A Flexible and Modular Framework for Implementing Infrastructures for Global Computing

We present a Java software framework for building infrastructures to support the development of applications for systems where mobility and network awareness are key issues. The framework is particularly useful to develop run-time support for languages oriented towards global computing. It enables platform designers to customize communication protocols and network architectures and guarantees transparency of name management and code mobility in distributed environments. The key features are illustrated by means of a couple of simple case studies

RTZen: Highly Predictable, Real-Time Java Middleware for Distributed and Embedded Systems

Distributed real-time and embedded (DRE) applications possess stringent quality of service (QoS) requirements, such as predictability, latency, and throughput constraints. Real-Time CORBA, an open middleware standard, allows DRE applications to allocate, schedule, and control resources to ensure predictable end-to-end QoS. The Real-Time Specification for Java (RTSJ) has been developed to provide extensions to Java so that it can be used for real-time systems, in order to bring Java's advantages, such as portability and ease of use, to real-time applications.In this paper, we describe RTZen, an implementation of a Real-Time CORBA Object Request Broker (ORB), designed to comply with the restrictions imposed by RTSJ. RTZen is designed to eliminate the unpredictability caused by garbage collection and improper support for thread scheduling through the use of appropriate data structures, threading models, and memory scopes. RTZen's architecture is also designed to hide the complexities of RTSJ related to distributed programming from the application developer. Empirical results show that RTZen is highly predictable and has acceptable performance. RTZen therefore demonstrates that Real-Time CORBA middleware implemented in real-time Java can meet stringent QoS requirements of DRE applications, while supporting safer, easier, cheaper, and faster development in real-time Java

Dynamic Assignment of Scoped Memory Regions in the Translation of Java to Real-Time Java

Advances in middleware, operating systems, and popular, general-purpose languages have brought the ideal of reasonably-bound execution time closer to developers who need such assurances for real-time and embedded systems applications. Extensions to the Java libraries and virtual machine have been proposed in a real-time Java standard, which provides for specification of release times, execution costs, and deadlines for a restricted class of threads. To use such features, the programmer is required to use unwieldy code constructs to create region-like areas of storage, associate them with execution scopes, and allocate objects from them. Further, the developer must ensure that they do not violate strict inter-region reference rules. Unfortunately, it is difficult to determine manually how to map object instantiations to execution scopes. Moreover, if ordinary Java code is modified to effect instantiations in scopes, the resulting code is difficult to read, maintain, and reuse. We present a dynamic approach to determining proper placement of objects within scope-bounded regions, and we employ a procedure that utilizes aspect-oriented programming to instrument the original program, realizing the program’s scoped memory concerns in a modular fashion. Using this approach, Java programs can be converted into region-aware Java programs automatically

Patterns for Providing Real-Time Guarantees in DOC Middleware - Doctoral Dissertation, May 2002

The advent of open and widely adopted standards such as Common Object Request Broker Architecture (CORBA) [47] has simplified and standardized the development of distributed applications. For applications with real-time constraints, including avionics, manufacturing, and defense systems, these standards are evolving to include Quality-of-Service (QoS) specifications. Operating systems such as Real-time Linux [60] have responded with interfaces and algorithms to guarantee real-time response; similarly, languages such as Real-time Java [59] include mechanisms for specifying real-time properties for threads. However, the middleware upon which large distributed applications are based has not yet addressed end-to-end guarantees of QoS specifications. Unless this challenge can be met, developers must resort to ad hoc solutions that may not scale or migrate well among different platforms. This thesis provides two contributions to the study of real-time Distributed Object Computing (DOC) middleware. First, it identifies potential bottlenecks and problems with respect to guaranteeing real-time performance in contemporary middleware. Experimental results illustrate how these problems lead to incorrect real-time behavior in contemporary middleware platforms. Second, this thesis presents designs and techniques for providing real-time QoS guarantees in DOC middleware in the context of TAO [6], an open-source and widely adopted implementation of real-time CORBA. Architectural solutions presented here are coupled with empirical evaluations of end-to-end real-time behavior. Analysis of the problems, forces, solutions, and consequences are presented in terms of patterns and frame-works, so that solutions obtained for TAO can be appropriately applied to other real-time systems

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