New data structures, models, and algorithms for real-time resource management

Real-time resource management is the core and critical task in real-time systems. This dissertation explores new data structures, models, and algorithms for real-time resource management. At first, novel data structures, i.e., a class of Testing Interval Trees (TITs), are proposed to help build efficient scheduling modules in real-time systems. With a general data structure, i.e., the TIT* tree, the average costs of the schedulability tests in a wide variety of real-time systems can be reduced. With the Testing Interval Tree for Vacancy analysis (TIT-V), the complexities of the schedulability tests in a class of parallel/distributed real-time systems can be effectively reduced from 0(m²nlogn) to 0(mlogn+mlogm), where m is the number of processors and n is the number of tasks. Similarly, with the Testing Interval Tree for Release time and Laxity analysis (TIT-RL), the complexity of the online admission control in a uni-processor based real-time system can be reduced from 0(n²) to 0(nlogn), where n is the number of tasks. The TIT-RL tree can also be applied to a class of parallel/distributed real-time systems. Therefore, the TIT trees are effective approaches to efficient real-time scheduling modules. Secondly, a new utility accrual model, i.e., UAM+, is established for the resource management in real-time distributed systems. UAM+ is constructed based on the timeliness of computation and communication. Most importantly, the interplay between computation and communication is captured and characterized in the model. Under UAM+, resource managers are guided towards maximizing system-wide utility by exploring the interplay between computation and communication. This is in sharp contrast to traditional approaches that attempt to meet the timing constraints on computation and communication separately. To validate the effectiveness of UAM+, a resource allocation algorithm called IAUASA is developed. Simulation results reveal that IAUASA is far superior to two other resource allocation algorithms that are developed according to traditional utility accrual model and traditional idea. Furthermore, an online algorithm called IDRSA is also developed under UAM+, and a Dynamic Deadline Adjustment (DDA) technique is incorporated into IDRSA algorithm to explore the interplay between computation and communication. The simulation results show that the performance of IDRSA is very promising, especially when the interplay between computation and communication is tight. Therefore, the new utility accrual model provides a more effective approach to the resource allocation in distributed real-time systems. Thirdly, a general task model, which adapts the concept of calculus curve from the network calculus domain, is established for those embedded real-time systems with random event/task arrivals. Under this model, a prediction technique based on history window and calculus curves is established, and it provides the foundation for dynamic voltage-frequency scaling in those embedded real-time systems. Based on this prediction technique, novel energy-efficient algorithms that can dynamically adjust the operating voltage-frequency according to the predicted workload are developed. These algorithms aim to reduce energy consumption while meeting hard deadlines. They can accommodate and well adapt to the variation between the predicted and the actual arrivals of tasks as well as the variation between the predicted and the actual execution times of tasks. Simulation results validate the effectiveness of these algorithms in energy saving

Risk-Based Optimal Scheduling for the Predictive Maintenance of Railway Infrastructure

In this thesis a risk-based decision support system to schedule the predictive maintenance activities, is proposed. The model deals with the maintenance planning of a railway infrastructure in which the due-dates are defined via failure risk analysis.The novelty of the approach consists of the risk concept introduction in railway maintenance scheduling, according to ISO 55000 guidelines, thus implying that the maintenance priorities are based on asset criticality, determined taking into account the relevant failure probability, related to asset degradation conditions, and the consequent damages

A Platform for Scalable Low-Latency Analytics using MapReduce

Today, the ability to process big data has become crucial to the information needs of many enterprise businesses, scientific applications, and governments. Recently, there have been increasing needs of processing data that is not only big but also fast . Here fast data refers to high-speed real-time and near real-time data streams, such as Twitter feeds, search query streams, click streams, impressions, and system logs. To handle both historical data and real-time data, many companies have to maintain multiple systems. However, recent real-world case studies show that maintaining multiple systems cause not only code duplication, but also intensive manual work to partition the analytics workloads and determine which data is processed by which system. These issues point to the need for a general, unified data processing framework to support analytical queries with different latency requirements. This thesis takes a further step towards building a general, unified system for big and fast data analytics. In order to build such a system, I propose to build on existing solutions on data parallelism and extend them with two new features: incremental processing and stream processing with latency constraints. This thesis starts with Hadoop, the most popular open-source MapReduce implementation, which provides proven scalability based on data parallelism. I answer the following questions: (1) Is Hadoop able to support incremental processing? (2) What are the necessary architecture changes in order to support incremental processing? (3) What are the additional design features needed to support stream processing with latency constraints? The thesis includes three parts that answer each of the questions. The first part of the thesis validates whether the existing MapReduce implementations can support incremental processing. Incremental processing means that computation is performed as soon as the relevant data becomes available. My extensive benchmark study of Hadoop-based MapReduce systems shows that the widely-used sort-merge implementation for partitioning and parallel processing poses a fundamental barrier to incremental computation. I further propose a cost model, and optimize the Hadoop system configuration based on the model. The benchmark results over the optimized system verify that the barrier to incremental computation is intrinsic, and cannot be removed by tuning system parameters. In the second part of the thesis, I employ various purely hash-based techniques to enable fast in-memory incremental processing in MapReduce, and frequent key based techniques to extend such processing to workloads that require memory more than available. I evaluate my Hadoop-based prototype equipped with all proposed techniques. The results show that the hash techniques allow the reduce progress to keep up with the map progress with up to 3 orders of magnitude reduction of internal disk spills, and enable results to be returned early. The third part of the thesis aims to support stream processing with latency constraints based on the incremental processing platform resulted from the second part. I perform a benchmark study to understand the sources of latency. I then propose a number of necessary architecture changes to support stream processing, and augment the platform with new latency-aware model-driven resource planning and latency-aware runtime scheduling techniques to meet user-specified latency constraints while maximizing throughput. Experiments using real-world workloads show that the techniques reduce the latency from tens or hundreds of seconds to sub-second, with 2x-5x increase in throughput. The new platform offers 1-2 orders of magnitude improvements over Storm, a commercial-grade distributed stream system, and Spark Streaming, a state-of-the-art academic prototype, when considering both latency and throughput

WS-Pro: a Petri net based performance-driven service composition framework

As an emerging area gaining prevalence in the industry, Web Services was established to satisfy the needs for better flexibility and higher reliability in web applications. However, due to the lack of reliable frameworks and difficulties in constructing versatile service composition platform, web developers encountered major obstacles in large-scale deployment of web services. Meanwhile, performance has been one of the major concerns and a largely unexplored area in Web Services research. There is high demand for researchers to conceive and develop feasible solutions to design, monitor, and deploy web service systems that can adapt to failures, especially performance failures. Though many techniques have been proposed to solve this problem, none of them offers a comprehensive solution to overcome the difficulties that challenge practitioners. Central to the performance-engineering studies, performance analysis and performance adaptation are of paramount importance to the success of a software project. The industry learned through many hard lessons the significance of well-founded and well-executed performance engineering plans. An important fact is that it is too expensive to tackle performance evaluation, mostly through performance testing, after the software is developed. This is especially true in recent decades when software complexity has risen sharply. After the system is deployed, performance adaptation is essential to maintaining and improving software system reliability. Performance adaptation provides techniques to mitigate the consequence of performance failures and therefore is an important research issue. Performance adaptation is particularly meaningful for mission-critical software systems and software systems with inevitable frequent performance failures, such as Web Services. This dissertation focuses on Web Services framework and proposes a performance-driven service composition scheme, called WS-Pro, to support both performance analysis and performance adaptation. A formalism of transformation from WS-BPEL to Petri net is first defined to enable the analysis of system properties and facilitate quality prediction. A state-transition based proof is presented to show that the transformed Petri net model correctly simulates the behavior of the WS-BPEL process. The generated Petri net model was augmented using performance data supplied by both historical data and runtime data. Results of executing the Petri nets suggest that optimal composition plans can be achieved based on the proposed method. The performance of service composition procedure is an important research issue which has not been sufficiently treated by researchers. However, such an issue is critical for dynamic service composition, where re-planning must be done in a timely manner. In order to improve the performance of service composition procedure and enhance performance adaptation, this dissertation presents an algorithm to remove loops in the reachability graphs so that a large portion of the computation time of service composition can be moved to a pre-processing unit; hence the response time is shortened during runtime. We also extended the WS-Pro to the ubiquitous computing area to improve fault-tolerance

Composition and synchronization of real-time components upon one processor

Many industrial systems have various hardware and software functions for controlling mechanics. If these functions act independently, as they do in legacy situations, their overall performance is not optimal. There is a trend towards optimizing the overall system performance and creating a synergy between the different functions in a system, which is achieved by replacing more and more dedicated, single-function hardware by software components running on programmable platforms. This increases the re-usability of the functions, but their synergy requires also that (parts of) the multiple software functions share the same embedded platform. In this work, we look at the composition of inter-dependent software functions on a shared platform from a timing perspective. We consider platforms comprised of one preemptive processor resource and, optionally, multiple non-preemptive resources. Each function is implemented by a set of tasks; the group of tasks of a function that executes on the same processor, along with its scheduler, is called a component. The tasks of a component typically have hard timing constraints. Fulfilling these timing constraints of a component requires analysis. Looking at a single function, co-operative scheduling of the tasks within a component has already proven to be a powerful tool to make the implementation of a function more predictable. For example, co-operative scheduling can accelerate the execution of a task (making it easier to satisfy timing constraints), it can reduce the cost of arbitrary preemptions (leading to more realistic execution-time estimates) and it can guarantee access to other resources without the need for arbitration by other protocols. Since timeliness is an important functional requirement, (re-)use of a component for composition and integration on a platform must deal with timing. To enable us to analyze and specify the timing requirements of a particular component in isolation from other components, we reserve and enforce the availability of all its specified resources during run-time. The real-time systems community has proposed hierarchical scheduling frameworks (HSFs) to implement this isolation between components. After admitting a component on a shared platform, a component in an HSF keeps meeting its timing constraints as long as it behaves as specified. If it violates its specification, it may be penalized, but other components are temporally isolated from the malignant effects. A component in an HSF is said to execute on a virtual platform with a dedicated processor at a speed proportional to its reserved processor supply. Three effects disturb this point of view. Firstly, processor time is supplied discontinuously. Secondly, the actual processor is faster. Thirdly, the HSF no longer guarantees the isolation of an individual component when two arbitrary components violate their specification during access to non-preemptive resources, even when access is arbitrated via well-defined real-time protocols. The scientific contributions of this work focus on these three issues. Our solutions to these issues cover the system design from component requirements to run-time allocation. Firstly, we present a novel scheduling method that enables us to integrate the component into an HSF. It guarantees that each integrated component executes its tasks exactly in the same order regardless of a continuous or a discontinuous supply of processor time. Using our method, the component executes on a virtual platform and it only experiences that the processor speed is different from the actual processor speed. As a result, we can focus on the traditional scheduling problem of meeting deadline constraints of tasks on a uni-processor platform. For such platforms, we show how scheduling tasks co-operatively within a component helps to meet the deadlines of this component. We compare the strength of these cooperative scheduling techniques to theoretically optimal schedulers. Secondly, we standardize the way of computing the resource requirements of a component, even in the presence of non-preemptive resources. We can therefore apply the same timing analysis to the components in an HSF as to the tasks inside, regardless of their scheduling or their protocol being used for non-preemptive resources. This increases the re-usability of the timing analysis of components. We also make non-preemptive resources transparent during the development cycle of a component, i.e., the developer of a component can be unaware of the actual protocol being used in an HSF. Components can therefore be unaware that access to non-preemptive resources requires arbitration. Finally, we complement the existing real-time protocols for arbitrating access to non-preemptive resources with mechanisms to confine temporal faults to those components in the HSF that share the same non-preemptive resources. We compare the overheads of sharing non-preemptive resources between components with and without mechanisms for confinement of temporal faults. We do this by means of experiments within an HSF-enabled real-time operating system

Feedback Admission Control for Workflow Management Systems

We propose a novel feedback admission control (FAC) algorithm based on control theory as a unified framework to improve the real-time scheduling (RTS) performance in industrial workflow management systems (WMSs). Our FAC algorithm is based on four main principles. First, it does not require the knowledge of RTS parameters of jobs prior to their arrival to the system for scheduling and processing. Second, it does not require a change of the scheduling architecture/policy in the industrial WMS which is a requirement in some industries including the one under consideration in this thesis. Third, we derive dynamic models for computing systems for the purpose of performance control. Finally, we apply established control laws to manage the trade-offs in meeting deadlines and increasing platform utilisation (classical RTS objectives). The generality and efficiency of our proposed FAC algorithm are demonstrated by its application in three typical scheduling scenarios in industry. First, we tested our algorithm with simple tasks that are periodic and independent. For this application, we developed two FAC versions based on basic and advanced control laws to compare their performance with respect to the RTS objectives. Second, we added task dependencies as a scheduling constraint because they are witnessed in some industrial workloads. We evaluated our FAC algorithm against other baseline algorithms like the completion-ratio admission controller with respect to the RTS objectives. Third, we extended our FAC algorithm to support enterprise resource planning decisions in acquiring additional computing processors in real-time to further achieve the RTS objectives while constrained by industrial projects’ financial budgets

Economic regulation for multi tenant infrastructures

Large scale computing infrastructures need scalable and effi cient resource allocation mechanisms to ful l the requirements of its participants and applications while the whole system is regulated to work e ciently. Computational markets provide e fficient allocation mechanisms that aggregate information from multiple sources in large, dynamic and complex systems where there is not a single source with complete information. They have been proven to be successful in matching resource demand and resource supply in the presence of sel sh multi-objective and utility-optimizing users and sel sh pro t-optimizing providers. However, global infrastructure metrics which may not directly affect participants of the computational market still need to be addressed -a.k.a. economic externalities like load balancing or energy-efficiency. In this thesis, we point out the need to address these economic externalities, and we design and evaluate appropriate regulation mechanisms from di erent perspectives on top of existing economic models, to incorporate a wider range of objective metrics not considered otherwise. Our main contributions in this thesis are threefold; fi rst, we propose a taxation mechanism that addresses the resource congestion problem e ffectively improving the balance of load among resources when correlated economic preferences are present; second, we propose a game theoretic model with complete information to derive an algorithm to aid resource providers to scale up and down resource supply so energy-related costs can be reduced; and third, we relax our previous assumptions about complete information on the resource provider side and design an incentive-compatible mechanism to encourage users to truthfully report their resource requirements effectively assisting providers to make energy-eff cient allocations while providing a dynamic allocation mechanism to users.Les infraestructures computacionals de gran escala necessiten mecanismes d’assignació de recursos escalables i eficients per complir amb els requisits computacionals de tots els seus participants, assegurant-se de que el sistema és regulat apropiadament per a que funcioni de manera efectiva. Els mercats computacionals són mecanismes d’assignació de recursos eficients que incorporen informació de diferents fonts considerant sistemes de gran escala, complexos i dinàmics on no existeix una única font que proveeixi informació completa de l'estat del sistema. Aquests mercats computacionals han demostrat ser exitosos per acomodar la demanda de recursos computacionals amb la seva oferta quan els seus participants son considerats estratègics des del punt de vist de teoria de jocs. Tot i això existeixen mètriques a nivell global sobre la infraestructura que no tenen per que influenciar els usuaris a priori de manera directa. Així doncs, aquestes externalitats econòmiques com poden ser el balanceig de càrrega o la eficiència energètica, conformen una línia d’investigació que cal explorar. En aquesta tesi, presentem i descrivim la problemàtica derivada d'aquestes externalitats econòmiques. Un cop establert el marc d’actuació, dissenyem i avaluem mecanismes de regulació apropiats basats en models econòmics existents per resoldre aquesta problemàtica des de diferents punts de vista per incorporar un ventall més ampli de mètriques objectiu que no havien estat considerades fins al moment. Les nostres contribucions principals tenen tres vessants: en primer lloc, proposem un mecanisme de regulació de tipus impositiu que tracta de mitigar l’aparició de recursos sobre-explotats que, efectivament, millora el balanceig de la càrrega de treball entre els recursos disponibles; en segon lloc, proposem un model teòric basat en teoria de jocs amb informació o completa que permet derivar un algorisme que facilita la tasca dels proveïdors de recursos per modi car a l'alça o a la baixa l'oferta de recursos per tal de reduir els costos relacionats amb el consum energètic; i en tercer lloc, relaxem la nostra assumpció prèvia sobre l’existència d’informació complerta per part del proveïdor de recursos i dissenyem un mecanisme basat en incentius per fomentar que els usuaris facin pública de manera verídica i explícita els seus requeriments computacionals, ajudant d'aquesta manera als proveïdors de recursos a fer assignacions eficients des del punt de vista energètic a la vegada que oferim un mecanisme l’assignació de recursos dinàmica als usuari