Real-time disk scheduling in a mixed-media file system

This paper presents our real-time disk scheduler called the Delta L scheduler, which optimizes unscheduled best-effort disk requests by giving priority to best-effort disk requests while meeting real-time request deadlines. Our scheduler tries to execute real-time disk requests as much as possible in the background. Only when real-time request deadlines are endangered, our scheduler gives priority to real-time disk requests. The Delta L disk scheduler is part of our mixed-media file system called Clockwise. An essential part of our work is extensive and detailed raw disk performance measurements. The Delta L disk scheduler for its real-time schedulability analysis and to decide whether scheduling a best-effort request before a real-time request violates real-time constraints uses these raw performance measurements. Further, a Clockwise off-line simulator uses the raw performance measurements where a number of different disk schedulers are compared. We compare the Delta L scheduler with a prioritizing Latest Start Time (LST) scheduler and non-prioritizing EDF scheduler. The Delta L scheduler is comparable to LST in achieving low latencies for best-effort requests under light to moderate real-time loads and better in achieving low latencies for best-effort requests for extreme real-time loads. The simulator is calibrated to an actual Clockwise. Clockwise runs on a 200MHz Pentium-Pro based PC with PCI bus, multiple SCSI controllers and disks on Linux 2.2.x and the Nemesis kernel. Clockwise performance is dictated by the hardware: all available bandwidth can be committed to real-time streams, provided hardware overloads do not occur

Centralized vs distributed communication scheme on switched ethernet for embedded military applications

Current military communication network is a generation old and is no longer effective in meeting the emerging requirements imposed by the future embedded military applications. Therefore, a new interconnection system is needed to overcome these limitations. Two new communication networks based upon Full Duplex Switched Ethernet are presented herein in this aim. The first one uses a distributed communication scheme where equipments can emit their data simultaneously, which clearly improves system’s throughput and flexibility. However, migrating all existing applications into a compliant form could be an expensive step. To avoid this process, the second proposal consists in keeping the current centralized communication scheme. Our objective is to assess and compare the real time guarantees that each proposal can offer. The paper includes the functional description of each proposed communication network and a military avionic application to highlight proposals ability to support the required time constrained communications

Performance analysis of a Master/Slave switched Ethernet for military embedded applications

Current military communication network is a generation old and is no longer effective in meeting the emerging requirements imposed by the next generation military embedded applications. A new communication network based upon Full Duplex Switched Ethernet is proposed in this paper to overcome these limitations. To allow existing military subsystems to be easily supported by a Switched Ethernet network, our proposal consists in keeping their current centralized communication scheme by using an optimized master/slave transmission control on Switched Ethernet thanks to the Flexible Time Triggered (FTT) paradigm. Our main objective is to assess the performance of such a proposal and estimate the quality of service we can expect in terms of latency. Using the Network Calculus formalism, schedulability analysis are determined. These analysis are illustrated in the case of a realistic military embedded application extracted from a real military aircraft network, to highlight the proposal's ability to support the required time constrained communications

MARACAS: a real-time multicore VCPU scheduling framework

This paper describes a multicore scheduling and load-balancing framework called MARACAS, to address shared cache and memory bus contention. It builds upon prior work centered around the concept of virtual CPU (VCPU) scheduling. Threads are associated with VCPUs that have periodically replenished time budgets. VCPUs are guaranteed to receive their periodic budgets even if they are migrated between cores. A load balancing algorithm ensures VCPUs are mapped to cores to fairly distribute surplus CPU cycles, after ensuring VCPU timing guarantees. MARACAS uses surplus cycles to throttle the execution of threads running on specific cores when memory contention exceeds a certain threshold. This enables threads on other cores to make better progress without interference from co-runners. Our scheduling framework features a novel memory-aware scheduling approach that uses performance counters to derive an average memory request latency. We show that latency-based memory throttling is more effective than rate-based memory access control in reducing bus contention. MARACAS also supports cache-aware scheduling and migration using page recoloring to improve performance isolation amongst VCPUs. Experiments show how MARACAS reduces multicore resource contention, leading to improved task progress.http://www.cs.bu.edu/fac/richwest/papers/rtss_2016.pdfAccepted manuscrip

Rate Monotonic vs. EDF: Judgment Day

Since the first results published in 1973 by Liu and Layland on the Rate Monotonic (RM) and Earliest Deadline First (EDF) algorithms, a lot of progress has been made in the schedulability analysis of periodic task sets. Unfortunately, many misconceptions still exist about the properties of these two scheduling methods, which usually tend to favor RMmore than EDF. Typical wrong statements often heard in technical conferences and even in research papers claim that RM is easier to analyze than EDF, it introduces less runtime overhead, it is more predictable in overload conditions, and causes less jitter in task execution. Since the above statements are either wrong, or not precise, it is time to clarify these issues in a systematic fashion, because the use of EDF allows a better exploitation of the available resources and significantly improves system’s performance. This paper comparesRMagainstEDFunder several aspects, using existing theoretical results, specific simulation experiments, or simple counterexamples to show that many common beliefs are either false or only restricted to specific situations

Scheduling of Early Quantum Tasks

An Early Quantum Task (EQT) is a Quantum EDF task that has shrunk its first period into one quantum time slot. Its purpose is to be executed as soon as possible, without causing deadline overflow of other tasks. We will derive the conditions under which an EQT can be admitted and can have an immediate start. The advantage of scheduling EQTs is shown by its use in a buffered multi-media server. The EQT is associated with a multimedia stream and it will use its first invocation to fill the buffer, such that a client can start receiving data immediately

Scheduling Techniques for Operating Systems for Medical and IoT Devices: A Review

Software and Hardware synthesis are the major subtasks in the implementation of hardware/software systems. Increasing trend is to build SoCs/NoC/Embedded System for Implantable Medical Devices (IMD) and Internet of Things (IoT) devices, which includes multiple Microprocessors and Signal Processors, allowing designing complex hardware and software systems, yet flexible with respect to the delivered performance and executed application. An important technique, which affect the macroscopic system implementation characteristics is the scheduling of hardware operations, program instructions and software processes. This paper presents a survey of the various scheduling strategies in process scheduling. Process Scheduling has to take into account the real-time constraints. Processes are characterized by their timing constraints, periodicity, precedence and data dependency, pre-emptivity, priority etc. The affect of these characteristics on scheduling decisions has been described in this paper

PERTS: A Prototyping Environment for Real-Time Systems

PERTS is a prototyping environment for real-time systems. It is being built incrementally and will contain basic building blocks of operating systems for time-critical applications, tools, and performance models for the analysis, evaluation and measurement of real-time systems and a simulation/emulation environment. It is designed to support the use and evaluation of new design approaches, experimentations with alternative system building blocks, and the analysis and performance profiling of prototype real-time systems

The jointly scheduling of hard periodic tasks with soft aperiodic events within the Real-Time Specification for Java (RTSJ)

The studied problem is the jointly scheduling of hard periodic tasks with soft aperiodic events, where the response times of soft tasks have to be as low as possible while the warranty to meet their deadlines has to be given to hard tasks. A lot of theoretical solutions have been proposed these past two decades but we are interested on the implementability of these solutions under the real-time specification for Java (RTSJ), without changing the scheduler. This led us to adapt the existing algorithms to operate at a user land level in the system, to propose some optimizations and counter measures in order to balance the lost of performances and finally to set up an approximate slack stealer algorithm specifically designed to take into account RTSJ restrictions. We propose new classes to extend the RTSJ API's to implement these mechanisms and some minor modification suggestions to existing ones as a feed back from our RTSJ experiences. We demonstrates the efficiency of the modified algorithms through extensive simulations and the implementability on available RTSJ compliant virtual machine by an overhead measure in real situation with the RTSJ JamaïcaVM from Aïcas. We also measure the overhead on LejosRT, an RTSJ compliant firmware for Lego Mindstorms NXT in development