Flexible Scheduling in Middleware for Distributed rate-based real-time applications - Doctoral Dissertation, May 2002

Distributed rate-based real-time systems, such as process control and avionics mission computing systems, have traditionally been scheduled statically. Static scheduling provides assurance of schedulability prior to run-time overhead. However, static scheduling is brittle in the face of unanticipated overload, and treats invocation-to-invocation variations in resource requirements inflexibly. As a consequence, processing resources are often under-utilized in the average case, and the resulting systems are hard to adapt to meet new real-time processing requirements. Dynamic scheduling offers relief from the limitations of static scheduling. However, dynamic scheduling offers relief from the limitations of static scheduling. However, dynamic scheduling often has a high run-time cost because certain decisions are enforced on-line. Furthermore, under conditions of overload tasks can be scheduled dynamically that may never be dispatched, or that upon dispatch would miss their deadlines. We review the implications of these factors on rate-based distributed systems, and posits the necessity to combine static and dynamic approaches to exploit the strengths and compensate for the weakness of either approach in isolation. We present a general hybrid approach to real-time scheduling and dispatching in middleware, that can employ both static and dynamic components. This approach provides (1) feasibility assurance for the most critical tasks, (2) the ability to extend this assurance incrementally to operations in successively lower criticality equivalence classes, (3) the ability to trade off bounds on feasible utilization and dispatching over-head in cases where, for example, execution jitter is a factor or rates are not harmonically related, and (4) overall flexibility to make more optimal use of scarce computing resources and to enforce a wider range of application-specified execution requirements. This approach also meets additional constraints of an increasingly important class of rate-based systems, those with requirements for robust management of real-time performance in the face of rapidly and widely changing operating conditions. To support these requirements, we present a middleware framework that implements the hybrid scheduling and dispatching approach described above, and also provides support for (1) adaptive re-scheduling of operations at run-time and (2) reflective alternation among several scheduling strategies to improve real-time performance in the face of changing operating conditions. Adaptive re-scheduling must be performed whenever operating conditions exceed the ability of the scheduling and dispatching infrastructure to meet the critical real-time requirements of the system under the currently specified rates and execution times of operations. Adaptive re-scheduling relies on the ability to change the rates of execution of at least some operations, and may occur under the control of a higher-level middleware resource manager. Different rates of execution may be specified under different operating conditions, and the number of such possible combinations may be arbitrarily large. Furthermore, adaptive rescheduling may in turn require notification of rate-sensitive application components. It is therefore desirable to handle variations in operating conditions entirely within the scheduling and dispatching infrastructure when possible. A rate-based distributed real-time application, or a higher-level resource manager, could thus fall back on adaptive re-scheduling only when it cannot achieve acceptable real-time performance through self-adaptation. Reflective alternation among scheduling heuristics offers a way to tune real-time performance internally, and we offer foundational support for this approach. In particular, run-time observable information such as that provided by our metrics-feedback framework makes it possible to detect that a given current scheduling heuristic is underperforming the level of service another could provide. Furthermore we present empirical results for our framework in a realistic avionics mission computing environment. This forms the basis for guided adaption. This dissertation makes five contributions in support of flexible and adaptive scheduling and dispatching in middleware. First, we provide a middle scheduling framework that supports arbitrary and fine-grained composition of static/dynamic scheduling, to assure critical timeliness constraints while improving noncritical performance under a range of conditions. Second, we provide a flexible dispatching infrastructure framework composed of fine-grained primitives, and describe how appropriate configurations can be generated automatically based on the output of the scheduling framework. Third, we describe algorithms to reduce the overhead and duration of adaptive rescheduling, based on sorting for rate selection and priority assignment. Fourth, we provide timely and efficient performance information through an optimized metrics-feedback framework, to support higher-level reflection and adaptation decisions. Fifth, we present the results of empirical studies to quantify and evaluate the performance of alternative canonical scheduling heuristics, across a range of load and load jitter conditions. These studies were conducted within an avionics mission computing applications framework running on realistic middleware and embedded hardware. The results obtained from these studies (1) demonstrate the potential benefits of reflective alternation among distinct scheduling heuristics at run-time, and (2) suggest performance factors of interest for future work on adaptive control policies and mechanisms using this framework

A Guide to Documenting Software Design for Maximum Software Portability for Software Defined Radios

The use of software defined communications systems is growing incredibly fast. The field of software engineering as a discipline has not adequately addressed the subject of software portability which makes large and costly software development efforts less ready to port to future platforms. By understanding the causes of portability problems, they can either be avoided altogether in development or very well documented so that they are easier to overcome in future efforts. Literature, case studies, and surveys are used to collect opinions and information about large software programs where portability is a desirable characteristic in order to best establish the facts and way forward for future research efforts

Performance-Driven Interface Contract Enforcement for Scientific Components

Several performance-driven approaches to selectively enforce interface contracts for scientific components are investigated. The goal is to facilitate debugging deployed applications built from plug-and-play components while keeping the cost of enforcement within acceptable overhead limits. This paper describes a study of global enforcement using a priori execution cost estimates obtained from traces. Thirteen trials are formed from five, single-component programs. Enforcement experiments conducted using twenty-three enforcement policies are used to determine the nature of exercised contracts and the impact of a variety of sampling strategies. Performance-driven enforcement appears to be best suited to programs that exercise moderately expensive contracts

Dynamic Upgrade of Distributed Software Components

Die Aktualisierung von komplexen Telekommunikationssystemen, die sich durch die ihnen eigene Verteiltheit und hohe Kosten bei System-Nichtverfügbarkeit auszeichnen, ist ein komplizierter und fehleranfälliger Wartungsprozess. Noch stärkere Herausforderungen bergen solche Software-Aktualisierungen, die die Systemverfügbarkeit nicht beeinträchtigen sollen. Dynamic Upgrade ist eine Wartungstechnik, die das Verwalten und die Durchführung von Software-Aktualisierung automatisiert und damit den Betrieb des Systems während der Wartungszeit nicht unterbricht. In dieser Arbeit wird das Dynamic Upgrade als ein Sonderfall der Bereitstellung und Inbetriebnahme (Deployment) von Software betrachtet, in dem Teile der einen Dienst repräsentierenden Software durch neue Versionen im laufenden Betrieb ersetzt werden. Die Problemstellung des Dynamic Upgrade wird anhand einer vom Autor erarbeiteten Taxonomie erläutert, die die Entwurfsmöglichkeiten für ein System zur Unterstützung von Dynamic Upgrade hinsichtlich dreier Systemaspekte klassifiziert: Deployment, Evolution und Zuverlässigkeit (Dependability). Mit Hilfe dieser Taxonomie lassen sich auch andere Systeme zur Unterstützung von Dynamic Upgrade miteinander vergleichen. Aufbauend auf einem ausführlichen Vergleich über existierende Ansätze zur Unterstützung von Dynamic Upgrade, wird in der vorliegenden Arbeit eine Lösung entwickelt und dargestellt, die Dynamic Upgrade in verteilten komponentenbasierten Software-Systemen ermöglicht. Ausgehend von der Problemanalyse wird mit Hilfe des Unified Process ein als Deployment and Upgrade Facility bezeichnetes Modell entwickelt, das sowohl die benötigten Leistungsfähigkeiten eines Dynamic Upgrade unterstützenden Systems als auch Eigenschaften von aktualisierbaren Software-Komponenten beschreibt. Dieses Modell ist Plattform-unabhängig und einsetzbar für mehrere unterliegende Middleware-Technologien. Das Modell wird in einem Java-basierten prototypischen Rahmenwerk programmiert und um plattformspezifische Mechanismen auf der Jgroup/ARM Middleware erweitert. Das Rahmenwerk umfasst allgemeine Entwurfslösungen und ?muster, die sich für die Konstruktion einer Unterstützung für Dynamic Upgrade eignen. Es erlaubt die Kontrolle der Lebenszyklen von Aktualisierungsprozessen und ihre Koordination im Zielsystem. Darüber hinaus definiert es eine Reihe von Unterstützungsmechanismen und Algorithmen für den dynamischen Aktualisierungsprozess, der gegebenenfalls mit unterschiedlichen Zielsetzungen und unter verschiedenen Randbedingungen erfolgen soll. Insbesondere wird ein Aktualisierungsalgorithmus für replizierte Software-Komponenten dargestellt. Das entwickelte Rahmenwerk wird zwecks Plausibilitätsprüfung der dargestellten Ansätze und zur Auswertung der Auswirkungen der Dynamic Upgrade unterstützenden Mechanismen im Hinblick auf Systemperformanz in mehreren Experimenten eingesetzt. Diese quantitative Evaluierung der Experimente führt zu einer Spezifikationen eines einfachen Bewertungsmaßstabs (Benchmark), der sich zum Vergleich von Dynamic Upgrade unterstützenden Systemen eignet.Upgrading complex telecommunication software systems, characterized by their inherent distribution and a very high cost of system unavailability, is a difficult and error-prone maintenance activity. Even more challenging are such software upgrades that do not compromise the system availability. Dynamic upgrades is a technique, which automates performing and managing upgrades so that the software system remains operational during the upgrade time. In this thesis, the dynamic upgrade is considered as a special case of software deployment, in which a running service has to be replaced with its new version. The problems of dynamic upgrades are introduced using a novel taxonomy that classifies the design issues to be solved when building support for dynamic upgrade with regard to three system aspects: deployment, evolution and dependability and provides a reference to comparing other systems supporting dynamic upgrades. An extensive and thorough survey of existing approaches to dynamic upgrades follows and, furthermore, is as a starting point to designing a solution supporting dynamic upgrades in distributed component-based software systems. Derived from the problem analysis, a model called Deployment and Upgrade Facility describing the capabilities needed for managing and performing dynamic upgrades as well as properties of upgradable software components is developed using the Unified Process approach. The model is platform independent and can be used with a range of underlying middleware technologies. The model is implemented in a Java-based prototypical framework and extended with platform specific mechanisms on top of the JGroup/ARM middleware. The framework captures common design solutions and patterns for building a support for dynamic upgrade. The framework allows for controlling life-cycle and coordination of upgrade processes in the system. It also defines a number of supporting mechanisms and algorithms for the upgrade process. A special attention is drawn to an upgrade algorithm for replicated software components for achieving a synergy of replication techniques and dynamic upgrade . The developed framework is used to validate the feasibility of the approach and to measure the overhead of the mechanisms supporting dynamic upgrade with regard to the performance of the system being upgraded in a number of practical experiments. This quantitative evaluation of the experiments leads to a specification of a simple benchmark for systems supporting dynamic upgrades

Design and implementation of a secure wide-area object middleware

Tanenbaum, A.S. [Promotor]Crispo, C.B. [Copromotor

Arquitectura para coordenação em tempo-real de múltiplas unidades móveis autónomas

Doutoramento em Engenharia ElectrotécnicaInterest on using teams of mobile robots has been growing, due to their potential to cooperate for diverse purposes, such as rescue, de-mining, surveillance or even games such as robotic soccer. These applications require a real-time middleware and wireless communication protocol that can support an efficient and timely fusion of the perception data from different robots as well as the development of coordinated behaviours. Coordinating several autonomous robots towards achieving a common goal is currently a topic of high interest, which can be found in many application domains. Despite these different application domains, the technical problem of building an infrastructure to support the integration of the distributed perception and subsequent coordinated action is similar. This problem becomes tougher with stronger system dynamics, e.g., when the robots move faster or interact with fast objects, leading to tighter real-time constraints. This thesis work addressed computing architectures and wireless communication protocols to support efficient information sharing and coordination strategies taking into account the real-time nature of robot activities. The thesis makes two main claims. Firstly, we claim that despite the use of a wireless communication protocol that includes arbitration mechanisms, the self-organization of the team communications in a dynamic round that also accounts for variable team membership, effectively reduces collisions within the team, independently of its current composition, significantly improving the quality of the communications. We will validate this claim in terms of packet losses and communication latency. We show how such self-organization of the communications can be achieved in an efficient way with the Reconfigurable and Adaptive TDMA protocol. Secondly, we claim that the development of distributed perception, cooperation and coordinated action for teams of mobile robots can be simplified by using a shared memory middleware that replicates in each cooperating robot all necessary remote data, the Real-Time Database (RTDB) middleware. These remote data copies, which are updated in the background by the selforganizing communications protocol, are extended with age information automatically computed by the middleware and are locally accessible through fast primitives. We validate our claim showing a parsimonious use of the communication medium, improved timing information with respect to the shared data and the simplicity of use and effectiveness of the proposed middleware shown in several use cases, reinforced with a reasonable impact in the Middle Size League of RoboCup.O interesse na utilização de equipas multi-robô tem vindo a crescer, devido ao seu potencial para cooperarem na resolução de vários problemas, tais como salvamento, desminagem, vigilância e até futebol robótico. Estas aplicações requerem uma infraestrutura de comunicação sem fios, em tempo real, suportando a fusão eficiente e atempada dos dados sensoriais de diferentes robôs bem como o desenvolvimento de comportamentos coordenados. A coordenação de vários robôs autónomos com vista a um dado objectivo é actualmente um tópico que suscita grande interesse, e que pode ser encontrado em muitos domínios de aplicação. Apesar das diferenças entre domínios de aplicação, o problema técnico de construir uma infraestrutura para suportar a integração da percepção distribuída e das acções coordenadas é similar. O problema torna-se mais difícil à medida que o dinamismo dos robôs se acentua, por exemplo, no caso de se moverem mais rápido, ou de interagirem com objectos que se movimentam rapidamente, dando origem a restrições de tempo-real mais apertadas. Este trabalho centrou-se no desenvolvimento de arquitecturas computacionais e protocolos de comunicação sem fios para suporte à partilha de informação e à realização de acções coordenadas, levando em consideração as restrições de tempo-real. A tese apresenta duas afirmações principais. Em primeiro lugar, apesar do uso de um protocolo de comunicação sem fios que inclui mecanismos de arbitragem, a auto-organização das comunicações reduz as colisões na equipa, independentemente da sua composição em cada momento. Esta afirmação é validada em termos de perda de pacotes e latência da comunicação. Mostra-se também como a auto-organização das comunicações pode ser atingida através da utilização de um protocolo TDMA reconfigurável e adaptável sem sincronização de relógio. A segunda afirmação propõe a utilização de um sistema de memória partilhada, com replicação nos diferentes robôs, para suportar o desenvolvimento de mecanismos de percepção distribuída, fusão sensorial, cooperação e coordenação numa equipa de robôs. O sistema concreto que foi desenvolvido é designado como Base de Dados de Tempo Real (RTDB). Os dados remotos, que são actualizados de forma transparente pelo sistema de comunicações auto-organizado, são estendidos com a respectiva idade e são disponibilizados localmente a cada robô através de primitivas de acesso eficientes. A RTDB facilita a utilização parcimoniosa da rede e bem como a manutenção de informação temporal rigorosa. A simplicidade da integração da RTDB para diferentes aplicações permitiu a sua efectiva utilização em diferentes projectos, nomeadamente no âmbito do RoboCup

Performance controls for distributed telecommunication services

As the Internet and Telecommunications domains merge, open telecommunication service architectures such as TINA, PARLAY and PINT are becoming prevalent. Distributed Computing is a common engineering component in these technologies and promises to bring improvements to the scalability, reliability and flexibility of telecommunications service delivery systems. This distributed approach to service delivery introduces new performance concerns. As service logic is decomposed into software components and distnbuted across network resources, significant additional resource loading is incurred due to inter-node communications. This fact makes the choice of distribution of components in the network and the distribution of load between these components critical design and operational issues which must be resolved to guarantee a high level of service for the customer and a profitable network for the service operator. Previous research in the computer science domain has addressed optimal placement of components from the perspectives of minimising run time, minimising communications costs or balancing of load between network resources. This thesis proposes a more extensive optimisation model, which we argue, is more useful for addressing concerns pertinent to the telecommunications domain. The model focuses on providing optimal throughput and profitability of network resources and on overload protection whilst allowing flexibility in terms of the cost of installation of component copies and differentiation in the treatment of service types, in terms of fairness to the customer and profitability to the operator. Both static (design-time) component distribution and dynamic (run-time) load distribution algorithms are developed using Linear and Mixed Integer Programming techniques. An efficient, but sub-optimal, run-time solution, employing Market-based control, is also proposed. The performance of these algorithms is investigated using a simulation model of a distributed service platform, which is based on TINA service components interacting with the Intelligent Network through gateways. Simulation results are verified using Layered Queuing Network analytic modelling Results show significant performance gains over simpler methods of performance control and demonstrate how trade-offs in network profitability, fairness and network cost are possible