Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling

Bounding the end-to-end latency of processing chains in distributed real-time systems is a well-studied problem, relevant in multiple industrial fields, such as automotive systems and robotics. Nonetheless, to date, only little attention has been given to the study of the impact that specific frameworks and implementation choices have on real-time performance. This paper proposes a scheduling model and a response-time analysis for ROS 2 (specifically, version "Crystal Clemmys" released in December 2018), a popular framework for the rapid prototyping, development, and deployment of robotics applications with thousands of professional users around the world. The purpose of this paper is threefold. Firstly, it is aimed at providing to robotic engineers a practical analysis to bound the worst-case response times of their applications. Secondly, it shines a light on current ROS 2 implementation choices from a real-time perspective. Finally, it presents a realistic real-time scheduling model, which provides an opportunity for future impact on the robotics industry

Semi-Partitioned Scheduling of Dynamic Real-Time Workload: A Practical Approach Based on Analysis-Driven Load Balancing

Recent work showed that semi-partitioned scheduling can achieve near-optimal schedulability performance, is simpler to implement compared to global scheduling, and less heavier in terms of runtime overhead, thus resulting in an excellent choice for implementing real-world systems. However, semi-partitioned scheduling typically leverages an off-line design to allocate tasks across the available processors, which requires a-priori knowledge of the workload. Conversely, several simple global schedulers, as global earliest-deadline first (G-EDF), can transparently support dynamic workload without requiring a task-allocation phase. Nonetheless, such schedulers exhibit poor worst-case performance. This work proposes a semi-partitioned approach to efficiently schedule dynamic real-time workload on a multiprocessor system. A linear-time approximation for the C=D splitting scheme under partitioned EDF scheduling is first presented to reduce the complexity of online scheduling decisions. Then, a load-balancing algorithm is proposed for admitting new real-time workload in the system with limited workload re-allocation. A large-scale experimental study shows that the linear-time approximation has a very limited utilization loss compared to the exact technique and the proposed approach achieves very high schedulability performance, with a consistent improvement on G-EDF and pure partitioned EDF scheduling

Demystifying the Real-Time Linux Scheduling Latency (Artifact)

The "Demystifying the Real-Time Linux Scheduling Latency" paper defines a safe bound for the real-time Linux scheduling latency. It also presents a tool kit that enables the measurements and analysis of the variables that compose the bond. The tool kit is used in the experimental section, performing the scheduling latency analyses on real platforms. This artifact provides the means to evaluate the tool kit and to reproduce the results of the experimental section

Demystifying the Real-Time Linux Scheduling Latency

Linux has become a viable operating system for many real-time workloads. However, the black-box approach adopted by cyclictest, the tool used to evaluate the main real-time metric of the kernel, the scheduling latency, along with the absence of a theoretically-sound description of the in-kernel behavior, sheds some doubts about Linux meriting the real-time adjective. Aiming at clarifying the PREEMPT_RT Linux scheduling latency, this paper leverages the Thread Synchronization Model of Linux to derive a set of properties and rules defining the Linux kernel behavior from a scheduling perspective. These rules are then leveraged to derive a sound bound to the scheduling latency, considering all the sources of delays occurring in all possible sequences of synchronization events in the kernel. This paper also presents a tracing method, efficient in time and memory overheads, to observe the kernel events needed to define the variables used in the analysis. This results in an easy-to-use tool for deriving reliable scheduling latency bounds that can be used in practice. Finally, an experimental analysis compares the cyclictest and the proposed tool, showing that the proposed method can find sound bounds faster with acceptable overheads

Semi-Partitioned Scheduling of Dynamic Real-Time Workload: A Practical Approach Based on Analysis-Driven Load Balancing

Recent work showed that semi-partitioned scheduling can achieve near-optimal schedulability performance, is simpler to implement compared to global scheduling, and less heavier in terms of runtime overhead, thus resulting in an excellent choice for implementing real-world systems. However, semi-partitioned scheduling typically leverages an off-line design to allocate tasks across the available processors, which requires a-priori knowledge of the workload. Conversely, several simple global schedulers, as global earliest-deadline first (G-EDF), can transparently support dynamic workload without requiring a task-allocation phase. Nonetheless, such schedulers exhibit poor worst-case performance. This work proposes a semi-partitioned approach to efficiently schedule dynamic real-time workload on a multiprocessor system. A linear-time approximation for the C=D splitting scheme under partitioned EDF scheduling is first presented to reduce the complexity of online scheduling decisions. Then, a load-balancing algorithm is proposed for admitting new real-time workload in the system with limited workload re-allocation. A large-scale experimental study shows that the linear-time approximation has a very limited utilization loss compared to the exact technique and the proposed approach achieves very high schedulability performance, with a consistent improvement on G-EDF and pure partitioned EDF scheduling

Relative entropy for coherent states from Araki formula

We make a rigorous computation of the relative entropy between the vacuum state and a coherent state for a free scalar in the framework of algebraic description of quantum field theory (AQFT). We study the case of the Rindler wedge. Previous calculations including path integral methods and computations from the lattice give a result for such relative entropy which involves integrals of expectation values of the energy-momentum stress tensor along the considered region. However, the stress tensor is in general nonunique. That means that if we start with some stress tensor, then we can "improve" it adding a conserved term without modifying the Poincaré charges. On the other hand, the presence of such an improving term affects the naive expectation for the relative entropy by a nonvanishing boundary contribution along the entangling surface. In other words, this means that there is an ambiguity in the usual formula for the relative entropy coming from the nonuniqueness of the stress tensor. The main motivation of this work is to solve this puzzle. We first show that all choices of stress tensor except the canonical one are not allowed by positivity and monotonicity of the relative entropy. Then we fully compute the relative entropy between the vacuum and a coherent state in the framework of AQFT using the Araki formula and the techniques of modular theory. After all, both results coincide and give the usual expression for the relative entropy calculated with the canonical stress tensor.Fil: Casini, Horacio German. Comisión Nacional de Energía Atómica. Gerencia del Área de Energía Nuclear. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro | Universidad Nacional de Cuyo. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro; Argentina. Comisión Nacional de Energía Atómica. Centro Atómico Bariloche; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Norte; ArgentinaFil: Grillo, Sergio Daniel. Comisión Nacional de Energía Atómica. Gerencia del Área de Energía Nuclear. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro | Universidad Nacional de Cuyo. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro; Argentina. Comisión Nacional de Energía Atómica. Centro Atómico Bariloche; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Norte; ArgentinaFil: Pontello, Diego Esteban. Comisión Nacional de Energía Atómica. Gerencia del Área de Energía Nuclear. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro | Universidad Nacional de Cuyo. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro; Argentina. Comisión Nacional de Energía Atómica. Centro Atómico Bariloche; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Norte; Argentin

Constant bandwidth servers with constrained deadlines

The Hard Constant Bandwidth Server (H-CBS) is a reservation-based scheduling algorithm often used to mix hard and soft real-time tasks on the same system. A number of variants of the H-CBS algorithm have been proposed in the last years, but all of them have been conceived for implicit server deadlines (i.e., equal to the server period). However, recent promising results on semi-partitioned scheduling together with the demand for new functionality claimed by the Linux community, urge the need for a reservation algorithm that is able to work with constrained deadlines. This paper presents three novel H-CBS algorithms that support constrained deadlines. The three algorithms are formally analyzed, and their performance are compared through an extensive set of simulations

Local temperatures and local terms in modular Hamiltonians

We show there are analogs to the Unruh temperature that can be defined for any quantum field theory and region of the space. These local temperatures are defined using relative entropy with localized excitations. We show that important restrictions arise from relative entropy inequalities and causal propagation between Cauchy surfaces. These suggest a large amount of universality for local temperatures, especially the ones affecting null directions. For regions with any number of intervals in two spacetime dimensions, the local temperatures might arise from a term in the modular Hamiltonian proportional to the stress tensor. We argue this term might be universal, with a coefficient that is the same for any theory, and check analytically and numerically that this is the case for free massive scalar and Dirac fields. In dimensions d≥3, the local terms in the modular Hamiltonian producing these local temperatures cannot be formed exclusively from the stress tensor. For a free scalar field, we classify the structure of the local terms.Instituto de Física La Plat

Entanglement vs. gap for one-dimensional spin systems

We study the relationship between entanglement and spectral gap for local Hamiltonians in one dimension. The area law for a one-dimensional system states that for the ground state, the entanglement of any interval is upper-bounded by a constant independent of the size of the interval. However, the possible dependence of the upper bound on the spectral gap Delta is not known, as the best known general upper bound is asymptotically much larger than the largest possible entropy of any model system previously constructed for small Delta. To help resolve this asymptotic behavior, we construct a family of one-dimensional local systems for which some intervals have entanglement entropy which is polynomial in 1/Delta, whereas previously studied systems, such as free fermion systems or systems described by conformal field theory, had the entropy of all intervals bounded by a constant times log(1/Delta).Comment: 16 pages. v2 is final published version with slight clarification