Abstract
Real-time scheduling is the kernel mechanism having the most impact on RTOS performance. After describing existing algorithms and methodologies for embedded realtime applications, we present their limitations in handling dynamic environments, and discuss new research trends for overcoming them in next generation operating systems.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Abeni, L., Buttazzo, G.: Stochastic Analysis of a Reservation Based System. In: Proc. of the 9th International Workshop on Parallel and Distributed Real-Time Systems (April 2001)
Aldea-Rivas, M., Gonzalez-Harbour, M.: POSIX-compatible applicationdefined scheduling in MARTE OS. In: Proceedings of the 14th Euromicro Conference on Real-Time Systems (ECRTS 2002), Vienna, Austria, pp. 67–75 (2002)
Altisen, K., Goessler, G., Sifakis, J.: Scheduler modeling based on the controller synthesis paradigm. Journal of Real-Time Systems, special issue on “Control Approaches to Real-Time Computing” 23, 55–84 (2002)
ARINC 651: Design Guidance for Integrated Modular Avionics, pub. by Airlines Electronic Engineering Committee (AEEC) (November 1991)
Atlas, A.K., Bestavros, A.: Statistical Rate Monotonic Scheduling. In: Proc. Of the 19th IEEE Real-Time Systems Symposium, December 1998, pp. 123–132 (1998)
Aydin, H., Melhem, R., Mossé, D., Alvarez, P.M.: Determining Optimal Processor Speeds for Periodic Real-Time Tasks with Different Power Characteristics. In: ECRTS01 (Euromicro Conference on Real-Time Systems), Delft, Holland (2001)
Bernat, G., Burns, A., Llamosi, A.: Weakly hard real-time systems. IEEE Transactions on Computers 50(4) (April 2001)
Bernat, G., Cayssials, R.: Guaranteed on-line weakly-hard real-time systems. In: IEEE Real-Time Systems Symposium RTSS, London (December 2001)
Bernat, G., Burns, A.: Implementing a Flexible Scheduler in Ada. In: Proceedings of Reliable Software Technologies – Ada Europe 2001 (2001)
Bertin, V., Closse, E., Poize, M., Pulou, J., Sifakis, J., Venier, P., Weil, D., Yovine, S.: Taxys = Esterel + Kronos: a tool for verifying real-time properties of embedded systems. In: Conference on Decision and Control, CDC 2001, Orlando, December 2001, IEEE Control Systems Society, Los Alamitos (2001)
Binns, P., Vestal, S.: Formalizing software architectures for embedded systems. In: Henzinger, T.A., Kirsch, C.M. (eds.) EMSOFT 2001. LNCS, vol. 2211, p. 451. Springer, Heidelberg (2001)
Broster, I., Bernat, G., Burns, A.: Weakly-Hard Real-Time Constraints on Controller Area Network. In: 14th Euromicro Conference on Real-Time Systems, Vienna, Austria (2002)
Burch, J.R., Passeronne, R., Sangiovanni-Vincentelli, A.: Using multiple levels of abstractions in embedded software design. In: Henzinger, T.A., Kirsch, C.M. (eds.) EMSOFT 2001. LNCS, vol. 2211, p. 324. Springer, Heidelberg (2001)
Burns, A., Bernat, G., Broster, I.: A Probabilistic Framework for Schedulability Analysis. In: Alur, R., Lee, I. (eds.) EMSOFT 2003. LNCS, vol. 2855, pp. 1–15. Springer, Heidelberg (2003)
Buttazzo, G., Stankovic, J.: Adding Robustness in Dynamic Preemptive Scheduling. In: Fussell, D.S., Malek, M. (eds.) Responsive Computer Systems: Steps Toward Fault-Tolerant Real-Time Systems, Kluwer Academic Publishers, Boston (1995)
Buttazzo, G., Lipari, G., Abeni, L.: Elastic Task Model for Adaptive Rate Control. In: Proceedings of the IEEE Real-Time Systems Symposium, Madrid, Spain, December 1998, pp. 286–295 (1998)
Davis, R., Wellings, A.: Dual priority scheduling. In: 16th IEEE Real-Time Systems Symposium (RTSS 1995), Pisa, Italy (1995)
Diaz, J.L., Garcia, D.F., Kim, K., Lee, C., Lo Bello, L., Lopez, J.M., Min, S.L., Mirabella, O.: Stochastic Analysis of Periodic Real-Time Systems. In: IEEE 23rd Real- Time Systems Symposium RTSS 2002, Austin, TX, USA, December 3-5 (2002)
Fohler, G.: Changing operational modes in the context of pre run-time scheduling. IEIC transactions on information and systems, special issue on responsive computer systems (November 1993)
Fohler, G.: Joint scheduling of distributed complex periodic and hard aperiodic tasks in statically scheduled systems. In: 16th IEEE Real-Time Systems Symposium (RTSS 1995) (December 1995)
Gai, P., Abeni, L., Giorgi, M., Buttazzo, G.: A New Kernel Approach for Modular Real-Time Systems Development. In: IEEE Proceedings of the 13th Euromicro Conference on Real-Time Systems, Delft, The Netherlands (June 2001)
Gardner, M.K., Liu, J.W.S.: Analyzing Stochastic Fixed-Priority Real-Time Systems. In: Proc. of the 5th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (March 1999)
Gardner, M.K.: Probabilistic Analysis and Scheduling of Critical Soft Real-Time Systems, Ph.D. Thesis, Univ. of Illinois Urbana-Champaign (1999)
Ghosh, S., Melhem, R., Mosse, D.: Enhancing Real-Time Schedules to Tolerate Transient Faults. In: Proc. of the 16th IEEE Real-Time Systems Symposium, Pisa, Italy (1995)
Goyal, P., Guo, X., Vin, H.M.: A hierarchical CPU scheduler for multimedia operating systems. In: Proceedings of the 2nd USENIX Symposium on Operating Systems Design and Implementation (1996)
Henzinger, T.A., Horowitz, B., Meyer Kirsch, C.: Giotto: A time-triggered language for embedded programming. In: Henzinger, T.A., Kirsch, C.M. (eds.) EMSOFT 2001. LNCS, vol. 2211, p. 166. Springer, Heidelberg (2001)
Isovic, D., Fohler, G.: Quality aware MPEG-2 stream adaptation in resource constrained systems. In: 16th Euromicro Conference on Real-time Systems (ECRTS 2004), Catania, Sicily, Italy (July 2004)
Kopetz, H., Real-Time Systems, H.: Design Principles for Distributed Embedded Applications. Kluwer Academic Publishers, Dordrecht (1997)
Lee, E., Sangiovanni-Vincentelli, A.: A unified framework for comparing models of computation. IEEE Trans. on Computer Aided Design of Integrated Circuits and Systems 17(12), 1217–1229 (1998)
Lehoczky, J.P.: Real-Time Queueing Theory. In: Proc. of the 17th IEEE Real-Time Systems Symposium, December 1996, pp. 186–195 (1996)
Lehoczky, J.P.: Real-Time Queueing Network Theory. In: Proc. of the 18th IEEE Real-Time Systems Symposium, December 1997, pp. 58–67 (1997)
Lehoczky, J.P., Sha, L., Ding, Y.: The Rate-Monotonic Scheduling Algorithm: Exact Characterization and Average Case Behaviour. In: Proc. of the 10th IEEE Real-Time Systems Symposium (December 1989)
Lehoczky, J.P.: Fixed Priority Scheduling of Periodic Task Sets with Arbitrary Deadlines. In: Proc. of the 11th IEEE Real-Time Systems Symposium (December 1990)
Leulseged, A., Nissanke, N.: Probabilistic Analysis of Multi-processor Scheduling of Tasks with Uncertain Parameters. In: 9th Int. Conf. On Real-time and Embedded Computing Systems and Applications, Taiwan (February 2003)
Lipari, G., Baruah, S.K.: Efficient Scheduling of Multi-Task Applications in Open Systems. In: IEEE Proceedings of the 6th Real-Time Systems and Applications Symposium, Washington DC (June 2000)
Liu, C.L., Layland, J.W.: Scheduling Algorithms for Multiprogramming in Hard Real-Time Environment. Journal of the ACM 20(1), 40–61 (1973)
Manolache, S., Eles, P., Peng, Z.: Memory and Time-Efficient Schedulability Analysis of Task Sets with Stochastic Execution Times. In: Proc. of the 13th Euromicro Conference on Real-Time Systems, June 2001, pp. 19–26 (2001)
Mok, A., Feng, X., Chen, D.: Resource Partition for Real-Time Systems. In: 7th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2001 (2001)
Mok, A.K.: Fundamental Design Problems of Distributed Systems for the Hard Real-Time Environment, PhD Thesis, Massachusetts Institute of Technology (1983)
Nissanke, N., Leulseged, A., Chillara, S.: Probabilistic Performance Analysis in Multiprocessor Scheduling. Computing and Control Journal, IEE, London (August. 2002)
Ramamritham, K.: Scheduling Complex Periodic Tasks. In: Intl. Conference on Distributed Computing Systems (June 1990)
Ramamritham, K.: Where do timing constraints come from, where do they go? Journal of Database Management 7(2), 4–10 (1996)
Regehr, J., Stankovic, J.: HLS: a framework for composing soft real-time systems. In: Proc. RTSS 2001, London (2001)
Rivas, M.A., Harbour, M.G.: POSIX-Compatible Application- Defined Scheduling in MaRTE OS. In: Proceedings of 14th Euromicro Conference on Real-Time Systems, Vienna, Austria, June 2002, IEEE Computer Society Press, Los Alamitos (2002)
Sha, L., Rajkumar, R., Lehoczky, J.P., Ramamritham, K.: Mode Change Protocols for Priority-Driven Preemptive Scheduling. Journal of Real-Time Systems 1(3) (1989)
Sifakis, J.: Modeling real-time systems – challenges and work directions. In: Henzinger, T.A., Kirsch, C.M. (eds.) EMSOFT 2001. LNCS, vol. 2211, p. 373. Springer, Heidelberg (2001)
Sifakis, J., Tripakis, S., Yovine, S.: Building models of real-time systems from application software. Proceedings of the IEEE,Special issue on modeling and design of embedded 91(1), 100–111 (2003)
Spuri, M., Buttazzo, G.: Efficient Aperiodic Service under Earliest Deadline Scheduling. In: Proceedings of the 15th IEEE Real-Time System Symposium (RTSS 1994), Portorico, December 1994, pp. 2–21 (1994)
Spuri, M., Buttazzo, G.: Scheduling Aperiodic Tasks in Dynamic Priority Systems. The Journal of Real-Time Systems 10(2), 179–210 (1996)
Sprunt, B., Sha, L., Lehoczky, J.: Aperiodic task scheduling for hard real-time systems. Journal of Real-Time Systems 1(1), 27–60 (1989)
Stankovic, J.A., Ramamritham, K.: The design of the Spring kernel. In: Proc. Real-time Systems Symposium, December 1987, pp. 146–157 (1987)
Stankovic, J.A., Lu, C., Son, S.H., Tao, G.: The Case for Feedback Control Real-Time Scheduling. In: 11th EuroMicro Conference on Real-Time Systems, York, UK (June 1999)
Tia, T.S., Deng, Z., Shankar, M., Storch, M., Sun, J., Wu, L.-C., Liu, J.W.S.: Probabilistic Performance Guarantee for Real-Time Tasks with Varying Computation Times. In: Proc. of the Real-Time Technology and Applications Symposium, May 1995, pp. 164–173 (1995)
Tindell, K., Burns, A., Wellings, A.J.: Allocating Real-Time Tasks: An NP-Hard Problem made Easy. Journal of Real-Time Systems 4, 145–165 (1992)
Tindell, K., Burns, A., Wellings, A.J.: An Extendible Approach for Analysing Fixed Priority Hard Real-Time Tasks. Real-Time Systems 6(2), 133–151 (1994)
Wang, S., Lin, K.-J., Wang, Y.: Hierarchical budget management in the REDlinux scheduling framework. In: Proceedings of the 14th Euromicro Conference on Real-Time Systems (ECRTS 2002), Vienna, Austria, pp. 76–83 (2002)
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Bouyssounouse, B., Sifakis, J. (2005). Real-Time Scheduling. In: Embedded Systems Design. Lecture Notes in Computer Science, vol 3436. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-31973-3_20
Download citation
DOI: https://doi.org/10.1007/978-3-540-31973-3_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-25107-1
Online ISBN: 978-3-540-31973-3
eBook Packages: Computer ScienceComputer Science (R0)