Abstract
The current trend in modeling and analyzing real-time systems is toward tighter yet safe timing constraints. Many practical real-time systems can de facto sustain a bounded number of deadline-misses, i.e., they have Weakly-Hard Real-Time (WHRT) constraints rather than hard real-time constraints. Therefore, we strive to provide tight Deadline Miss Models (DMMs) in complement to tight response time bounds for such systems. In this work, we bound the distribution of deadline-misses for task sets running on uniprocessors using the Earliest Deadline First (EDF) scheduling policy. We assume tasks miss their deadlines due to transient overload resulting from sporadic jobs, e.g., interrupt service routines. We use Typical Worst-Case Analysis (TWCA) to tackle the problem in this context. Also, we address the sources of pessimism in computing DMMs, and we discuss the limitations of the proposed analysis. This work is motivated by and validated on a realistic case study inspired by industrial practice (satellite on-board software) and on a set of synthetic test cases. The synthetic experiment is dedicated to extensively study the impact of EDF on DMMs by presenting a comparison between DMMs computed under EDF and Rate Monotonic (RM). The results show the usefulness of this approach for temporarily overloaded systems when EDF scheduling is considered. They also show that EDF is especially useful for WHRT tasks.
- Algirdas Avizienis, Jean-Claude Laprie, Brian Randell, and Carl Landwehr. 2004. Basic concepts and taxonomy of dependable and secure computing. IEEE Trans. Depend. Sec. Comput. 1, 1 (Jan. 2004), 11--33. DOI:https://doi.org/10.1109/TDSC.2004.2Google Scholar
Digital Library
- Philip Axer, Maurice Sebastian, and Rolf Ernst. 2011. Reliability analysis for MPSoCs with mixed-critical, hard real-time constraints. In Proceedings of the 9th IEEE/ACM/IFIP International Conference on Hardware/Software Codesign and System Synthesis (CODES+ISSS’11). IEEE, 149--158. DOI:https://doi.org/10.1145/2039370.2039396Google Scholar
Digital Library
- Guillem Bernat, Alan Burns, and Albert Llamosí. 2001. Weakly hard real-time systems. IEEE Trans. Comput. 50, 4 (2001), 308--321.Google Scholar
Digital Library
- Guillem Bernat and Ricardo Cayssials. 2001. Guaranteed on-line weakly-hard real-time systems. In Proceedings of the 22nd IEEE Real-Time Systems Symposium (RTSS’01). IEEE, 25--35. DOI:https://doi.org/10.1109/REAL.2001.990593Google Scholar
Digital Library
- Enrico Bini and Giorgio C. Buttazzo. 2005. Measuring the performance of schedulability tests. Real-Time Syst. 30, 1--2 (2005), 129--154. DOI:https://doi.org/10.1007/s11241-005-0507-9Google Scholar
Digital Library
- Enrico Bini and Giorgio Buttazzo. 2009. The space of EDF deadlines: The exact region and a convex approximation. Real-Time Syst. 41, 1 (1 Jan. 2009), 27--51. DOI:https://doi.org/10.1007/s11241-008-9060-7Google Scholar
- Giorgio C. Buttazzo. 2011. Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications (3rd ed.). Springer Publishing Company, Incorporated.Google Scholar
Digital Library
- Laura Carnevali, Alessandra Melani, Luca Santinelli, and Giuseppe Lipari. 2014. Probabilistic deadline miss analysis of real-time systems using regenerative transient analysis. In Proceedings of the 22nd International Conference on Real-Time Networks and Systems (RTNS’14). ACM, New York, NY, Article 299, 10 pages. DOI:https://doi.org/10.1145/2659787.2659823Google Scholar
Digital Library
- Anton Cervin. 2001. Analyzing effects of missed deadlines in control systems. In Proceedings of the ARTES Graduate Student Conference.Google Scholar
- Samarjit Chakraborty, Simon Künzli, and Lothar Thiele. 2003. A general framework for analysing system properties in platform-based embedded system designs. In Proceedings of the Design, Automation, and Test in Europe Conference (DATE’03). IEEE Computer Society, 190--195.Google Scholar
Cross Ref
- Kuan-Hsun Chen and Jian-Jia Chen. 2017. Probabilistic schedulability tests for uniprocessor fixed-priority scheduling under soft errors. In Proceedings of the 12th IEEE International Symposium on Industrial Embedded Systems (SIES’17). IEEE, 1--8. DOI:https://doi.org/10.1109/SIES.2017.7993392Google Scholar
Cross Ref
- Michael L. Dertouzos. 1974. Control robotics: The procedural control of physical processes. In Proceedings of the IFIP Congress. North-Holland, 807--813.Google Scholar
- José L. Díaz, Daniel F. García, Kanghee Kim, Chang-Gun Lee, Lucia Lo Bello, José M. López, Sang Lyul Min, and Orazio Mirabella. 2002. Stochastic analysis of periodic real-time systems. In Proceedings of the 23rd IEEE Real-Time Systems Symposium (RTSS’02). IEEE, 289--300. DOI:https://doi.org/10.1109/REAL.2002.1181583Google Scholar
Digital Library
- Jonas Diemer, Philip Axer, and Rolf Ernst. 2012. Compositional performance analysis in Python with pyCPA. In Proceedings of the 3rd International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS’12).Google Scholar
- Wouter Geelen, Duarte Antunes, Jeroen P. M. Voeten, Ramon R. H. Schiffelers, and W. P. M. H. Heemels. 2016. The impact of deadline misses on the control performance of high-end motion control systems. IEEE Trans. Industr. Electron. 63, 2 (Feb. 2016), 1218--1229. DOI:https://doi.org/10.1109/TIE.2015.2504339Google Scholar
Cross Ref
- Laurent George, Nicolas Rivierre, and Marco Spuri. 1996. Pre-emptive and Nonpre-emptive Real-time Uni-processor Scheduling. Technical Report. INRIA, France.Google Scholar
- Nan Guan and Wang Yi. 2014. General and efficient response time analysis for EDF scheduling. In Proceedings of the Design, Automation Test in Europe Conference Exhibition (DATE’14). IEEE, 1--6. DOI:https://doi.org/10.7873/DATE.2014.268Google Scholar
- Moncef Hamdaoui and Parameswaran Ramanathan. 1995. A dynamic priority assignment technique for streams with (m, k)-firm deadlines. IEEE Trans. Comput. 44, 12 (1995), 1443--1451.Google Scholar
Digital Library
- Zain A. H. Hammadeh, Rolf Ernst, Sophie Quinton, Rafik Henia, and Lourent Rioux. 2017. Bounding deadline misses in weakly-hard real-time systems with task dependencies. In Proceedings of the Design, Automation Test in Europe Conference Exhibition (DATE’17). IEEE, 584--589. DOI:https://doi.org/10.23919/DATE.2017.7927054Google Scholar
Cross Ref
- Zain A. H. Hammadeh, Sophie Quinton, and Rolf Ernst. 2014. Extending typical worst-case analysis using response-time dependencies to bound deadline misses. In Proceedings of the 14th International Conference on Embedded Software (EMSOFT ’14). ACM, Article 10, 10 pages. DOI:https://doi.org/10.1145/2656045.2656059Google Scholar
Digital Library
- Zain A. H. Hammadeh, Sophie Quinton, Marco Panunzio, Rafik Henia, Laurent Rioux, and Rolf Ernst. 2017. Budgeting under-specified tasks for weakly-hard real-time systems. In Proceedings of the 29th Euromicro Conference on Real-Time Systems (ECRTS’17). Schloss Dagstuhl--Leibniz-Zentrum fuer Informatik, 17:1--17:22. Retrieved from: http://drops.dagstuhl.de/opus/frontdoor.php?source_opus=7163.Google Scholar
- Rafik Henia, Arne Hamann, Marek Jersak, Razvan Racu, Kai Richter, and Rolf Ernst. 2005. System level performance analysis—The SymTA/S approach. IEEE Proc.—Comput. Dig. Tech. 152, 2 (Mar. 2005), 148--166. DOI:https://doi.org/10.1049/ip-cdt:20045088Google Scholar
Cross Ref
- W. A. Horn. 1974. Some simple scheduling algorithms. Nav. Res. Log. Quart. 21, 1 (1974), 177--185. DOI:https://doi.org/10.1002/nav.3800210113Google Scholar
Cross Ref
- Pratyush Kumar and Lothar Thiele. 2012. Quantifying the effect of rare timing events with settling-time and overshoot. In Proceedings of the IEEE Real-Time Systems Symposium (RTSS’12). IEEE, 149--160.Google Scholar
Digital Library
- Joseph Y.-T. Leung and Jennifer Whitehead. 1982. On the complexity of fixed-priority scheduling of periodic, real-time tasks. Perf. Eval. 2 (1982), 237--250.Google Scholar
Cross Ref
- Jian Li, YeQiong Song, and F. Simonot-Lion. 2004. Schedulability analysis for systems under (m,k)-firm constraints. In Proceedings of the IEEE International Workshop on Factory Communication Systems. IEEE, 23--30. DOI:https://doi.org/10.1109/WFCS.2004.1377670Google Scholar
- George Lima and Alan Burns. 2005. Scheduling fixed-priority hard real-time tasks in the presence of faults. In Proceedings of the 2nd Latin-American Conference on Dependable Computing (LADC’05). Springer-Verlag, 154--173. DOI:https://doi.org/10.1007/11572329_14Google Scholar
Digital Library
- Chang. L. Liu and James W. Layland. 1973. Scheduling algorithms for multiprogramming in a hard-real-time environment. J. ACM 20, 1 (Jan. 1973), 46--61. DOI:https://doi.org/10.1145/321738.321743Google Scholar
Digital Library
- Carey Douglass Locke. 1986. Best-effort Decision-making for Real-time Scheduling. Ph.D. Dissertation. Carnegie Mellon University.Google Scholar
- José María López, José Luis Díaz, Joaquín Entrialgo, and Daniel F. García. 2008. Stochastic analysis of real-time systems under preemptive priority-driven scheduling. Real-Time Syst. 40, 2 (2008), 180--207.Google Scholar
Digital Library
- António P. Magalhães, Mário Z. Rela, and João G. Silva. 1993. Deadlines in Real-Time Systems. Technical Report.Universidade do Porto, Portugal. Retrieved from: https://web.fe.up.pt/ apmag/Suportehome/Ficheiros/drts.pdf.Google Scholar
- Michael J. Magazine and Maw-Sheng Chern. 1984. A note on approximation schemes for multidimensional knapsack problems. Math. Op. Res. 9, 2 (1984), 244--247. DOI:https://doi.org/10.1287/moor.9.2.244Google Scholar
Digital Library
- Marco Di Natale. 2017. Beyond the m-k model: Restoring performance considerations in the time abstraction. ESWEEK - Tutorial Slides. Retrieved from https://team.inria.fr/spades/files/2017/10/EMSOFT2017_MDN-1.pdf.Google Scholar
- Paolo Pazzaglia, Marco Di Natale, Giorgio Buttazzo, and Matteo Secchiari. 2018. A framework for the co-simulation of engine controls and task scheduling. In Software Engineering and Formal Methods, Antonio Cerone and Marco Roveri (Eds.). Springer International Publishing, Cham, 438--452.Google Scholar
- Gang Quan and Xiaobo Hu. 2000. Enhanced fixed-priority scheduling with (m,k)-firm guarantee. In Proceedings of the 21st IEEE Real-Time Systems Symposium. IEEE, 79--88. DOI:https://doi.org/10.1109/REAL.2000.895998Google Scholar
Digital Library
- Sophie Quinton, Matthias Hanke, and Rolf Ernst. 2012. Formal analysis of sporadic overload in real-time systems. In Proceedings of the Design, Automation, and Test in Europe Conference (DATE’12). IEEE, 515--520.Google Scholar
Digital Library
- Parameswaran Ramanathan. 1999. Overload management in real-time control applications using (m,k)-firm guarantee. IEEE Trans. Parallel Distrib. Syst. 10, 6 (June 1999), 549--559. DOI:https://doi.org/10.1109/71.774906Google Scholar
Digital Library
- Kai Richter. 2005. Compositional Scheduling Analysis Using Standard Event Models. Ph.D. Dissertation. TU Braunschweig.Google Scholar
- Luca Santinelli and Liliana Cucu-Grosjean. 2015. A probabilistic calculus for probabilistic real-time systems. ACM Trans. Embed. Comput. Syst. 14, 3, Article 52 (Apr. 2015), 30 pages. DOI:https://doi.org/10.1145/2717113Google Scholar
Digital Library
- Kang Shin, C. Krishna, and Yann-Hang Lee. 1985. A unified method for evaluating real-time computer controllers and its application. IEEE Trans. Automat. Control 30, 4 (Apr. 1985), 357--366. DOI:https://doi.org/10.1109/TAC.1985.1103952Google Scholar
- Marco Spuri. 1996. Analysis of Deadline Schedule Real-Time Systems. Technical Report. INRIA, France.Google Scholar
- Youcheng Sun and Giuseppe Lipari. 2015. Response time analysis with limited carry-in for global earliest deadline first scheduling. In Proceedings of the IEEE Real-Time Systems Symposium. IEEE, 130--140. DOI:https://doi.org/10.1109/RTSS.2015.20Google Scholar
Digital Library
- Youcheng Sun and Marco Di Natale. 2017. Weakly hard schedulability analysis for fixed priority scheduling of periodic real-time tasks. ACM Trans. Embed. Comput. Syst. 16, 5s, Article 171 (Sept. 2017), 19 pages. DOI:https://doi.org/10.1145/3126497Google Scholar
Digital Library
- Georg von der Brüggen, K. H. Chen, W. H. Huang, and J. J. Chen. 2016. Systems with dynamic real-time guarantees in uncertain and faulty execution environments. In Proceedings of the IEEE Real-Time Systems Symposium (RTSS’16). IEEE, 303--314. DOI:https://doi.org/10.1109/RTSS.2016.037Google Scholar
- Wenbo Xu, Zain A. H. Hammadeh, Alexander Kröller, Rolf Ernst, and Sophie Quinton. 2015. Improved deadline miss models for real-time systems using typical worst-case analysis. In Proceedings of the 27th Euromicro Conference on Real-Time Systems. IEEE, 247--256. DOI:https://doi.org/10.1109/ECRTS.2015.29Google Scholar
Digital Library
- Fengxiang Zhang and Alan Burns. 2009. Schedulability analysis for real-time systems with EDF scheduling. IEEE Trans. Comput. 58, 9 (Sept. 2009), 1250--1258. DOI:https://doi.org/10.1109/TC.2009.58Google Scholar
Index Terms
Weakly-hard Real-time Guarantees for Earliest Deadline First Scheduling of Independent Tasks
Recommendations
Generalized Weakly Hard Schedulability Analysis for Real-Time Periodic Tasks
The weakly hard real-time model is an abstraction for applications, including control systems, that can tolerate occasional deadline misses, but can also be compromised if a sufficiently high number of late terminations occur in a given time window. The ...
Weakly Hard Schedulability Analysis for Fixed Priority Scheduling of Periodic Real-Time Tasks
Special Issue ESWEEK 2017, CASES 2017, CODES + ISSS 2017 and EMSOFT 2017The hard deadline model is very popular in real-time research, but is representative or applicable to a small number of systems. Many applications, including control systems, are capable of tolerating occasional deadline misses, but are seriously ...
The Global Limited Preemptive Earliest Deadline First Feasibility of Sporadic Real-Time Tasks
AGILE '14: Proceedings of the 2014 Agile ConferenceThe feasibility of preemptive and non-preemptive scheduling has been well investigated on uniprocessor and multiprocessor platforms under both Fixed Priority Scheduling (FPS) and Earliest Deadline First (EDF) paradigms. While feasibility of limited ...






Comments