Multi-resource management in embedded real-time systems

This thesis addresses the problem of online multi-resource management in embedded real-time systems. It focuses on three research questions. The first question concentrates on how to design an efficient hierarchical scheduling framework for supporting independent development and analysis of component based systems, to provide temporal isolation between components. The second question investigates how to change the mapping of resources to tasks and components during run-time efficiently and predictably, and how to analyze the latency of such a system mode change in systems comprised of several scalable components. The third question deals with the scheduling and analysis of a set of parallel-tasks with real-time constraints which require simultaneous access to several different resources. For providing temporal isolation we chose a reservation-based approach. We first focused on processor reservations, where timed events play an important role. Common examples are task deadlines, periodic release of tasks, budget replenishment and budget depletion. Efficient timer management is therefore essential. We investigated the overheads in traditional timer management techniques and presented a mechanism called Relative Timed Event Queues (RELTEQ), which provides an expressive set of primitives at a low processor and memory overhead. We then leveraged RELTEQ to create an efficient, modular and extensible design for enhancing a real-time operating system with periodic tasks, polling, idling periodic and deferrable servers, and a two-level fixed-priority Hierarchical Scheduling Framework (HSF). The HSF design provides temporal isolation and supports independent development of components by separating the global and local scheduling, and allowing each server to define a dedicated scheduler. Furthermore, the design addresses the system overheads inherent to an HSF and prevents undesirable interference between components. It limits the interference of inactive servers on the system level by means of wakeup events and a combination of inactive server queues with a stopwatch queue. Our implementation is modular and requires only a few modifications of the underlying operating system. We then investigated scalable components operating in a memory-constrained system. We first showed how to reduce the memory requirements in a streaming multimedia application, based on a particular priority assignment of the different components along the processing chain. Then we investigated adapting the resource provisions to tasks during runtime, referred to as mode changes. We presented a novel mode change protocol called Swift Mode Changes, which relies on Fixed Priority with Deferred preemption Scheduling to reduce the mode change latency bound compared to existing protocols based on Fixed Priority Preemptive Scheduling. We then presented a new partitioned parallel-task scheduling algorithm called Parallel-SRP (PSRP), which generalizes MSRP for multiprocessors, and the corresponding schedulability analysis for the problem of multi-resource scheduling of parallel tasks with real-time constraints. We showed that the algorithm is deadlock-free, derived a maximum bound on blocking, and used this bound as a basis for a schedulability test. We then demonstrated how PSRP can exploit the inherent parallelism of a platform comprised of multiple heterogeneous resources. Finally, we presented Grasp, which is a visualization toolset aiming to provide insight into the behavior of complex real-time systems. Its flexible plugin infrastructure allows for easy extension with custom visualization and analysis techniques for automatic trace verification. Its capabilities include the visualization of hierarchical multiprocessor systems, including partitioned and global multiprocessor scheduling with migrating tasks and jobs, communication between jobs via shared memory and message passing, and hierarchical scheduling in combination with multiprocessor scheduling. For tracing distributed systems with asynchronous local clocks Grasp also supports the synchronization of traces from different processors during the visualization and analysis

Model-based estimation and control methods for batch cooling crystallizers

This thesis addresses the problem of online multi-resource management in embedded real-time systems. It focuses on three research questions. The first question concentrates on how to design an efficient hierarchical scheduling framework for supporting independent development and analysis of component based systems, to provide temporal isolation between components. The second question investigates how to change the mapping of resources to tasks and components during run-time efficiently and predictably, and how to analyze the latency of such a system mode change in systems comprised of several scalable components. The third question deals with the scheduling and analysis of a set of parallel-tasks with real-time constraints which require simultaneous access to several different resources. For providing temporal isolation we chose a reservation-based approach. We first focused on processor reservations, where timed events play an important role. Common examples are task deadlines, periodic release of tasks, budget replenishment and budget depletion. Efficient timer management is therefore essential. We investigated the overheads in traditional timer management techniques and presented a mechanism called Relative Timed Event Queues (RELTEQ), which provides an expressive set of primitives at a low processor and memory overhead. We then leveraged RELTEQ to create an efficient, modular and extensible design for enhancing a real-time operating system with periodic tasks, polling, idling periodic and deferrable servers, and a two-level fixed priority Hierarchical Scheduling Framework (HSF). The HSF design provides temporal isolation and supports independent development of components by separating the global and local scheduling, and allowing each server to define a dedicated scheduler. Furthermore, the design addresses the system overheads inherent to an HSF and prevents undesirable interference between components. It limits the interference of inactive servers on the system level by means of wakeup events and a combination of inactive server queues with a stopwatch queue. Our implementation is modular and requires only a few modifications of the underlying operating system. We then investigated scalable components operating in a memory-constrained system. We first showed how to reduce the memory requirements in a streaming multimedia application, based on a particular priority assignment of the different components along the processing chain. Then we investigated adapting the resource provisions to tasks during runtime, referred to as mode changes. We presented a novel mode change protocol called Swift Mode Changes, which relies on Fixed Priority with Deferred preemption Scheduling to reduce the mode change latency bound compared to existing protocols based on Fixed Priority Preemptive Scheduling. We then presented a new partitioned parallel-task scheduling algorithm called Parallel-SRP (PSRP), which generalizes MSRP for multiprocessors, and the corresponding schedulability analysis for the problem of multi-resource scheduling of parallel tasks with real-time constraints. We showed that the algorithm is deadlock-free, derived a maximum bound on blocking, and used this bound as a basis for a schedulability test. We then demonstrated how PSRP can exploit the inherent parallelism of a platform comprised of multiple heterogeneous resources. Finally, we presented Grasp, which is a visualization toolset aiming to provide insight into the behavior of complex real-time systems. Its flexible plugin infrastructure allows for easy extension with custom visualization and analysis techniques for automatic trace verification. Its capabilities include the visualization of hierarchical multiprocessor systems, including partitioned and global multiprocessor scheduling with migrating tasks and jobs, communication between jobs via shared memory and message passing, and hierarchical scheduling in combination with multiprocessor scheduling. For tracing distributed systems with asynchronous local clocks Grasp also supports the synchronization of traces from different processors during the visualization and analysis

A Taxonomy of Workflow Management Systems for Grid Computing

With the advent of Grid and application technologies, scientists and engineers are building more and more complex applications to manage and process large data sets, and execute scientific experiments on distributed resources. Such application scenarios require means for composing and executing complex workflows. Therefore, many efforts have been made towards the development of workflow management systems for Grid computing. In this paper, we propose a taxonomy that characterizes and classifies various approaches for building and executing workflows on Grids. We also survey several representative Grid workflow systems developed by various projects world-wide to demonstrate the comprehensiveness of the taxonomy. The taxonomy not only highlights the design and engineering similarities and differences of state-of-the-art in Grid workflow systems, but also identifies the areas that need further research.Comment: 29 pages, 15 figure

Real-time co-ordinated resource management in a computational enviroment

Design co-ordination is an emerging engineering design management philosophy with its emphasis on timeliness and appropriateness. Furthermore, a key element of design coordination has been identified as resource management, the aim of which is to facilitate the optimised use of resources throughout a dynamic and changeable process. An approach to operational design co-ordination has been developed, which incorporates the appropriate techniques to ensure that the aim of co-ordinated resource management can be fulfilled. This approach has been realised within an agent-based software system, called the Design Coordination System (DCS), such that a computational design analysis can be managed in a coherent and co-ordinated manner. The DCS is applied to a computational analysis for turbine blade design provided by industry. The application of the DCS involves resources, i.e. workstations within a computer network, being utilised to perform the computational analysis involving the use of a suite of software tools to calculate stress and vibration characteristics of turbine blades. Furthermore, the application of the system shows that the utilisation of resources can be optimised throughout the computational design analysis despite the variable nature of the computer network

Integrated engineering environments for large complex products

An introduction is given to the Engineering Design Centre at the University of Newcastle upon Tyne, along with a brief explanation of the main focus towards large made-to-order products. Three key areas of research at the Centre, which have evolved as a result of collaboration with industrial partners from various sectors of industry, are identified as (1) decision support and optimisation, (2) design for lifecycle, and (3) design integration and co-ordination. A summary of the unique features of large made-to-order products is then presented, which includes the need for integration and co-ordination technologies. Thus, an overview of the existing integration and co-ordination technologies is presented followed by a brief explanation of research in these areas at the Engineering Design Centre. A more detailed description is then presented regarding the co-ordination aspect of research being conducted at the Engineering Design Centre, in collaboration with the CAD Centre at the University of Strathclyde. Concurrent Engineering is acknowledged as a strategy for improving the design process, however design coordination is viewed as a principal requirement for its successful implementation. That is, design co-ordination is proposed as being the key to a mechanism that is able to maximise and realise any potential opportunity of concurrency. Thus, an agentoriented approach to co-ordination is presented, which incorporates various types of agents responsible for managing their respective activities. The co-ordinated approach, which is implemented within the Design Co-ordination System, includes features such as resource management and monitoring, dynamic scheduling, activity direction, task enactment, and information management. An application of the Design Co-ordination System, in conjunction with a robust concept exploration tool, shows that the computational design analysis involved in evaluating many design concepts can be performed more efficiently through a co-ordinated approach

Real time resource scheduling within a distributed collaborative design environment

Operational design co-ordination is provided by a Virtual Integration Platform (VIP) that is capable of scheduling and allocating design activities to organisationally and geographically distributed designers. To achieve this, the platform consists of a number of components that contribute to the engineering management and co-ordination of data, resources, activities, requirements and processes. The information required to schedule and allocate activities to designers is defined in terms of: the designers' capability to perform particular design activities; commitment in terms of the design activities that it is currently performing, and capacity to perform more than one design activity at the same time as well as the effect of increased capacity on capability. Previous approaches have been developed by the authors to automatically allocate resources to activities [1-3], however these approaches have generally been applied either within the context of real-time allocation of computational resources using automated design tools, or in the planning of human resources within future design projects and not for the real-time allocation of activities to a combination of human and computational resources. The procedure presented here is based upon this previous research and involves: the determination of the design activities that need to be undertaken on the basis of the goals that need to be achieved; identification of the resources that can undertake these design activities; and, the use of a genetic algorithm to optimally allocate the activities to the resources. Since the focus of the procedure is toward the real-time allocation of design activities to designers, additional human issues with respect to scheduling are considered. These human issues aspects include: consideration of the improvement in performance as a result of the experience gained from undertaking the activity; provision of a training period to allow inexperienced designers the opportunity to improve their performance without their performance being assessed; and the course of action to take when a designer is either unwilling or unable to perform an activity

Dynamic Loop Scheduling Using MPI Passive-Target Remote Memory Access

Scientific applications often contain large computationally-intensive parallel loops. Loop scheduling techniques aim to achieve load balanced executions of such applications. For distributed-memory systems, existing dynamic loop scheduling (DLS) libraries are typically MPI-based, and employ a master-worker execution model to assign variably-sized chunks of loop iterations. The master-worker execution model may adversely impact performance due to the master-level contention. This work proposes a distributed chunk-calculation approach that does not require the master-worker execution scheme. Moreover, it considers the novel features in the latest MPI standards, such as passive-target remote memory access, shared-memory window creation, and atomic read-modify-write operations. To evaluate the proposed approach, five well-known DLS techniques, two applications, and two heterogeneous hardware setups have been considered. The DLS techniques implemented using the proposed approach outperformed their counterparts implemented using the traditional master-worker execution model