the scheduling operation by over three orders of magnitude. We also present an overall system improvement analysis by accounting for the operating system overheads and identify the next set of bottlenecks to improve. The scheduling coprocessor includes several novel VLSI features. It is implemented as a parallel architecture for scheduling that is parameterized for different numbers of tasks, numbers of resources, and internal wordlengths. The architecture was implemented using a single-phase clocking style in several novel ways. The 328 000 transistor custom 2-μm VLSI accelerator running with a 100-MHz clock, combined with careful hardware/software co-design results in a considerable performance improvement, thus removing a major bottleneck in real-time systems     

针对弱硬实时系统的DRM调度算法

本文在定义支持多级QoS的弱硬实时系统周期任务模型的基础上,提出基于RM调度策略的弱硬实时调度算法DRM,它具备可调度判定不等式,不限定任务的QoS参数模式,并通过在调度的过程中动态调整任务的优先级来反映其紧迫程度.在系统过载时,DRM调度算法可以采用QoS退化机制,在保证紧要任务以及其所要求的最低QoS执行的同时,适当降低某些任务的服务等级,使得更多的任务可以有效运行,以此来提高系统对负载的适应性.最后,本文通过仿真实验,验证了DRM以及QoS退化机制的有效性.     

Linux的进程调度策略

随着Linux操作系统在嵌入式系统方面的应用越来越广泛,关于增强并改进Linux对实时任务支持方面的研究也越来越多.该文通过对Liunx下进程调度的原理、依据以及调度算法、实时调度策略的全面分析,说明了Linux对普通进程和实时进程进行相应处理的过程.同时为了改进Linux对实时任务的支持,提出了一种混合调度算法.     

微内核结构嵌入式实时操作系统的研究与设计

分析了微内核结构在设计嵌入式实时操作系统时的优点,设计了一个微内核结构的嵌入式实时操作系统,整个系统内核由任务管理、任务通信、时钟管理、中断管理、内存管理等模块组成.内核采用抢占式调度和分时调度相结合的调度策略,以及基于查表法的优先级队列管理,使得系统在进行任务调度时能快速的找到所要调度的任务,满足实时性的要求.内核提供多种通信方式,并对控制临界资源访问的信号量进行了特别的设计,便于任务在必要的时候进行优先级继承,很好地解决了抢占式嵌入式操作系统中普遍存在的优先级反转问题.最后,在基于ARM处理器的EL-ARM-830硬件平台,给出了系统的实现.