UML Extensions for Real-Time Control Systems

The use of object oriented techniques and methodologies for the design of real-time control systems appears to be necessary in order to deal with the increasing complexity of such systems. Recently many object-oriented methods have been used for the modeling and design of real-time control systems. We believe that an approach that integrates the advancements in both object modeling and design methods, and real-time scheduling theory is the key to successful use of object oriented technology for real-time software. Surprisingly several past approaches to integrate the two either restrict the object models, or do not allow sophisticated schedulability analysis techniques. In this paper we show how schedulability analysis can be integrated with object-oriented design. More specifically, we develop the schedulability and feasibility analysis method for the external messages that may suffer release jitter due to being dispatched by a tick driven scheduler in real-time control system, and we also develop the scheduliability method for sporadic activities, where message arrive sporadically then execute periodically for some bounded time. This method can be used to cope with timing constraints in realistic and complex real-time control systems. Using this method, a designer can quickly evaluate the impact of various implementation decisions on schedulability. In conjunction with automatic code-generation, we believe that this will greatly streamline the design and development of real-time control system software

Extending UML-RT for Control System Modelling

There is a growing interest in adopting object technologies for the development of real-time control systems. Several commercial tools, currently available, provide object-oriented modeling and design support for real-time control systems. While these products provide many useful facilities, such as visualization tools and automatic code generation, they are all weak in addressing the central characteristic of real-time control systems design, i.e., providing support for a designer to reason about timeliness properties. We believe an approach that integrates the advancements in both object modeling and design methods and real-time scheduling theory is the key to successful use of object technology for real-time software. Surprisingly several past approaches to integrate the two either restrict the object models, or do not allow sophisticated schedulability analysis techniques. This study shows how schedulability analysis can be integrated with UML for Real-Time (UML-RT) to deal with timing properties in real time control systems. More specifically, we develop the schedulability and feasibility analysis modeling for the external messages that may suffer release jitter due to being dispatched by a tick driven scheduler in real-time control system and we also develop the scheduliablity modeling for sporadic activities, where messages arrive sporadically then execute periodically for some bounded time. This method can be used to cope with timing constraints in realistic and complex real-time control systems. Using this method, a designer can quickly evaluate the impact of various implementation decisions on schedulability. In conjunction with automatic code-generation, we believe that this will greatly streamline the design and development of real-time control systems software

Integrating Schedulability Analysis with UML-RT

The use of object oriented techniques and methodologies for the design of real-time control systems appear to be necessary in order to deal with the increasing complexity of such systems. Recently many object-oriented methods have been used for the modeling and design of real-time control systems. We believe that an approach that integrates the advancements in both object modeling and design methods, and real-time scheduling theory is the key to successful use of object oriented technology for real-time software. However, past approaches to integrate the two either restrict the object models, or do not allow sophisticated schedulability analysis techniques. In this paper we show how schedulability analysis can be integrated with object-oriented design; we develop the schedulability and feasibility analysis method for the external messages that may suffer release jitter due to being dispatched by a tick driven scheduler in real-time control system, and we also develop the scheduliability method for sporadic activities, where message arrive sporadically then execute periodically for some bounded time. This method can be used to cope with timing constraints in complex real-time control systems

Process Algebraic Approach to the Schedulability Analysis and Workload Abstraction of Hierarchical Real-Time Systems

Real-time embedded systems have increased in complexity. As microprocessors become more powerful, the software complexity of real-time embedded systems has increased steadily. The requirements for increased functionality and adaptability make the development of real-time embedded software complex and error-prone. Component-based design has been widely accepted as a compositional approach to facilitate the design of complex systems. It provides a means for decomposing a complex system into simpler subsystems and composing the subsystems in a hierarchical manner. A system composed of real-time subsystems with hierarchy is called a hierarchical real-time system This paper describes a process algebraic approach to schedulability analysis of hierarchical real-time systems. To facilitate modeling and analyzing hierarchical real-time systems, we conservatively extend an existing process algebraic theory based on ACSR-VP (Algebra of Communicating Shared Resources with Value-Passing) for the schedulability of real-time systems. We explain a method to model a resource model in ACSR-VP which may be partitioned for a subsystem. We also introduce schedulability relation to define the schedulability of hierarchical real-time systems and show that satisfaction checking of the relation is reducible to deadlock checking in ACSR-VP and can be done automatically by the tool support of ERSA (Verification, Execution and Rewrite System for ACSR). With the schedulability relation, we present algorithms for abstracting real-time system workloads

Research Article Software Component Selection Based on Quality Criteria Using the Analytic Network Process

Component based software development (CBSD) endeavors to deliver cost-effective and quality software systems through the selection and integration of commercially available software components. CBSD emphasizes the design and development of software systems using preexisting components. Software component reusability is an indispensable part of component based software development life cycle (CBSDLC),which consumes a significant amount of organization’s resources, that is, time and effort. It is convenient in component based software system (CBSS) to select the most suitable and appropriate software components that provide all the required functionalities. Selecting the most appropriate components is crucial for the success of the entire system. However, decisions regarding software component reusability are often made in an ad hoc manner, which ultimately results in schedule delay and lowers the entire quality system. In this paper, we have discussed the analytic network process (ANP) method for software component selection. The methodology is explained and assessed using a real life case study

An Algebraic Framework for the Real-Time Solution of Inverse Problems on Embedded Systems

This article presents a new approach to the real-time solution of inverse problems on embedded systems. The class of problems addressed corresponds to ordinary differential equations (ODEs) with generalized linear constraints, whereby the data from an array of sensors forms the forcing function. The solution of the equation is formulated as a least squares (LS) problem with linear constraints. The LS approach makes the method suitable for the explicit solution of inverse problems where the forcing function is perturbed by noise. The algebraic computation is partitioned into a initial preparatory step, which precomputes the matrices required for the run-time computation; and the cyclic run-time computation, which is repeated with each acquisition of sensor data. The cyclic computation consists of a single matrix-vector multiplication, in this manner computation complexity is known a-priori, fulfilling the definition of a real-time computation. Numerical testing of the new method is presented on perturbed as well as unperturbed problems; the results are compared with known analytic solutions and solutions acquired from state-of-the-art implicit solvers. The solution is implemented with model based design and uses only fundamental linear algebra; consequently, this approach supports automatic code generation for deployment on embedded systems. The targeting concept was tested via software- and processor-in-the-loop verification on two systems with different processor architectures. Finally, the method was tested on a laboratory prototype with real measurement data for the monitoring of flexible structures. The problem solved is: the real-time overconstrained reconstruction of a curve from measured gradients. Such systems are commonly encountered in the monitoring of structures and/or ground subsidence.Comment: 24 pages, journal articl

FAILSAFE Health Management for Embedded Systems

The FAILSAFE project is developing concepts and prototype implementations for software health management in mission- critical, real-time embedded systems. The project unites features of the industry-standard ARINC 653 Avionics Application Software Standard Interface and JPL s Mission Data System (MDS) technology (see figure). The ARINC 653 standard establishes requirements for the services provided by partitioned, real-time operating systems. The MDS technology provides a state analysis method, canonical architecture, and software framework that facilitates the design and implementation of software-intensive complex systems. The MDS technology has been used to provide the health management function for an ARINC 653 application implementation. In particular, the focus is on showing how this combination enables reasoning about, and recovering from, application software problems