Optimization techniques for time-critical cyber-physical systems
Authors: 
Yecheng Zhao, Haibo ZengAuthors Info & Claims
Yecheng Zhao, Haibo ZengAuthors Info & ClaimsPages 41 - 50
Abstract
Cyber-Physical Systems (CPS) are often deployed in critical applications subject to strict timing constraints. To guarantee their timing correctness, much of the effort has been dedicated to the development of validation and verification methods for CPS (e.g., timing and schedulability analysis). As CPS becomes increasingly complex, there is an urgent need for efficient optimization techniques that can handle large-scale systems. This has been challenging as timing and schedulability analysis are often too difficult and inefficient to use in optimization framework such as mathematical programming. Existing practice mostly relies on ad-hoc heuristics which suffer from sub-optimal solution quality and limited applicability. In this paper, we discuss new directions for developing optimization algorithms for time-critical CPS that address the above issues. We present a number of previous studies and show that the proposed approaches have the potential to significantly improve on scalability while guaranteeing solution quality. Still, there are large grounds to be covered, which calls for participation from the research community.
References
[1]
Karl J. Åström and Björn Wittenmark. 1997. Computer-controlled Systems (3rd Ed.). Prentice-Hall, Inc., Upper Saddle River, NJ, USA.
[2]
Neil Audsley. 1991. Optimal priority assignment and feasibility of static priority tasks with arbitrary start times. Technical Report YCS 164. Department of Computer Science, University of York, UK.
[3]
N. Audsley, A. Burns, M. Richardson, K. Tindell, and A.J. Wellings. 1993. Applying new scheduling theory to static priority pre-emptive scheduling. Software Engineering Journal 8, 5 (Sep 1993), 284--292.
[4]
Philip Axer, Rolf Ernst, Heiko Falk, Alain Girault, Daniel Grund, Nan Guan, Bengt Jonsson, Peter Marwedel, Jan Reineke, Christine Rochange, Maurice Sebastian, Reinhard Von Hanxleden, Reinhard Wilhelm, and Wang Yi. 2014. Building Timing Predictable Embedded Systems. ACM Trans. Embed. Comput. Syst. 13, 4, Article 82 (March 2014), 82:1--82:37 pages.
[5]
Mario Bambagini, Mauro Marinoni, Hakan Aydin, and Giorgio Buttazzo. 2016. Energy-Aware Scheduling for Real-Time Systems: A Survey. ACM Trans. Embed. Comput. Syst. (TECS) 15, 1 (Jan. 2016), 7:1--7:34.
[6]
Shamit Bansal, Yecheng Zhao, Haibo Zeng, and Kehua Yang. 2018. Optimal Implementation of Simulink Models on Multicore Architectures with Partitioned Fixed Priority Scheduling. In 39th IEEE Real-Time Systems Symposium (RTSS).
[7]
S. Baruah and A. Burns. 2006. Sustainable Scheduling Analysis. In IEEE International Real-Time Systems Symposium (RTSS). 159--168.
[8]
S.K. Baruah, A. Burns, and R.I. Davis. 2011. Response-Time Analysis for Mixed Criticality Systems. In 32nd IEEE Real-Time Systems Symposium (RTSS). 34--43.
[9]
Kateryna Bazaka and Mohan V Jacob. 2012. Implantable devices: issues and challenges. Electronics 2, 1 (2012), 1--34.
[10]
Enrico Bini. 2015. The Quadratic Utilization Upper Bound for Arbitrary Deadline Real-Time Tasks. IEEE Trans. Computers (TC) 64, 2 (2015), 593--599.
[11]
E. Bini, G.C. Buttazzo, and G.M. Buttazzo. 2003. Rate monotonic analysis: the hyperbolic bound. IEEE Transactions on Computers (TC) 52, 7 (Jul 2003), 933--942.
[12]
Enrico Bini and Giorgio C. Buttazzo. 2004. Schedulability Analysis of Periodic Fixed Priority Systems. IEEE Transactions on Computers (TC) 53, 11 (2004), 1462--1473.
[13]
Enrico Bini, Marco Di Natale, and Giorgio Buttazzo. 2008. Sensitivity Analysis for Fixed-priority Real-time Systems. Real-Time Syst. 39, 1-3 (Aug. 2008), 5--30.
[14]
Enrico Bini, Thi Huyen Châu Nguyen, Pascal Richard, and Sanjoy K. Baruah. 2009. A Response-Time Bound in Fixed-Priority Scheduling with Arbitrary Deadlines. IEEE Trans. Comput. (TC) 58, 2 (2009), 279--286.
[15]
E. Bini, A. Parri, and G. Dossena. 2015. A Quadratic-Time Response Time Upper Bound with a Tightness Property. In IEEE Real-Time Systems Symposium (RTSS). 13--22.
[16]
A. Biondi, A. Melani, M. Marinoni, M. Di Natale, and G. Buttazzo. 2014. Exact Interference of Adaptive Variable-Rate Tasks under Fixed-Priority Scheduling. In 26th Euromicro Conference on Real-Time Systems (ECRTS). 165--174.
[17]
A. Biondi, M. Di Natale, and G. Buttazzo. 2016. Performance-Driven Design of Engine Control Tasks. In 7th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS). 1--10.
[18]
Giorgio C Buttazzo. 2011. Hard real-time computing systems: predictable scheduling algorithms and applications. Vol. 24. Springer Science & Business Media.
[19]
S. Chakraborty. 2012. Keynote Talk: Challenges in Automotive Cyber-physical Systems Design. In 25th International Conference on VLSI Design (VLSID). 9--10.
[20]
Abhijit Davare, Douglas Densmore, Liangpeng Guo, Roberto Passerone, Alberto L. Sangiovanni-Vincentelli, Alena Simalatsar, and Qi Zhu. 2013. metroII: A Design Environment for Cyber-physical Systems. ACM Trans. Embed. Comput. Syst. (TECS) 12, 1s (March 2013), 49:1--49:31.
[21]
Abhijit Davare, Qi Zhu, Marco Di Natale, Claudio Pinello, Sri Kanajan, and Alberto Sangiovanni-Vincentelli. 2007. Period Optimization for Hard Real-time Distributed Automotive Systems. In Proceedings of the 44th Annual Design Automation Conference (DAC '07). 278--283.
[22]
R. Davis, L. Cucu-Grosjean, M. Bertogna, and A. Burns. 2016. A Review of Priority Assignment in Real-time Systems. J. Syst. Archit. 65, C (2016), 64--82.
[23]
R. I. Davis, A. Zabos, and A. Burns. 2008. Efficient Exact Schedulability Tests for Fixed Priority Real-Time Systems. IEEE Trans. Comput. 57, 9 (Sept 2008), 1261--1276.
[24]
M. Di Natale, Liangpeng Guo, Haibo Zeng, and A. Sangiovanni-Vincentelli. 2010. Synthesis of Multitask Implementations of Simulink Models With Minimum Delays. IEEE Transactions on Industrial Informatics 6, 4 (Nov 2010), 637--651.
[25]
Chuansheng Dong and Haibo Zeng. 2014. Minimizing stack memory for hard real-time applications on multicore platforms. In Conference on Design, Automation and Test in Europe (DATE).
[26]
John Eidson, Edward A. Lee, Slobodan Matic, Sanjit Seshia, and Jia Zou. 2012. Distributed Real-Time Software for Cyber-Physical Systems. Proc. IEEE 100, 1 (January 2012), 45--59.
[27]
Alberto Ferrari, Marco Di Natale, Giacomo Gentile, Giovanni Reggiani, and Paolo Gai. 2009. Time and Memory Tradeoffs in the Implementation of AUTOSAR Components. In Conference on Design, Automation and Test in Europe.
[28]
B. Fleming. 2014. An Overview of Advances in Automotive Electronics. IEEE Vehicular Technology Magazine 9, 1 (March 2014), 4--9.
[29]
M. Garcia-Valls, D. Perez-Palacin, and R. Mirandola. 2014. Time-Sensitive Adaptation in CPS through Run-Time Configuration Generation and Verification. In IEEE 38th Annual Computer Software and Applications Conference. 332--337.
[30]
Zonghua Gu, Chao Wang, and Haibo Zeng. 2016. Cache-Partitioned Preemption Threshold Scheduling. ACM Trans. Embed. Comput. Syst. (TECS) 16, 1 (Oct. 2016), 13:1--13:30.
[31]
Liangpeng Guo, Arkadeb Ghosal, Haibo Zeng, Paolo Giusto, and Alberto Sangiovanni-Vincentelli. 2012. Methods and Tools for Calculating the Flexibility of Automotive HW/SW Architectures. In Society of Automotive Engineers World Congress (SAE).
[32]
D. Henriksson, A. Cervin, and K. Årzén. 2011. TrueTime: Simulation of control loops under shared computer resources. In Proc. 15th IFAC World Congress on Automatic Control. 34--43.
[33]
T. A. Henzinger, B. Horowitz, and C. M. Kirsch. 2003. Giotto: a time-triggered language for embedded programming. Proc. IEEE 91, 1 (Jan 2003), 84--99.
[34]
Infineon {n. d.}. Microcontroller. Infineon. {Online} http://www.infineon.com/microcontrollers. Retrieved in January 2019.
[35]
International Standardization Organization {n. d.}. ISO 26262-1:2011(en) Road vehicles - Functional safety - Part 1: Vocabulary. International Standardization Organization.
[36]
Junsung Kim, K. Lakshmanan, and R. Rajkumar. 2012. Rhythmic Tasks: A New Task Model with Continually Varying Periods for Cyber-Physical Systems. In 3rd IEEE/ACM International Conference on Cyber-Physical Systems (ICCPS). 55--64.
[37]
K. D. Kim and P. R. Kumar. 2012. Cyber-Physical Systems: A Perspective at the Centennial. Proc. IEEE 100 (May 2012), 1287--1308.
[38]
John Koon. {n. d.}. Overview of the Medical Semiconductor Market and Applications. Infineon. {Online} http://medsmagazine.com/2012/04/overview-of-the-medical-semiconductor-market-and-applications/. Retrieved in January 2019.
[39]
S Kramer, D Ziegenbein, and A Hamann. 2015. Real world automotive benchmark for free. In Workshop on Analysis Tools and Methodologies for Embedded and Real-Time Systems (WATERS).
[40]
Simon Kramer, Dirk Ziegenbein, and Arne Hamann. 2015. Real World Automotive Benchmarks For Free. In International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS).
[41]
Edward A. Lee. 2008. Cyber Physical Systems: Design Challenges. In International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC).
[42]
Edward A Lee. 2009. Computing needs time. Commun. ACM 52, 5 (2009), 70--79.
[43]
Edward A Lee. 2010. CPS Foundations. In 47th ACM/IEEE Design Automation Conference (DAC).
[44]
J.P. Lehoczky, L. Sha, and Y. Ding. 1989. The Rate Monotonic Scheduling Algorithm: Exact Characterization and Average Case Behavior. In 10th IEEE Real-Time Systems Symposium (RTSS).
[45]
Chung Laung Liu and James W Layland. 1973. Scheduling algorithms for multi-programming in a hard-real-time environment. Journal of the ACM (JACM) 20, 1 (1973), 46--61.
[46]
Roberto Lublinerman, Christian Szegedy, and Stavros Tripakis. 2009. Modular code generation from synchronous block diagrams: modularity vs. code size. In 36th ACM SIGPLAN-SIGACT Symposium on Principles of Programming Languages (POPL).
[47]
MathWorks {n. d.}. Simulink Documentation. MathWorks. {Online} http://www.mathworks.com/help/simulink/.
[48]
Mischa Möstl, Johannes Schlatow, Rolf Ernst, Nikil D. Dutt, Ahmed Nassar, Amir-Mohammad Rahmani, Fadi J. Kurdahi, Thomas Wild, Armin Sadighi, and Andreas Herkersdorf. 2018. Platform-Centric Self-Awareness as a Key Enabler for Controlling Changes in CPS. Proc. IEEE 106, 9 (Sept 2018), 1543--1567.
[49]
Marco Di Natale and Haibo Zeng. 2012. Task implementation of synchronous finite state machines. In Conference on Design, Automation and Test in Europe (DATE).
[50]
National Institute of Standards and Technology (NIST) 2016. Cyber Physical Systems Program. National Institute of Standards and Technology (NIST). {Online} www.nist.gov/programs-projects/cyber-physical-systems-program. Retrieved in January 2019.
[51]
NXP Semiconductor {n. d.}. NXP Automotive MCUs and MPUs. NXP Semiconductor. {Online} www.nxp.com/docs/en/product-selector-guide/BRAUTOPRDCTMAP.pdf. Retrieved in January 2019.
[52]
Miloš Panić, Sebastian Kehr, Eduardo Quiñones, Bert Boddecker, Jaume Abella, and Francisco J. Cazorla. 2014. RunPar: An Allocation Algorithm for Automotive Applications Exploiting Runnable Parallelism in Multicores. In International Conference on Hardware/Software Codesign and System Synthesis (CODES).
[53]
Chao Peng and Haibo Zeng. 2018. Response time analysis of digraph real-time tasks scheduled with static priority: generalization, approximation, and improvement. Real-Time Systems 54, 1 (2018), 91--131.
[54]
Chao Peng, Yecheng Zhao, and Haibo Zeng. 2018. Schedulability Analysis of Adaptive Variable-Rate Tasks with Dynamic Switching Speeds. In 39th IEEE Real-Time Systems Symposium (RTSS).
[55]
R. Rajkumar, Insup Lee, Lui Sha, and J. Stankovic. 2010. Cyber-physical systems: The next computing revolution. In 47th ACM/IEEE Design Automation Conference (DAC).
[56]
S. Ramesh. 2015. Automobile: Aircraft or smartphone? Modeling challenges and opportunities in Automotive Systems (keynote). In 2015 ACM/IEEE 18th International Conference on Model Driven Engineering Languages and Systems (MODELS). 3.
[57]
RTCA {n. d.}. DO-178C Software Considerations in Airborne Systems and Equipment Certification. RTCA.
[58]
A. Sangiovanni-Vincentelli, W. Damm, and R. Passerone. 2012. Taming Dr. Frankenstein: Contract-based design for cyber-physical systems. European Journal of Control 18, 3 (2012), 217--238.
[59]
S. A. Seshia, S. Hu, W. Li, and Q. Zhu. 2017. Design Automation of Cyber-Physical Systems: Challenges, Advances, and Opportunities. IEEE Transactions on Computer-Aided Design of Integratd Circuits and Systems (TCAD) PP, 99 (2017), 1--15.
[60]
J. Sifakis. 2012. Rigorous design of cyber-physical systems. In International Conference on Embedded Computer Systems (SAMOS).
[61]
Mikael Sjödin and Hans Hansson. 1998. Improved response time analysis calculations. In 19th IEEE Real-Time Systems Symposium.
[62]
J. Sztipanovits, X. Koutsoukos, G. Karsai, N. Kottenstette, P. Antsaklis, V. Gupta, B. Goodwine, J. Baras, and Shige Wang. 2012. Toward a Science of Cyber-Physical System Integration. Proc. IEEE 100, 1 (Jan 2012), 29--44.
[63]
The AUTOSAR Adaptive Platform. {n. d}. {Online:} https://www.autosar.org/standards/adaptive-platform/.
[64]
The Networking and Information Technology Research and Development (NITRD) Program 2015. Cyber Physical Systems Vision Statement. The Networking and Information Technology Research and Development (NITRD) Program.
[65]
Transistor count. {n. d.}. {Online:} https://en.wikipedia.org/wiki/Transistor_count.
[66]
Stavros Tripakis and Roberto Lublinerman. 2014. Modular Code Generation from Synchronous Models: Abstraction and Compositionality. In Invited Talk, Dagstuhl Seminar Design and Synthesis from Components.
[67]
S. Vestal. 2007. Preemptive Scheduling of Multi-criticality Systems with Varying Degrees of Execution Time Assurance. In 28th IEEE Real-Time Systems Symposium (RTSS).
[68]
Chao Wang, Chuansheng Dong, Haibo Zeng, and Zonghua Gu. 2016. Minimizing Stack Memory for Hard Real-Time Applications on Multicore Platforms with Partitioned Fixed-Priority or EDF Scheduling. ACM Trans. Des. Autom. Electron. Syst. (TODAES) 21, 3 (May 2016), 46:1--46:25.
[69]
Chao Wang, Zonghua Gu, and Haibo Zeng. 2015. Integration of Cache Partitioning and Preemption Threshold Scheduling to Improve Schedulability of Hard Real-Time Systems. In 27th Euromicro Conference on Real-Time Systems (ECRTS).
[70]
Chao Wang, Zonghua Gu, and Haibo Zeng. 2016. Global Fixed Priority Scheduling with Preemption Threshold: Schedulability Analysis and Stack Size Minimization. IEEE Transactions on Parallel and Distributed Systems (TPDS) 27, 11 (2016), 3242--3255.
[71]
Haibo Zeng and Marco Di Natale. 2015. Computing periodic request functions to speed-up the analysis of non-cyclic task models. Real-Time Systems Journal 51, 4 (2015), 360--394.
[72]
Haibo Zeng, Marco Di Natale, and Qi Zhu. 2014. Minimizing Stack and Communication Memory Usage in Real-Time Embedded Applications. ACM Trans. Embed. Comput. Syst. (TECS) 13, 5s, Article 149 (July 2014), 149:1--149:25 pages.
[73]
Haibo Zeng and Marco Di Natale. 2010. Improving Real-Time Feasibility Analysis for Use in Linear Optimization Methods. In 22th Euromicro Conference on Real-Time Systems (ECRTS).
[74]
Haibo Zeng and Marco Di Natale. 2012. Efficient implementation of AUTOSAR components with minimal memory usage. In 7th IEEE International Symposium on Industrial Embedded Systems (SIES).
[75]
Haibo Zeng and Marco Di Natale. 2012. Schedulability Analysis of Periodic Tasks Implementing Synchronous Finite State Machines. In 24th Euromicro Conference on Real-Time Systems (ECRTS).
[76]
Haibo Zeng and Marco Di Natale. 2013. An Efficient Formulation of the Real-Time Feasibility Region for Design Optimization. IEEE Trans. Computers (TC) 62, 4 (2013), 644--661.
[77]
Haibo Zeng and Marco Di Natale. 2013. Using Max-Plus Algebra to Improve the Analysis of Non-cyclic Task Models. In 25th Euromicro Conference on Real-Time Systems (ECRTS). 205--214.
[78]
Haibo Zeng, Marco Di Natale, and Qi Zhu. 2012. Optimizing stack memory requirements for real-time embedded applications. In 17th IEEE International Conference on Emerging Technologies & Factory Automation (ETFA). 1--8.
[79]
Y. Zhao, V. Gala, and H. Zeng. 2018. A Unified Framework for Period and Priority Optimization in Distributed Hard Real-Time Systems. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD) 37, 11 (Nov 2018), 2188--2199.
[80]
Yecheng Zhao, Chao Peng, Haibo Zeng, and Zonghua Gu. 2017. Optimization of Real-Time Software Implementing Multi-Rate Synchronous Finite State Machines. In 17th International Conference on Embedded Software (EMSOFT).
[81]
Yecheng Zhao and Haibo Zeng. 2017. The concept of unschedulability core for optimizing priority assignment in real-time systems. In Conference on Design, Automation and Test in Europe (DATE).
[82]
Yecheng Zhao and Haibo Zeng. 2017. An Efficient Schedulability Analysis for Optimizing Systems with Adaptive Mixed-Criticality Scheduling. Real-Time Systems Journal 53, 4 (2017), 467--525.
[83]
Yecheng Zhao and Haibo Zeng. 2017. The Virtual Deadline based Optimization Algorithm for Priority Assignment in Fixed-Priority Scheduling. In 38th IEEE Real-Time Systems Symposium (RTSS).
[84]
Y. Zhao and H. Zeng. 2018. The Concept of Response Time Estimation Range for Optimizing Systems Scheduled with Fixed Priority. In IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS). 283--294.
[85]
Yecheng Zhao and Haibo Zeng. to appear. The Concept of Unschedulability Core for Optimizing Real-Time Systems with Fixed-Priority Scheduling. IEEE Trans. Computers (TC) (to appear).
[86]
Qi Zhu, Peng Deng, Marco Di Natale, and Haibo Zeng. 2013. Robust and extensible task implementations of synchronous finite state machines. In Conference on Design, Automation and Test in Europe (DATE).
Index Terms
- Optimization techniques for time-critical cyber-physical systems
Recommendations
Optimization of task allocation and priority assignment in hard real-time distributed systems
The complexity and physical distribution of modern active safety, chassis, and powertrain automotive applications requires the use of distributed architectures. Complex functions designed as networks of function blocks exchanging signal information are ...
Code Optimization of Periodic Preemptive Hard Real-Time Multitasking Systems
ISORC '15: Proceedings of the 2015 IEEE 18th International Symposium on Real-Time Distributed ComputingIn hard real-time systems, each task has to provably finish its execution within its respective deadline. Compiler optimizations can be used to improve each task's timing behavior. However, current compilers do not consider tasks' deadlines and can ...
Comments
Information & Contributors
Information
Published In
April 2019
70 pages
ISBN:9781450366991
DOI:10.1145/3313151
- Conference Chairs:
- Alberto Sangiovanni-Vincentelli,
- Janos Sztipanovits,
- Program Chair:
- Qi Zhu
Copyright © 2019 ACM.
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 15 April 2019
Check for updates
Author Tags
Qualifiers
- Research-article
Conference
CPS-IoT Week '19
CPS-IoT Week '19: Cyber-Physical Systems and Internet of Things Week 2019
April 15, 2019
Quebec, Montreal, Canada
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 184Total Downloads
- Downloads (Last 12 months)25
- Downloads (Last 6 weeks)6
Reflects downloads up to 03 Sep 2024
Other Metrics
Citations
View Options
Get Access
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign in