Multi-resource management in embedded real-time systems

This thesis addresses the problem of online multi-resource management in embedded real-time systems. It focuses on three research questions. The first question concentrates on how to design an efficient hierarchical scheduling framework for supporting independent development and analysis of component based systems, to provide temporal isolation between components. The second question investigates how to change the mapping of resources to tasks and components during run-time efficiently and predictably, and how to analyze the latency of such a system mode change in systems comprised of several scalable components. The third question deals with the scheduling and analysis of a set of parallel-tasks with real-time constraints which require simultaneous access to several different resources. For providing temporal isolation we chose a reservation-based approach. We first focused on processor reservations, where timed events play an important role. Common examples are task deadlines, periodic release of tasks, budget replenishment and budget depletion. Efficient timer management is therefore essential. We investigated the overheads in traditional timer management techniques and presented a mechanism called Relative Timed Event Queues (RELTEQ), which provides an expressive set of primitives at a low processor and memory overhead. We then leveraged RELTEQ to create an efficient, modular and extensible design for enhancing a real-time operating system with periodic tasks, polling, idling periodic and deferrable servers, and a two-level fixed-priority Hierarchical Scheduling Framework (HSF). The HSF design provides temporal isolation and supports independent development of components by separating the global and local scheduling, and allowing each server to define a dedicated scheduler. Furthermore, the design addresses the system overheads inherent to an HSF and prevents undesirable interference between components. It limits the interference of inactive servers on the system level by means of wakeup events and a combination of inactive server queues with a stopwatch queue. Our implementation is modular and requires only a few modifications of the underlying operating system. We then investigated scalable components operating in a memory-constrained system. We first showed how to reduce the memory requirements in a streaming multimedia application, based on a particular priority assignment of the different components along the processing chain. Then we investigated adapting the resource provisions to tasks during runtime, referred to as mode changes. We presented a novel mode change protocol called Swift Mode Changes, which relies on Fixed Priority with Deferred preemption Scheduling to reduce the mode change latency bound compared to existing protocols based on Fixed Priority Preemptive Scheduling. We then presented a new partitioned parallel-task scheduling algorithm called Parallel-SRP (PSRP), which generalizes MSRP for multiprocessors, and the corresponding schedulability analysis for the problem of multi-resource scheduling of parallel tasks with real-time constraints. We showed that the algorithm is deadlock-free, derived a maximum bound on blocking, and used this bound as a basis for a schedulability test. We then demonstrated how PSRP can exploit the inherent parallelism of a platform comprised of multiple heterogeneous resources. Finally, we presented Grasp, which is a visualization toolset aiming to provide insight into the behavior of complex real-time systems. Its flexible plugin infrastructure allows for easy extension with custom visualization and analysis techniques for automatic trace verification. Its capabilities include the visualization of hierarchical multiprocessor systems, including partitioned and global multiprocessor scheduling with migrating tasks and jobs, communication between jobs via shared memory and message passing, and hierarchical scheduling in combination with multiprocessor scheduling. For tracing distributed systems with asynchronous local clocks Grasp also supports the synchronization of traces from different processors during the visualization and analysis

Compiler Techniques for Loosely-Coupled Multi-Cluster Architectures

No abstract available

Model checking embedded system designs

We survey the basic principles behind the application of model checking to controller verification and synthesis. A promising development is the area of guided model checking, in which the state space search strategy of the model checking algorithm can be influenced to visit more interesting sets of states first. In particular, we discuss how model checking can be combined with heuristic cost functions to guide search strategies. Finally, we list a number of current research developments, especially in the area of reachability analysis for optimal control and related issues

Simulation in Automated Guided Vehicle System Design

The intense global competition that manufacturing companies face today results in an increase of product variety and shorter product life cycles. One response to this threat is agile manufacturing concepts. This requires materials handling systems that are agile and capable of reconfiguration. As competition in the world marketplace becomes increasingly customer-driven, manufacturing environments must be highly reconfigurable and responsive to accommodate product and process changes, with rigid, static automation systems giving way to more flexible types. Automated Guided Vehicle Systems (AGVS) have such capabilities and AGV functionality has been developed to improve flexibility and diminish the traditional disadvantages of AGV-systems. The AGV-system design is however a multi-faceted problem with a large number of design factors of which many are correlating and interdependent. Available methods and techniques exhibit problems in supporting the whole design process. A research review of the work reported on AGVS development in combination with simulation revealed that of 39 papers only four were industrially related. Most work was on the conceptual design phase, but little has been reported on the detailed simulation of AGVS. Semi-autonomous vehicles (SA V) are an innovative concept to overcome the problems of inflexible -systems and to improve materials handling functionality. The SA V concept introduces a higher degree of autonomy in industrial AGV -systems with the man-in-the-Ioop. The introduction of autonomy in industrial applications is approached by explicitly controlling the level of autonomy at different occasions. The SA V s are easy to program and easily reconfigurable regarding navigation systems and material handling equipment. Novel approaches to materials handling like the SA V -concept place new requirements on the AGVS development and the use of simulation as a part of the process. Traditional AGV -system simulation approaches do not fully meet these requirements and the improved functionality of AGVs is not used to its full power. There is a considerflble potential in shortening the AGV -system design-cycle, and thus the manufacturing system design-cycle, and still achieve more accurate solutions well suited for MRS tasks. Recent developments in simulation tools for manufacturing have improved production engineering development and the tools are being adopted more widely in industry. For the development of AGV -systems this has not fully been exploited. Previous research has focused on the conceptual part of the design process and many simulation approaches to AGV -system design lack in validity. In this thesis a methodology is proposed for the structured development of AGV -systems using simulation. Elements of this methodology address the development of novel functionality. The objective of the first research case of this research study was to identify factors for industrial AGV -system simulation. The second research case focuses on simulation in the design of Semi-autonomous vehicles, and the third case evaluates a simulation based design framework. This research study has advanced development by offering a framework for developing testing and evaluating AGV -systems, based on concurrent development using a virtual environment. The ability to exploit unique or novel features of AGVs based on a virtual environment improves the potential of AGV-systems considerably.University of Skovde. European Commission for funding the INCO/COPERNICUS Projec

Resource Management in Multi-Access Edge Computing (MEC)

This PhD thesis investigates the effective ways of managing the resources of a Multi-Access Edge Computing Platform (MEC) in 5th Generation Mobile Communication (5G) networks. The main characteristics of MEC include distributed nature, proximity to users, and high availability. Based on these key features, solutions have been proposed for effective resource management. In this research, two aspects of resource management in MEC have been addressed. They are the computational resource and the caching resource which corresponds to the services provided by the MEC. MEC is a new 5G enabling technology proposed to reduce latency by bringing cloud computing capability closer to end-user Internet of Things (IoT) and mobile devices. MEC would support latency-critical user applications such as driverless cars and e-health. These applications will depend on resources and services provided by the MEC. However, MEC has limited computational and storage resources compared to the cloud. Therefore, it is important to ensure a reliable MEC network communication during resource provisioning by eradicating the chances of deadlock. Deadlock may occur due to a huge number of devices contending for a limited amount of resources if adequate measures are not put in place. It is crucial to eradicate deadlock while scheduling and provisioning resources on MEC to achieve a highly reliable and readily available system to support latency-critical applications. In this research, a deadlock avoidance resource provisioning algorithm has been proposed for industrial IoT devices using MEC platforms to ensure higher reliability of network interactions. The proposed scheme incorporates Banker’s resource-request algorithm using Software Defined Networking (SDN) to reduce communication overhead. Simulation and experimental results have shown that system deadlock can be prevented by applying the proposed algorithm which ultimately leads to a more reliable network interaction between mobile stations and MEC platforms. Additionally, this research explores the use of MEC as a caching platform as it is proclaimed as a key technology for reducing service processing delays in 5G networks. Caching on MEC decreases service latency and improve data content access by allowing direct content delivery through the edge without fetching data from the remote server. Caching on MEC is also deemed as an effective approach that guarantees more reachability due to proximity to endusers. In this regard, a novel hybrid content caching algorithm has been proposed for MEC platforms to increase their caching efficiency. The proposed algorithm is a unification of a modified Belady’s algorithm and a distributed cooperative caching algorithm to improve data access while reducing latency. A polynomial fit algorithm with Lagrange interpolation is employed to predict future request references for Belady’s algorithm. Experimental results show that the proposed algorithm obtains 4% more cache hits due to its selective caching approach when compared with case study algorithms. Results also show that the use of a cooperative algorithm can improve the total cache hits up to 80%. Furthermore, this thesis has also explored another predictive caching scheme to further improve caching efficiency. The motivation was to investigate another predictive caching approach as an improvement to the formal. A Predictive Collaborative Replacement (PCR) caching framework has been proposed as a result which consists of three schemes. Each of the schemes addresses a particular problem. The proactive predictive scheme has been proposed to address the problem of continuous change in cache popularity trends. The collaborative scheme addresses the problem of cache redundancy in the collaborative space. Finally, the replacement scheme is a solution to evict cold cache blocks and increase hit ratio. Simulation experiment has shown that the replacement scheme achieves 3% more cache hits than existing replacement algorithms such as Least Recently Used, Multi Queue and Frequency-based replacement. PCR algorithm has been tested using a real dataset (MovieLens20M dataset) and compared with an existing contemporary predictive algorithm. Results show that PCR performs better with a 25% increase in hit ratio and a 10% CPU utilization overhead

Parallel simulation techniques for telecommunication network modelling

In this thesis, we consider the application of parallel simulation to the performance modelling of telecommunication networks. A largely automated approach was first explored using a parallelizing compiler to speed up the simulation of simple models of circuit-switched networks. This yielded reasonable results for relatively little effort compared with other approaches. However, more complex simulation models of packet- and cell-based telecommunication networks, requiring the use of discrete event techniques, need an alternative approach. A critical review of parallel discrete event simulation indicated that a distributed model components approach using conservative or optimistic synchronization would be worth exploring. Experiments were therefore conducted using simulation models of queuing networks and Asynchronous Transfer Mode (ATM) networks to explore the potential speed-up possible using this approach. Specifically, it is shown that these techniques can be used successfully to speed-up the execution of useful telecommunication network simulations. A detailed investigation has demonstrated that conservative synchronization performs very well for applications with good look ahead properties and sufficient message traffic density and, given such properties, will significantly outperform optimistic synchronization. Optimistic synchronization, however, gives reasonable speed-up for models with a wider range of such properties and can be optimized for speed-up and memory usage at run time. Thus, it is confirmed as being more generally applicable particularly as model development is somewhat easier than for conservative synchronization. This has to be balanced against the more difficult task of developing and debugging an optimistic synchronization kernel and the application models

The SMART Project: Multi-Agent Scheduling Simulation of Real-time Architectures

International audienceThe ongoing SMART collaborative project addresses modeling and analysis techniques for software intensive real-time systems. The AADL modeling language has been selected to describe multithread, multi-partition, multi-processor and multi-core architectures. This paper focuses on the use of the Marzhin simulator that is based on a Multi-Agent technology for providing scheduling analysis results of real-time systems. This simulator is integrated in the AADL Inspector product and can also be used to animate realistic 3D animations

Specification and Analysis of Resource Utilization Policies for Human-Intensive Systems

Contemporary systems often require the effective support of many types of resources, each governed by complex utilization policies. Sound management of these resources plays a key role in assuring that these systems achieve their key goals. To help system developers make sound resource management decisions, I provide a resource utilization policy specification and analysis framework for (1) specifying very diverse kinds of resources and their potentially complex resource utilization policies, (2) dynamically evaluating the policies’ effects on the outcomes achieved by systems utilizing the resources, and (3) formally verifying various kinds of properties of these systems. Resource utilization policies range from simple, e.g., first-in-first-out, to extremely complex, responding to changes in system environment, state, and stimuli. Further, policies may at times conflict with each other, requiring conflict resolution strategies that add extra complexity. Prior specification approaches rely on relatively simple resource models that prevent the specification of complex utilization and conflict resolution policies. My approach (1) separates resource utilization policy concerns from resource characteristic and request specifications, (2) creates an expressive specification notation for constraint policies, and (3) creates a resource constraint conflict resolution capability. My approach enables creating specifications of policies that are sufficiently precise and detailed to support static and dynamic analyses of how these policies affect the properties of systems constrained or governed by these policies. I provide a process- and resource-aware discrete-event simulator for simulating system executions that adhere to policies of resource utilization. The simulator integrates the existing JSim simulation engine with a separate resource management system. The separate architectural component makes it easy to keep track of resource utilization traces during a simulation run. My simulation framework facilitates considerable flexibility in the evaluation of diverse resource management decisions and powerful dynamic analyses. Dynamic verification through simulation is inherently limited because of the impossibility of exhaustive simulation of all scenarios. I complement this approach with static verification. Prior static resource analysis has supported the verification only of relatively simple resource utilization policies. My research utilizes powerful model checking techniques, building on the existing FLAVERS model checking tool, to verify properties of complex systems that are also verified to conform to complex resource utilization policies. My research demonstrates how to use systems such as FLAVERS to verify adherence to complex resource utilization policies as well as overall system properties, such as the absence of resource leak and resource deadlock. I evaluated my approach working with a hospital emergency department domain expert, using detailed, expert-developed models of the processes and resource utilization policies of an emergency department. In doing this, my research demonstrates how my framework can be effective in guiding the domain expert towards making sound decisions about policies for the management of hospital resources, while also providing rigorously-based assurances that the guidance is reliable and well-founded. My research makes the following contributions: (1) a specification language for resources and resource utilization policies for human-intensive systems, (2) a process- and resource-aware discrete-event simulation engine that creates simulations that adhere to the resource utilization policies, allowing for the dynamic evaluation of resource utilization policies, (3) a process- and resource-aware model checking technique that formally verifies system properties and adherence to resource utilization policies, and (4) validated and verified specifications of an emergency department healthcare system, demonstrating the utility of my approach

Resource Allocation in Multi-analytics, Resource-Constrained Environments

The vast proliferation of monitoring and sensing devices equipped with Internet connectivity, commonly known as the Internet of Things (IoT) generates an unprecedented volume of data, which requires Big Data Analytics Systems (BDAS) to process it and extract actionable insights. The large diversity of IoT data processing applications require the deployment of multiple processing frameworks under the coordination of a resource allocator. To enable prompt actuation, these applications must meet deadlines and their processing takes place near where data is generated, in private clouds or edge computing clusters, which have limited resources.In resource-constrained and multi-analytics settings there are issues related to the combined use of open-source BDAS, originally designed for resource-rich, standalone clusters, that remain unaddressed. Specifically, open-source BDAS have unknown behavior when used combined under the coordination of a cluster-manager and the available resources are limited. Moreover, existing allocation policies are not suitable to meet deadlines in resource-constrained settings without wasting resources or requiring particular repetitive job patterns. Lastly, in such settings fair-share policies cannot reliably preserve fairness.To satisfy deadlines and achieve allocation fairness in resource constrained clusters for multi-analytics, we employ predictive resource allocation and admission control. We evaluate the performance and behavior of BDAS in resource-constrained multi-analyticsclusters and understand the root causes of their interference. Moreover, we design admission control and resource allocation suitable for resource-managers. Allocation decisions adapt to changing cluster conditions to satisfy deadlines and preserve fairness under resource-constrained multi-analytics settings. We evaluate our approach with trace-based simulations and production workloads and show that it satisfies more deadlines, preserves fairness, and utilizes the cluster more efficiently compared to existing fair-share allocators designed for resource managers