Software development of reconfigurable real-time systems : from specification to implementation

This thesis deals with reconfigurable real-time systems solving real-time tasks scheduling problems in a mono-core and multi-core architectures. The main focus in this thesis is on providing guidelines, methods, and tools for the synthesis of feasible reconfigurable real-time systems in a mono-processor and multi-processor architectures. The development of these systems faces various challenges particularly in terms of stability, energy consumption, response and blocking time. To address this problem, we propose in this work a new strategy of i) placement and scheduling of tasks to execute real-time applications on mono-core and multi-core architectures, ii) optimization step based on Mixed integer linear programming (MILP), and iii) guidance tool that assists designers to implement a feasible multi-core reconfigurable real-time from specification level to implementation level. We apply and simulate the contribution to a case study, and compare the proposed results with related works in order to show the originality of this methodology.Echtzeitsysteme laufen unter harten Bedingungen an ihre Ausführungszeit. Die Einhaltung der Echtzeit-Bedingungen bestimmt die Zuverlässigkeit und Genauigkeit dieser Systeme. Neben den Echtzeit-Bedingungen müssen rekonfigurierbare Echtzeitsysteme zusätzliche Rekonfigurations-Bedingungen erfüllen. Diese Arbeit beschäftigt sich mit rekonfigurierbaren Echtzeitsystemen in Mono- und Multicore-Architekturen. An die Entwicklung dieser Systeme sind verschiedene Anforderungen gestellt. Insbesondere muss die Rekonfigurierbarkeit beachtet werden. Dabei sind aber Echtzeit-Bedingungen und Ressourcenbeschränkungen weiterhin zu beachten. Darüber hinaus werden die Kosten für die Entwicklung dieser Systeme insbesondere durch falsche Designentscheidungen in den frühen Phasen der Entwicklung stark beeinträchtigt. Das Hauptziel in dieser Arbeit liegt deshalb auf der Bereitstellung von Handlungsempfehlungen, Methoden und Werkzeugen für die zielgerichtete Entwicklung von realisierbaren rekonfigurierbaren Echtzeitsystemen in Mono- und Multicore-Architekturen. Um diese Herausforderungen zu adressieren wird eine neue Strategie vorgeschlagen, die 1) die Funktionsallokation, 2) die Platzierung und das Scheduling von Tasks, 3) einen Optimierungsschritt auf der Basis von Mixed Integer Linear Programming (MILP) und 4) eine entscheidungsunterstützende Lösung umfasst, die den Designern hilft, eine realisierbare rekonfigurierbare Echtzeitlösung von der Spezifikationsebene bis zur Implementierungsebene zu entwickeln. Die vorgeschlagene Methodik wird auf eine Fallstudie angewendet und mit verwandten Arbeiten vergliche

Towards achieving execution time predictability in web services middleware

Web services middleware are typically designed optimised for throughput. Requests are accepted unconditionally and no differentiation is made in processing. Many use the thread-pool pattern to execute requests in parallel using processor sharing. Clusters hosting web services dispatch requests only to balance out the load among the executors. Such optimisations for throughput work out negatively on the predictability of execution. Processor sharing results in the increase of execution time with the number of concurrent requests, making it impossible to predict or control the execution of a request. Existing works fail to address the need for predictability in web service execution. Some achieve a level of differentiated processing, but fail to consider predictability as their main quality attribute. Some give a probabilistic guarantee on service levels. However, from a predictability perspective they are inconsistent. A few achieve predictable execution times, though only in closed systems where request properties are known at system design time. Web services operate on the Internet, where request properties are relatively unknown. This thesis investigates the problem of achieving predictable times in web service executions. We introduce the notion of a processing deadline for service execution, which the web services engine must adhere to in completing the request in a repeatable and a consistent manner. Reaching such execution deadlines by the services engine is made possible by three main features. Firstly a deadline based scheduling algorithm introduced, ensures the processing deadlines are followed. A laxity based analytical model and an admission control algorithm it is based on, selects requests for execution, resulting in a wider range of laxities to enable more requests with overlapping executions to be scheduled together. Finally, a real-time scheduler component introduced in to the server uses a priority model to schedule the execution of requests by controlling the execution of individual worker threads in custom-made thread pools. Predictability of execution in cluster based deployments is further facilitated by four dispatching algorithms that consider the request deadlines and laxity property in the dispatching process. A performance model derived for a similar system approximates the waiting time where requests with smaller deadlines (having higher priority) experience smaller waiting times than requests with longer deadlines. These techniques are implemented in web services middleware in standalone and cluster-based configurations. They are evaluated against their unmodified versions and techniques such as round-robin and class based dispatching, to measure their predictability gain. Empirical evidence indicate the enhancements enable the middleware to achieve more than 90% of the deadlines, while accepting at least 20% of the requests in high traffic conditions. The enhancements additionally prevent the middleware from reaching overloaded conditions in heavy traffic, while maintaining comparable throughput rates to the unmodified versions of the middleware. Analytical and simulation results for the performance model confirms that deadline based preemptive scheduling results in a better balance of waiting times where high priority requests experience lower waiting times while lower priority requests are not over-starved compared to other techniques such as static priority ordering, First-Come-First-Served, Round-Robin and non-preemptive deadline based scheduling

Modeling and Analysis of Automotive Cyber-physical Systems: Formal Approaches to Latency Analysis in Practice

Based on advances in scheduling analysis in the 1970s, a whole area of research has evolved: formal end-to-end latency analysis in real-time systems. Although multiple approaches from the scientific community have successfully been applied in industrial practice, a gap is emerging between the means provided by formally backed approaches and the need of the automotive industry where cyber-physical systems have taken over from classic embedded systems. They are accompanied by a shift to heterogeneous platforms build upon multicore architectures. Scien- tific techniques are often still based on too simple system models and estimations on important end-to-end latencies have only been tightened recently. To this end, we present an expressive system model and formally describe the problem of end-to-end latency analysis in modern automotive cyber-physical systems. Based on this we examine approaches to formally estimate tight end-to-end latencies in Chapter 4 and Chapter 5. The de- veloped approaches include a wide range of relevant systems. We show that our approach for the estimation of latencies of task chains dominates existing approaches in terms of tightness of the results. In the last chapter we make a brief digression to measurement analysis since measuring and simulation is an important part of verification in current industrial practice

Performance Analysis of Live-Virtual-Constructive and Distributed Virtual Simulations: Defining Requirements in Terms of Temporal Consistency

This research extends the knowledge of live-virtual-constructive (LVC) and distributed virtual simulations (DVS) through a detailed analysis and characterization of their underlying computing architecture. LVCs are characterized as a set of asynchronous simulation applications each serving as both producers and consumers of shared state data. In terms of data aging characteristics, LVCs are found to be first-order linear systems. System performance is quantified via two opposing factors; the consistency of the distributed state space, and the response time or interaction quality of the autonomous simulation applications. A framework is developed that defines temporal data consistency requirements such that the objectives of the simulation are satisfied. Additionally, to develop simulations that reliably execute in real-time and accurately model hierarchical systems, two real-time design patterns are developed: a tailored version of the model-view-controller architecture pattern along with a companion Component pattern. Together they provide a basis for hierarchical simulation models, graphical displays, and network I/O in a real-time environment. For both LVCs and DVSs the relationship between consistency and interactivity is established by mapping threads created by a simulation application to factors that control both interactivity and shared state consistency throughout a distributed environment

A framework for flexible scheduling in real-time middleware

The traditional vehicle for the deployment of a real-time system has been a real-time operating system (RTOS). In recent years another programming approach has increasingly found its way into the real-time systems domain: the use of middleware. Examples are the so called pervasive systems (embedded, interactive but not mobile), and ubiquitous systems (embedded, interactive and mobile), e.g. hand-held devices. These tend to be dynamic systems that often exhibit a need for flexible scheduling because of their operating requirement; or their execution environment. Thus, today there is a true need in many realtime applications for more flexible scheduling than what is currently the stateof- prac'tice. By flexible scheduling we mean the ability of the program execution platform to provide a range of scheduling policies, all the way from hard real-time to soft real-time policies, from which an application can choose one most suited to its needs. Furthermore, some applications may need to be scheduled by one policy while others may need a different policy, e.g. fi'Ced priority or earliest deadline first (EDF) for hard real-time tasks, least slack time first (LST) or shortest remaining time for soft real-time tasks. It would be difficult for the middleware to expect this functionality from the RTOS. This would require a fine balance to be struck in the RTOS between flexibility and usability, and many years will probably pass until such approaches become mainstream and usable. 'This thesis maintains that this flexibility can be introduced into the middleware. It presents a viable solution to introducing flexible scheduling in real-time program execution middleware in the form of a flexible scheduling framework. Such a framework allows use of the same program execution middleware for a variety of applications - soft, firm and hard. In particular, the framework allows different scheduling policies to co-exist in the system and their tasks to share common resources. The thesis describes tlle framework's protocol, examines the different types of scheduling policies that can be supported, tests its correctness through the use of a model checker and evaluates the proposed framework by measuring its execution cost overhead. The framework is deemed appropriate for the types of real-time applications that need the services of flexible scheduling

Optimized Buffering of Time-Triggered Automotive Software

The development of an automotive system involves the integration of many real-time software functionalities, and it is of utmost importance to guarantee strict timing requirements. However, the recent trend towards multi-core architectures poses significant challenges for the timely transfer of signals between processor cores so as to not violate data consistency. We have studied and adapted an existing buffering mechanism to work specifically for statically scheduled time-triggered systems, called static buffering protocol. We developed further buffering optimisation algorithms and heuristics, to reduce the memory consumption, processor utilisation, and end-to-end response times of time-triggered AUTOSAR designs on multi-core platforms. Our contributions are important because they enable deterministic time-triggered implementations to become competitive alternatives to their inherently non-deterministic event-triggered counterparts. We have prototyped a selection of optimisations in an industrial tool and evaluated them on realistic industrial automotive benchmarks

Interaction-aware analysis and optimization of real-time application and operating system

Mechanical and electronic automation was a key component of the technological advances in the last two hundred years. With the use of special-purpose machines, manual labor was replaced by mechanical motion, leaving workers with the operation of these machines, before also this task was conquered by embedded control systems. With the advances of general-purpose computing, the development of these control systems shifted more and more from a problem-specific one to a one-size-fits-all mentality as the trade-off between per-instance overheads and development costs was in favor of flexible and reusable implementations. However, with a scaling factor of thousands, if not millions, of deployed devices, overheads and inefficiencies accumulate; calling for a higher degree of specialization. For the area real-time operating systems (RTOSs), which form the base layer for many of these computerized control systems, we deploy way more flexibility than what is actually required for the applications that run on top of it. Since only the solution, but not the problem, became less specific to the control problem at hand, we have the chance to cut away inefficiencies, improve on system-analyses results, and optimize the resource consumption. However, such a tailoring will only be favorable if it can be performed without much developer interaction and in an automated fashion. Here, real-time systems are a good starting point, since we already have to have a large degree of static knowledge in order to guarantee their timeliness. Until now, this static nature is not exploited to its full extent and optimization potentials are left unused. The requirements of a system, with regard to the RTOS, manifest in the interactions between the application and the kernel. Threads request resources from the RTOS, which in return determines and enforces a scheduling order that will ensure the timely completion of all necessary computations. Since the RTOS runs only in the exception, its reaction to requests from the application (or from the environment) is its defining feature. In this thesis, I will grasp these interactions, and thereby the required RTOS semantic, in a control-flow-sensitive fashion. Extracted automatically, this knowledge about the reciprocal influence allows me to fit the implementation of a system closer to its actual requirements. The result is a system that is not only in its usage a special-purpose system, but also in its implementation and in its provided guarantees. In the development of my approach, it became clear that the focus on these interactions is not only highly fruitful for the optimization of a system, but also for its end-to-end analysis. Therefore, this thesis does not only provide methods to reduce the kernel-execution overhead and a system's memory consumption, but it also includes methods to calculate tighter response-time bounds and to give guarantees about the correct behavior of the kernel. All these contributions are enabled by my proposed interaction-aware methodology that takes the whole system, RTOS and application, into account. With this thesis, I show that a control-flow-sensitive whole-system view on the interactions is feasible and highly rewarding. With this approach, we can overcome many inefficiencies that arise from analyses that have an isolating focus on individual system components. Furthermore, the interaction-aware methods keep close to the actual implementation, and therefore are able to consider the behavioral patterns of the finally deployed real-time computing system

Decentralising resource management in operating systems

This dissertation explores operating system mechanisms to allow resource-aware applications to be involved in the process of managing resources under the premise that these applications (1) potentially have some (implicit) notion of their future resource demands and (2) can adapt their resource demands. The general idea is to provide feedback to resource-aware applications so that they can proactively participate in the management of resources. This approach has the benefit that resource management policies can be removed from central entities and the operating system has only to provide mechanism. Furthermore, in contrast to centralised approaches, application specific features can be more easily exploited. To achieve this aim, I propose to deploy a microeconomic theory, namely congestion or shadow pricing, which has recently received attention for managing congestion in communication networks. Applications are charged based on the potential "damage" they cause to other consumers by using resources. Consumers interpret these congestion charges as feedback signals which they use to adjust their resource consumption. It can be shown theoretically that such a system with consumers merely acting in their own self-interest will converge to a social optimum. This dissertation focuses on the operating system mechanisms required to decentralise resource management this way. In particular it identifies four mechanisms: pricing & charging, credit accounting, resource usage accounting, and multiplexing. While the latter two are mechanisms generally required for the accurate management of resources, pricing & charging and credit accounting present novel mechanisms. It is argued that congestion prices are the correct economic model in this context and provide appropriate feedback to applications. The credit accounting mechanism is necessary to ensure the overall stability of the system by assigning value to credits