Simulation of unidirectional high speed local area bus networks with multipacket messages

With an ever-increasing use of fiber-optics as transmission media, there is a growing interest in high speed local area networks (LAN). In this paper we consider a slotted unidirectional bus LAN in which each station attempts to transmit into an empty slot persistently with a preassigned probability until success. Messages are assumed to have variable sizes and segmented into fixed size packets where each packet fits into one slot. Fair access can be achieved if access probabilities are assigned properly to all stations. Three assignments are considered: uniform, linearly decreasing, and exponentially decreasing probabilities. The average delay and queue size performance of the network is studied through computer simulation for every assignment. It has been shown that all these cases widely differ in their performances. The order of performance (from better to worse) in these cases is: optimal, constant, linear, and exponential.     

Organizing message transmission in AFDX networks

In this paper, a problem of periodical message transmission in the onboard networks based on the Avionics Full Duplex Ethernet (AFDX) standard is formalized and an algorithm for solving this problem is proposed. The algorithm combines the greedy approach with the limited exhaustive search and consists of several procedures to solve the problem step by step with respect to the constraints imposed. The results of the experimental research aimed at investigating the effectiveness of the proposed algorithm are presented.     

An approximation analysis for safety messages transmission in vehicle-to-vehicle WAVE networks

Wireless Access in the Vehicular Environment (WAVE) specification defines the WAVE Short Message Protocol (WSMP) for delivering WAVE Short Messages (WSMs). In the multihop transmission, WSMs are first received and stored in queues and then forwarded to the next hop. Unfortunately, WSMP does not specify any mechanism to avoid the messages loss resulted from queueing overflow. In this paper, a dual threshold-based queueing management which adjusts the message accepting rate upon the current queue length is proposed. The multihop transmission can be modeled as a tandem queueing network, and a discrete time Markov chain (DTMC) can be applied to evaluate the proposed queueing management. Since the computational complexity increases with the number of hops, an approximation approach to resolve DTMC model is also presented. Simulation results demonstrate the accuracy of approximation and the effectiveness of the proposed queueing management.     

Unified overhead-aware schedulability analysis for slot-based task-splitting

Hard real- time multiprocessor scheduling has seen, in recent years, the flourishing of semi-partitioned scheduling algorithms. This category of scheduling schemes combines elements of partitioned and global scheduling for the purposes of achieving efficient utilization of the system’s processing resources with strong schedulability guarantees and with low dispatching overheads. The sub-class of slot-based “task-splitting” scheduling algorithms, in particular, offers very good trade-offs between schedulability guarantees (in the form of high utilization bounds) and the number of preemptions/migrations involved. However, so far there did not exist unified scheduling theory for such algorithms; each one was formulated in its own accompanying analysis. This article changes this fragmented landscape by formulating a more unified schedulability theory covering the two state-of-the-art slot-based semi-partitioned algorithms, S-EKG and NPS-F (both fixed job-priority based). This new theory is based on exact schedulability tests, thus also overcoming many sources of pessimism in existing analysis. In turn, since schedulability testing guides the task assignment under the schemes in consideration, we also formulate an improved task assignment procedure. As the other main contribution of this article, and as a response to the fact that many unrealistic assumptions, present in the original theory, tend to undermine the theoretical potential of such scheduling schemes, we identified and modelled into the new analysis all overheads incurred by the algorithms in consideration. The outcome is a new overhead-aware schedulability analysis that permits increased efficiency and reliability. The merits of this new theory are evaluated by an extensive set of experiments.     

Demand-based schedulability analysis for real-time multi-core scheduling

In real-time systems, schedulability analysis has been widely studied to provide offline guarantees on temporal correctness, producing many analysis methods. The demand-based schedulability analysis method has a great potential for high schedulability performance and broad applicability. However, such a potential is not yet fully realized for real-time multi-core scheduling mainly due to (i) the difficulty of calculating the resource demand under dynamic priority scheduling algorithms that are favorable to multi-cores, and (ii) the lack of understanding how to combine the analysis framework with deadline-miss conditions specialized for those scheduling algorithms. Addressing those two issues, to the best of our knowledge, this paper presents the first demand-based schedulability analysis for dynamic job-priority scheduling algorithms: EDZL (Earliest Deadline first until Zero-Laxity) and LLF (Least Laxity First), which are known to be effective for real-time multi-core scheduling. To this end, we first derive demand bound functions that compute the maximum possible amount of resource demand of jobs of each task while the priority of each job can change dynamically under EDZL and LLF. Then, we develop demand-based schedulability analyses for EDZL and LLF, by incorporating those new demand bound functions into the existing demand-based analysis framework. Finally, we combine the framework with additional deadline-miss conditions specialized for those two laxity-based dynamic job-priority scheduling algorithms, yielding tighter schedulability analyses. Via simulations, we demonstrate that the proposed schedulability analyses outperform the existing schedulability analyses for EDZL and LLF.     

Optimal design of virtual links in AFDX networks

The Avionics Full Duplex Switched Ethernet (AFDX) backbone constitutes one of the major technological breakthroughs in modern avionic architectures. This network is based on routing Ethernet frames through isolated data tunnels referred to as Virtual Links (VL). VLs can be thought of as multicast trees, each serving for data transmission between one and only one end of the network to several others. Multiple VLs are deployed for exchanging data between avionic systems with a reserved amount of bandwidth. In this paper, we propose different methods to define VL characteristics and to route VLs in the network while minimizing the maximum utilization rate of the links. The proposed methods provide the basis for a more efficient design of the VLs, and have to be completed later on by the verification of the worst-case network latencies. The industrial applicability is shown on experimental results and on a representative benchmark.     

Improved multiprocessor global schedulability analysis

A new technique was recently introduced by Bonifaci et al. for the analysis of real-time systems scheduled on multiprocessor platforms by the global Earliest Deadline First (EDF) scheduling algorithm. In this paper, this technique is generalized so that it is applicable to the schedulability analysis of real-time systems scheduled on multiprocessor platforms by any work-conserving algorithm. The resulting analysis technique is applied to obtain a new sufficient global Deadline Monotonic (DM) schedulability test. It is shown that this new test is quantitatively superior to pre-existing DM schedulability analysis tests; in addition, the degree of its deviation from any hypothetical optimal scheduler (that may be clairvoyant) is quantitatively bounded. A new global EDF schedulability test is also proposed here that builds on the results of Bonifaci et al. This new test is shown to be less pessimistic and more widely applicable than the earlier result was, while retaining the strong theoretical properties of the earlier result.     

A comparison of schedulability analysis methods using state and digraph models for the schedulability analysis of synchronous FSMs

Real-Time Systems - Synchronous reactive models are widely used in the development of embedded software and systems. The schedulability analysis of tasks obtained as the code implementation of...     

Design optimization for real-time systems with sustainable schedulability analysis

Real-Time Systems - The design of modern real-time systems not only needs to guarantee their timing correctness, but also involves other critical metrics such as control quality and energy...     

基于策略的AFDX网络管理的设计与分析

为了减小网络管理流量对航电系统正常通信任务的影响,并缓解航空电子管理任务的交叉耦合问题,提出一种基于策略的分布式航空电子网络管理模型,拟采用分层管理方式,在策略指引下对航空电子全双工交换式以太网( avionics full duplex switched Ethernet,AFDX)进行针对性的监控,以有限的宿主计算资源进行及时的信息处理.给出一个AFDX网络互连拓扑的案例,对于常规和基于策略的网络管理体系的复杂度进行评估,并在一套设定的虚拟链路(VL)流量配置下,比较两种体系下的网络管理流量对VL通信任务实时性的影响.网络演算和仿真结果表明了该模型具有可行性和有效性.     

多媒体网络中基于优先级调度的实时QoS研究

使用到达函数和服务函数描述不同优先级实时分组集的到达和处理,基于期望可调度性来刻画不同紧急程度的实时应用对延迟的要求。提出的方法能够实现实时QoS控制下的瞬时特性研究,判定某一时刻不同优先级分组集的可调度性。最后对指数分布服务时间下的不同优先级分组集的期望可调度性进行了研究,基于理论结论的数值结果和基于模型的模拟结果是一致的。     

Interference-aware fixed-priority schedulability analysis on multiprocessors

This paper presents new schedulability tests for preemptive global fixed-priority (FP) scheduling of sporadic tasks on identical multiprocessor platform. One of the main challenges in deriving a schedulability test for global FP scheduling is identifying the worst-case runtime behavior, i.e., the critical instant, at which the release of a job suffers the maximum interference from the jobs of its higher priority tasks. Unfortunately, the critical instant is not yet known for sporadic tasks under global FP scheduling. To overcome this limitation, pessimism is introduced during the schedulability analysis to safely approximate the worst-case. The endeavor in this paper is to reduce such pessimism by proposing three new schedulability tests for global FP scheduling. Another challenge for global FP scheduling is the problem of assigning the fixed priorities to the tasks because no efficient method to find the optimal priority ordering in such case is currently known. Each of the schedulability tests proposed in this paper can be used to determine the priority of each task based on Audsley’s approach. It is shown that the proposed tests not only theoretically dominate but also empirically perform better than the state-of-the-art schedulability test for global FP scheduling of sporadic tasks.     

FPSL, FPCL and FPZL schedulability analysis

This paper presents the Fixed Priority until Static Laxity (FPSL), Fixed Priority until Critical Laxity (FPCL) and Fixed Priority until Zero Laxity (FPZL) scheduling algorithms for multiprocessor real-time systems. FPZL is similar to global fixed priority pre-emptive scheduling; however, whenever a task reaches a state of zero laxity it is given the highest priority. FPSL and FPCL are variants of FPZL that introduce no additional scheduling points beyond those present with fixed priority scheduling. FPSL, FPCL and FPZL are minimally dynamic algorithms, in that the priority of a job can change at most once during its execution, bounding the number of pre-emptions. Polynomial time and pseudo-polynomial time sufficient schedulability tests are derived for these algorithms. The tests are then improved by computing upper bounds on the amount of execution that each task can perform at the highest priority. An empirical evaluation shows that FPSL, FPCL, and FPZL are highly effective, with a significantly larger number of tasksets deemed schedulable by the tests derived in this paper, than by state-of-the-art schedulability tests for EDZL scheduling.     

Optimizing responses to broadcast messages in radio networks

Algorithms to optimize the performance of response traffic for broadcast messages in a packet-switched radio network are studied. The situation considered here involves a source node sending a broadcast message to all destinations and collecting positive response packets from these destinations in a fully connected packet radio network. The exact value of the number of destination nodes is unknown. A contention-based two-level protocol is described. Based on the protocol, an optimization problem is formulated in order to minimize the time for the source node to receive all the responses. Several algorithms are presented and numerical results of the corresponding optimization problems are obtained. These optimization problems are treated by the methods of dynamic programming. An extension of the basic scheme—multicast instead of full broadcast message—is also studied.This work was supported by the US Army Research Office under Contract No. DAAG29-84-K-0084.     

Scheduling time-constrained multicast messages in circuit-switched tree networks

In this paper, we consider a kind of multicast scheduling problem in a tree network. Each multicast message is transmitted through a directed subtree within the tree network. The transmission time of each multicast message is assumed to be one unit. Two messages can be transmitted at the same time if their subtrees are edge-disjoint. Each message is constrained by a ready time and a deadline, and has a weight we can gain if it is scheduled within its deadline. The optimality criterion is the total weight we gain. We assume that the degree of each subtree is bounded by a constant d and present an approximation algorithm of which the approximation ratio is at most 4d+15.     

Optimizing responses to broadcast messages in radio networks

Algorithms to optimize the performance of response traffic for broadcast messages in a packet-switched radio network are studied. The situation considered here involves a source node sending a broadcast message to all destinations and collecting positive response packets from these destinations in a fully connected packet radio network. The exact value of the number of destination nodes is unknown. A contention-based two-level protocol is described. Based on the protocol, an optimization problem is formulated in order to minimize the time for the source node to receive all the responses. Several algorithms are presented and numerical results of the corresponding optimization problems are obtained. These optimization problems are treated by the methods of dynamic programming. An extension of the basic scheme—multicast instead of full broadcast message—is also studied.     

An analysis of EDF schedulability on a multiprocessor

A new schedulability test is derived for preemptive deadline scheduling of periodic or sporadic real-time tasks on a single-queue m-server system. The new test allows the task deadline to be more or less than the task period, and is based on a new analysis concept, called a /spl mu/-busy interval. This generalizes a result of Goossens et al. [2003] that a system of periodic tasks with maximum individual task utilization u/sub max/ is EDF-schedulable on m processors if the total utilization does not exceed m(1 /sup max/)+u/sub max/. The new test allows the analysis of hybrid EDF-US [x] scheduling, and the conclusion that EDF-US[1/2] is optimal, with a guaranteed worst-case schedulable utilization of (m +1)/2.     

Using UML-based rate monotonic analysis to predict schedulability

Timeliness is essential in real-time systems, in which a late response is sometimes worse than no response at all because the violation of a single deadline could lead to loss of life or property. System analysts use an appropriate scheduling algorithm to ensure the predictability of such a system. The Object Management Group's adoption of the UML profile for schedulability, performance, and timeliness has increased interest in using UML and object-oriented technology to model and implement real-time systems. Rate monotonic analysis (RMA) is an extensively researched and successfully implemented technique that can be used in conjunction with the UML profile to analyze schedulability in these systems.     

Using genetic algorithms for early schedulability analysis and stress testing in real-time systems

Reactive real-time systems have to react to external events within time constraints: Triggered tasks must execute within deadlines. It is therefore important for the designers of such systems to analyze the schedulability of tasks during the design process, as well as to test the system's response time to events in an effective manner once it is implemented. This article explores the use of genetic algorithms to provide automated support for both tasks. Our main objective is then to automate, based on the system task architecture, the derivation of test cases that maximize the chances of critical deadline misses within the system; we refer to this testing activity as stress testing. A second objective is to enable an early but realistic analysis of tasks' schedulability at design time. We have developed a specific solution based on genetic algorithms and implemented it in a tool. Case studies were run and results show that the tool (1) is effective at identifying test cases that will likely stress the system to such an extent that some tasks may miss deadlines, (2) can identify situations that were deemed to be schedulable based on standard schedulability analysis but that, nevertheless, exhibit deadline misses.

Laxity dynamics and LLF schedulability analysis on multiprocessor platforms

LLF (Least Laxity First) scheduling, which assigns a higher priority to a task with a smaller laxity, has been known as an optimal preemptive scheduling algorithm on a single processor platform. However, little work has been made to illuminate its characteristics upon multiprocessor platforms. In this paper, we identify the dynamics of laxity from the system??s viewpoint and translate the dynamics into LLF multiprocessor schedulability analysis. More specifically, we first characterize laxity properties under LLF scheduling, focusing on laxity dynamics associated with a deadline miss. These laxity dynamics describe a lower bound, which leads to the deadline miss, on the number of tasks of certain laxity values at certain time instants. This lower bound is significant because it represents invariants for highly dynamic system parameters (laxity values). Since the laxity of a task is dependent of the amount of interference of higher-priority tasks, we can then derive a set of conditions to check whether a given task system can go into the laxity dynamics towards a deadline miss. This way, to the author??s best knowledge, we propose the first LLF multiprocessor schedulability test based on its own laxity properties. We also develop an improved schedulability test that exploits slack values. We mathematically prove that the proposed LLF tests dominate the state-of-the-art EDZL tests. We also present simulation results to evaluate schedulability performance of both the original and improved LLF tests in a quantitative manner.