The embedded operating system project

This progress report describes research towards the design and construction of embedded operating systems for real-time advanced aerospace applications. The applications concerned require reliable operating system support that must accommodate networks of computers. The report addresses the problems of constructing such operating systems, the communications media, reconfiguration, consistency and recovery in a distributed system, and the issues of realtime processing. A discussion is included on suitable theoretical foundations for the use of atomic actions to support fault tolerance and data consistency in real-time object-based systems. In particular, this report addresses: atomic actions, fault tolerance, operating system structure, program development, reliability and availability, and networking issues. This document reports the status of various experiments designed and conducted to investigate embedded operating system design issues

Replication and fault-tolerance in real-time systems

PhD ThesisThe increased availability of sophisticated computer hardware and the corresponding decrease in its cost has led to a widespread growth in the use of computer systems for realtime plant and process control applications. Such applications typically place very high demands upon computer control systems and the development of appropriate control software for these application areas can present a number of problems not normally encountered in other applications. First of all, real-time applications must be correct in the time domain as well as the value domain: returning results which are not only correct but also delivered on time. Further, since the potential for catastrophic failures can be high in a process or plant control environment, many real-time applications also have to meet high reliability requirements. These requirements will typically be met by means of a combination of fault avoidance and fault tolerance techniques. This thesis is intended to address some of the problems encountered in the provision of fault tolerance in real-time applications programs. Specifically,it considers the use of replication to ensure the availability of services in real-time systems. In a real-time environment, providing support for replicated services can introduce a number of problems. In particular, the scope for non-deterministic behaviour in real-time applications can be quite large and this can lead to difficultiesin maintainingconsistent internal states across the members of a replica group. To tackle this problem, a model is proposed for fault tolerant real-time objects which not only allows such objects to perform application specific recovery operations and real-time processing activities such as event handling, but which also allows objects to be replicated. The architectural support required for such replicated objects is also discussed and, to conclude, the run-time overheads associated with the use of such replicated services are considered.The Science and Engineering Research Council

Priority-based speculative locking protocols for distributed real-time database systems.

With globalization, multinational networked organizations' need for exchange of information has led to the emergence of applications that are heavily dependent on globally distributed and constantly changing data. Such applications include, stock trading, Computer Aided Design and Manufacturing (CAD/CAM), online reservation systems, telecommunication systems, e-commerce systems and real time navigation systems. These applications introduce the need for distributed real time database systems (DRTDBS) which must access/manipulate data spread over a network in addition to meeting the real time constraints and maintaining database consistency. In order to improve performance within DRTDBS, attention needs to be given to concurrency control mechanism and transaction's time constraints. A number of protocols have been suggested in recent years to address these issues. One of the proposed protocols, Speculative Locking (SL), has especially demonstrated the capability of improving performance within Distributed Database System by allowing parallelism between conflicting transactions without violating serializability. This research extends SL by giving it the capability of taking a transaction's priority into consideration when scheduling transactions. In addition, a nested transaction model is used to access the data that is distributed across the network. We propose two new Priority-based Speculative Locking protocols: (1) Preemptive Speculative Locking (PSL) and (2) Priority inheritance Speculative Locking (PiSL). PSL extends SL by allowing any incoming higher priority transaction to preempt and abort any lower priority transaction in case of lock conflict thus giving the higher priority transaction a chance to meet the deadline. PiSL, on the other hand, attempts to prevent any wasted work by avoiding preemption by a higher priority transaction. Instead, the lower priority transaction inherits the priority of the blocked transaction. This gives both transactions an opportunity to meet their deadline whenever possible.The original print copy of this thesis may be available here: http://wizard.unbc.ca/record=b159863

Safe code transfromations for speculative execution in real-time systems

Although compiler optimization techniques are standard and successful in non-real-time systems, if naively applied, they can destroy safety guarantees and deadlines in hard real-time systems. For this reason, real-time systems developers have tended to avoid automatic compiler optimization of their code. However, real-time applications in several areas have been growing substantially in size and complexity in recent years. This size and complexity makes it impossible for real-time programmers to write optimal code, and consequently indicates a need for compiler optimization. Recently researchers have developed or modified analyses and transformations to improve performance without degrading worst-case execution times. Moreover, these optimization techniques can sometimes transform programs which may not meet constraints/deadlines, or which result in timeouts, into deadline-satisfying programs. One such technique, speculative execution, also used for example in parallel computing and databases, can enhance performance by executing parts of the code whose execution may or may not be needed. In some cases, rollback is necessary if the computation turns out to be invalid. However, speculative execution must be applied carefully to real-time systems so that the worst-case execution path is not extended. Deterministic worst-case execution for satisfying hard real-time constraints, and speculative execution with rollback for improving average-case throughput, appear to lie on opposite ends of a spectrum of performance requirements and strategies. Deterministic worst-case execution for satisfying hard real-time constraints, and speculative execution with rollback for improving average-case throughput, appear to lie on opposite ends of a spectrum of performance requirements and strategies. Nonetheless, this thesis shows that there are situations in which speculative execution can improve the performance of a hard real-time system, either by enhancing average performance while not affecting the worst-case, or by actually decreasing the worst-case execution time. The thesis proposes a set of compiler transformation rules to identify opportunities for speculative execution and to transform the code. Proofs for semantic correctness and timeliness preservation are provided to verify safety of applying transformation rules to real-time systems. Moreover, an extensive experiment using simulation of randomly generated real-time programs have been conducted to evaluate applicability and profitability of speculative execution. The simulation results indicate that speculative execution improves average execution time and program timeliness. Finally, a prototype implementation is described in which these transformations can be evaluated for realistic applications

A static, transaction based design methodology for hard real-time systems

This thesis is concerned with the design and implementation stages of the development lifecycle of a class of systems known as hard real-time systems. Many of the existing methodologies are appropriate for meeting the functional requirements of this class of systems. However, it is proposed that these methodologies are not entirely appropriate for meeting the non-functional requirement of deadlines for work within these real-time systems. After discussing the concept of real-time systems and their characteristic requirements, this thesis proposes the use of a general transaction model of execution for the implementation of the system. Whereas traditional methodologies consider the system from the flow of data or control in the system, we consider the system from the viewpoint of the role of each shared data entity. A control dependency is implied between otherwise independent processes that make use of a shared data entity; our viewpoint is known as the data dependency viewpoint. This implied control dependency between independent processes, necessary to preserve the consistency of the entity in the face of concurrent access, is ignored during the design stages of other methodologies. In considering the role of each data entity, it is possible to generate other viewpoints, such as the dataflow through the processes, automatically. This however, is not considered in the work. This thesis describes a staged methodology for taking the requirements specification for a system and generating a design and implementation for that system. The methodology is intended to be more than a set of vague guidelines for implementation; a more rigid approach to the design and implementation stages is sought. The methodology begins by decomposing the system into more manageable units of processing. These units are known as tasks with a very low degree of coupling and high degree of cohesion. Following the system decomposition, the data dependency viewpoint is constructed; a descriptive notation and CASE tool support this viewpoint. From this viewpoint, implementation issues such as generating control flow; task and data allocation and hard real-time scheduling concerns, are addressed. A complete runtime environment to support the transaction model is described. This environment is hierarchical and can be adapted to many distributed implementations. Finally, the stages of the methodology are applied to a large example, a Ship Control System. Starting with a specification of the requirements, the methodology is applied to generate a design and implementation of the system

Study of fault-tolerant software technology

Presented is an overview of the current state of the art of fault-tolerant software and an analysis of quantitative techniques and models developed to assess its impact. It examines research efforts as well as experience gained from commercial application of these techniques. The paper also addresses the computer architecture and design implications on hardware, operating systems and programming languages (including Ada) of using fault-tolerant software in real-time aerospace applications. It concludes that fault-tolerant software has progressed beyond the pure research state. The paper also finds that, although not perfectly matched, newer architectural and language capabilities provide many of the notations and functions needed to effectively and efficiently implement software fault-tolerance