Scheduling and locking in multiprocessor real-time operating systems

With the widespread adoption of multicore architectures, multiprocessors are now a standard deployment platform for (soft) real-time applications. This dissertation addresses two questions fundamental to the design of multicore-ready real-time operating systems: (1) Which scheduling policies offer the greatest flexibility in satisfying temporal constraints; and (2) which locking algorithms should be used to avoid unpredictable delays? With regard to Question 1, LITMUSRT, a real-time extension of the Linux kernel, is presented and its design is discussed in detail. Notably, LITMUSRT implements link-based scheduling, a novel approach to controlling blocking due to non-preemptive sections. Each implemented scheduler (22 configurations in total) is evaluated under consideration of overheads on a 24-core Intel Xeon platform. The experiments show that partitioned earliest-deadline first (EDF) scheduling is generally preferable in a hard real-time setting, whereas global and clustered EDF scheduling are effective in a soft real-time setting. With regard to Question 2, real-time locking protocols are required to ensure that the maximum delay due to priority inversion can be bounded a priori. Several spinlock- and semaphore-based multiprocessor real-time locking protocols for mutual exclusion (mutex), reader-writer (RW) exclusion, and k-exclusion are proposed and analyzed. A new category of RW locks suited to worst-case analysis, termed phase-fair locks, is proposed and three efficient phase-fair spinlock implementations are provided (one with few atomic operations, one with low space requirements, and one with constant RMR complexity). Maximum priority-inversion blocking is proposed as a natural complexity measure for semaphore protocols. It is shown that there are two classes of schedulability analysis, namely suspension-oblivious and suspension-aware analysis, that yield two different lower bounds on blocking. Five asymptotically optimal locking protocols are designed and analyzed: a family of mutex, RW, and k-exclusion protocols for global, partitioned, and clustered scheduling that are asymptotically optimal in the suspension-oblivious case, and a mutex protocol for partitioned scheduling that is asymptotically optimal in the suspension-aware case. A LITMUSRT-based empirical evaluation is presented that shows these protocols to be practical

A Response-Time Analysis for Non-Preemptive Job Sets under Global Scheduling

An effective way to increase the timing predictability of multicore platforms is to use non-preemptive scheduling. It reduces preemption and job migration overheads, avoids intra-core cache interference, and improves the accuracy of worst-case execution time (WCET) estimates. However, existing schedulability tests for global non-preemptive multiprocessor scheduling are pessimistic, especially when applied to periodic workloads. This paper reduces this pessimism by introducing a new type of sufficient schedulability analysis that is based on an exploration of the space of possible schedules using concise abstractions and state-pruning techniques. Specifically, we analyze the schedulability of non-preemptive job sets (with bounded release jitter and execution time variation) scheduled by a global job-level fixed-priority (JLFP) scheduling algorithm upon an identical multicore platform. The analysis yields a lower bound on the best-case response-time (BCRT) and an upper bound on the worst-case response time (WCRT) of the jobs. In an empirical evaluation with randomly generated workloads, we show that the method scales to 30 tasks, a hundred thousand jobs (per hyperperiod), and up to 9 cores.info:eu-repo/semantics/publishedVersio

On Strong and Weak Sustainability, with an Application to Self-Susp ending Real-Time Tasks

Motivated by an apparent contradiction regarding whether certain scheduling policies are sustainable, we revisit the topic of sustainability in real-time scheduling and argue that the existing definitions of sustainability should be further clarified and generalized. After proposing a formal, generic sustainability theory, we relax the existing notion of (strongly) sustainable scheduling policy to provide a new classification called weak sustainability. Proving weak sustainability properties allows reducing the number of variables that must be considered in the search of a worst-case schedule, and hence enables more efficient schedulability analyses and testing regimes even for policies that are not (strongly) sustainable. As a proof of concept, and to better understand a model for which many mistakes were found in the literature, we study weak sustainability in the context of dynamic self-suspending tasks, where we formalize a generic suspension model using the Coq proof assistant and provide a machine-checked proof that any JLFP scheduling policy is weakly sustainable with respect to job costs and variable suspension times.info:eu-repo/semantics/publishedVersio

Physiological control on carbon isotope fractionation in marine phytoplankton

One of the great challenges in biogeochemical research over the past half a century has been to quantify and understand the mechanisms underlying stable carbon isotope fractionation (ϵp) in phytoplankton in response to changing CO2 concentrations. This interest is partly grounded in the use of fossil photosynthetic organism remains as a proxy for past atmospheric CO2 levels. Phytoplankton organic carbon is depleted in 13C compared to its source because of kinetic fractionation by the enzyme RubisCO during photosynthetic carbon fixation, as well as through physiological pathways upstream of RubisCO. Moreover, other factors such as nutrient limitation, variations in light regime as well as phytoplankton culturing systems and inorganic carbon manipulation approaches may confound the influence of aquatic CO2 concentrations [CO2] on ϵp. Here, based on experimental data compiled from the literature, we assess which underlying physiological processes cause the observed differences in ϵp for various phytoplankton groups in response to C-demand/C-supply, i.e., particulate organic carbon (POC) production / [CO2]) and test potential confounding factors. Culturing approaches and methods of carbonate chemistry manipulation were found to best explain the differences in ϵp between studies, although day length was an important predictor for ϵp in haptophytes. Extrapolating results from culturing experiments to natural environments and for proxy applications therefore require caution, and it should be carefully considered whether culture methods and experimental conditions are representative of natural environments

Physiological control on carbon isotope fractionation in marine phytoplankton

One of the great challenges in biogeochemical research over the past half a century has been to quantify and understand the mechanisms underlying stable carbon isotope fractionation (ϵp) in phytoplankton in response to changing CO2 concentrations. This interest is partly grounded in the use of fossil photosynthetic organism remains as a proxy for past atmospheric CO2 levels. Phytoplankton organic carbon is depleted in 13C compared to its source because of kinetic fractionation by the enzyme RubisCO during photosynthetic carbon fixation, as well as through physiological pathways upstream of RubisCO. Moreover, other factors such as nutrient limitation, variations in light regime as well as phytoplankton culturing systems and inorganic carbon manipulation approaches may confound the influence of aquatic CO2 concentrations [CO2] on ϵp. Here, based on experimental data compiled from the literature, we assess which underlying physiological processes cause the observed differences in ϵp for various phytoplankton groups in response to C-demand/C-supply, i.e., particulate organic carbon (POC) production / [CO2]) and test potential confounding factors. Culturing approaches and methods of carbonate chemistry manipulation were found to best explain the differences in ϵp between studies, although day length was an important predictor for ϵp in haptophytes. Extrapolating results from culturing experiments to natural environments and for proxy applications therefore require caution, and it should be carefully considered whether culture methods and experimental conditions are representative of natural environments

Environmental filtering drives assembly of diatom communities over evolutionary time‐scales

Aim Ecological communities are structured through the interplay of deterministic assembly processes such as competition and environmental filtering. Whereas the drivers of spatial community structure are frequently studied in extant communities, little is known about the relative importance of assembly processes in response to environmental factors over evolutionary time-scales. Here, we use an integrative framework to unravel community assembly processes since the inception of a long-lived lake ecosystem. Location Lake Ohrid. Time period From lake formation 1.36 million years ago to the present. Major taxa studied Planktonic diatoms. Methods We constructed a dated phylogeny of extant and extinct diatoms and collected trait data for 380 fossil communities to quantify phylogenetic community structure and functional richness and to determine the relative importance of deterministic assembly processes over time. We then used regression analysis to correlate the phylogenetic community structure with palaeoenvironmental and intrinsic biological predictors and to identify primary drivers of assembly processes. Results Our results suggest a dense packing of niche space with higher species richness and co-occurrence of closely related species. There are only two short episodes in the very recent past dominated by distantly related taxa. We found distinct changes in phylogenetic community structure upon speciation or extinction events and an increase in mean community relatedness over time. Main conclusions Our finding of closely related co-occurring species implies environmental filtering as the primary assembly mechanism, with a minor but increasingly important role of competition towards the present, driven by evolutionary dynamics. Such an increase in the relative contribution of competition to the assembly of communities in relation to the aging of an insular ecosystem, together with a denser packing of morphospace in the early phase of system ontogeny is compatible with ecological predictions according to the theory of island biogeography

The FMLP +: An Asymptotically Optimal Real-Time Locking Protocol for Suspension-Aware Analysis

Abstract—Multiprocessor real-time locking protocols that are asymptotically optimal under suspension-oblivious schedulability analysis (where suspensions are pessimistically modeled as processor demand) are known for partitioned, global, and clustered job-level fixed priority (JLFP) scheduling. However, for the case of more accurate suspension-aware schedulability analysis (where suspensions are accounted for explicitly), asymptotically optimal protocols are known only for partitioned JLFP scheduling. In this paper, the gap is closed with the introduction of the first semaphore protocol for suspension-aware analysis that is asymptotically optimal under global and clustered JLFP scheduling. To this end, a new progress mechanism that avoids repeated priority inversions is developed and analyzed, based on the key observation that if lock-holding, low-priority jobs are priority-boosted, then certain other non-lock-holding, higher-priority jobs must be co-boosted. I