research-article

Weakly Hard Schedulability Analysis for Fixed Priority Scheduling of Periodic Real-Time Tasks

Authors:

Marco Di NataleAuthors Info & Claims

ACM Transactions on Embedded Computing Systems (TECS), Volume 16, Issue 5s

Article No.: 171, Pages 1 - 19

https://doi.org/10.1145/3126497

Published: 27 September 2017 Publication History

Abstract

The 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 compromised by a repeating pattern of late terminations. The weakly hard real-time model tries to capture these requirements by analyzing the conditions that guarantee that a maximum number of deadlines can be possibly missed in any set of consecutive activations. We provide a new weakly hard schedulability analysis method that applies to constrained-deadline periodic real-time systems scheduled with fixed priority and without knowledge of the task activation offsets. The analysis is based on a Mixed Integer Linear Programming (MILP) problem formulation; it is very general and can be adapted to include the consideration of resource sharing and activation jitter. A set of experiments conducted on an automotive engine control application and randomly generated tasksets show the applicability and accuracy of the proposed technique.

References

[1]

Zaid Al-bayati, Youcheng Sun, Haibo Zeng, Marco Di Natale, Qi Zhu, and Brett Meyer. 2015. Task placement and selection of data consistency mechanisms for real-time multicore applications. In 21st IEEE Real-Time and Embedded Technology and Applications Symposium. 172--181.

[2]

Amir Aminifar, Petru Eles, Zebo Peng, and Anton Cervin. 2013. Control-quality driven design of cyber-physical systems with robustness guarantees. In Proceedings of the Conference on Design, Automation and Test in Europe. EDA Consortium, 1093--1098.

Digital Library

[3]

Amir Aminifar, Soheil Samii, Petru Eles, Zebo Peng, and Anton Cervin. 2012. Designing high-quality embedded control systems with guaranteed stability. In Real-Time Systems Symposium (RTSS), 2012 IEEE 33rd. 283--292.

Digital Library

[4]

Karl-Erik Årzén, Anton Cervin, Johan Eker, and Lui Sha. 2000. An introduction to control and scheduling co-design. In Decision and Control, 2000. Proceedings of the 39th IEEE Conference on, Vol. 5. 4865--4870.

[5]

Sanjoy Baruah and Alan Burns. 2006. Sustainable scheduling analysis. In 27th IEEE International Real-Time Systems Symposium (RTSS). 159--168.

Digital Library

[6]

Guillem Bernat, Alan Burns, and Albert Liamosi. 2001. Weakly hard real-time systems. Computers, IEEE Transactions on 50, 4 (2001), 308--321.

Digital Library

[7]

Enrico Bini, Marco Di Natale, and Giorgio Buttazzo. 2008. Sensitivity analysis for fixed-priority real-time systems. Real-Time Systems 39, 1--3 (2008), 5--30.

Digital Library

[8]

Alessandro Biondi, Marco Di Natale, Youcheng Sun, and Stefania Botta. 2016. Moving from Single-core to Multicore: Initial Findings on a Fuel Injection Case Study. Technical Report. SAE Technical Paper.

[9]

Reinder J. Bril, Johan J. Lukkien, and Rudolf H. Mak. 2013. Best-case response times and jitter analysis of real-time tasks with arbitrary deadlines. In Proceedings of the 21st International Conference on Real-Time Networks and Systems. ACM, 193--202.

Digital Library

[10]

Tobias Bund and Frank Slomka. 2014. Controller/platform co-design of networked control systems based on density functions. In Proceedings of the 4th ACM SIGBED International Workshop on Design, Modeling, and Evaluation of Cyber-Physical Systems. 11--14.

Digital Library

[11]

Tobias Bund and Frank Slomka. 2015. Worst-case performance validation of safety-critical control systems with dropped samples. In Proceedings of the 23rd International Conference on Real Time and Networks Systems. 319--326.

Digital Library

[12]

Giorgio Buttazzo. 2011. Hard Real-time Computing Systems: Predictable Scheduling Algorithms and Applications. Vol. 24. Springer Science 8 Business Media.

[13]

Robert I. Davis, Ken W. Tindell, and Alan Burns. 1993. Scheduling slack time in fixed priority pre-emptive systems. In Real-Time Systems Symposium. Proceedings. IEEE, 222--231.

[14]

José Luis Díaz, Daniel F. García, Kanghee Kim, Chang-Gun Lee, L. Lo Bello, José María López, Sang Lyul Min, and Orazio Mirabella. 2002. Stochastic analysis of periodic real-time systems. In Real-Time Systems Symposium. RTSS. 23rd IEEE. IEEE, 289--300.

Digital Library

[15]

Paul Emberson, Roger Stafford, and Robert I. Davis. 2010. Techniques for the synthesis of multiprocessor tasksets. In Proceedings 1st International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS). 6--11.

[16]

Goran Frehse, Arne Hamann, Sophie Quinton, and Matthias Woehrle. 2014. Formal analysis of timing effects on closed-loop properties of control software. In Real-Time Systems Symposium (RTSS), 2014 IEEE. 53--62.

[17]

Dip Goswami, Reinhard Schneider, and Samarjit Chakraborty. 2011. Co-design of cyber-physical systems via controllers with flexible delay constraints. In Proceedings of the 16th Asia and South Pacific Design Automation Conference. IEEE Press, 225--230.

Digital Library

[18]

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. ACM, 10.

Digital Library

[19]

Jung-Eun Kim, Tarek F. Abdelzaher, and Lui Sha. 2015. Budgeted generalized rate monotonic analysis for the partitioned, yet globally scheduled uniprocessor model. In 21st IEEE Real-Time and Embedded Technology and Applications Symposium, Seattle, WA, USA, April 13-16, 2015. 221--231.

[20]

Pranaw Kumar and Lothar Thiele. 2012. Quantifying the effect of rare timing events with settling-time and overshoot. In Real-Time Systems Symposium (RTSS), 2012 IEEE 33rd. 149--160.

Digital Library

[21]

John P. Lehoczky. 1990. Fixed priority scheduling of periodic task sets with arbitrary deadlines. In RTSS, Vol. 90. 201--209.

[22]

Joseph Y.-T. Leung and Jennifer Whitehead. 1982. On the complexity of fixed-priority scheduling of periodic, real-time tasks. Performance Evaluation 2, 4 (1982), 237--250.

[23]

Chung Laung Liu and James W Layland. 1973. Scheduling algorithms for multiprogramming in a hard-real-time environment. Journal of the ACM (JACM) 20, 1 (1973), 46--61.

Digital Library

[24]

M. M Hamdaoui and P. Ramanathan. 1995. A dynamic priority assignment technique for streams with (m, k)-firm deadlines. In IEEE Transactions on Computers.

Digital Library

[25]

Sophie Quinton, Matthias Hanke, and Rolf Ernst. 2012. Formal analysis of sporadic overload in real-time systems. In Proceedings of the Conference on Design, Automation and Test in Europe. EDA Consortium, 515--520.

Digital Library

[26]

Parameswaran Ramanathan. 1999. Overload management in real-time control applications using (m, k)-firm guarantee. IEEE Transactions on Parallel and Distributed Systems 10, 6 (1999), 549--559.

Digital Library

[27]

Ola Redell and Martin Sanfridson. 2002. Exact best-case response time analysis of fixed priority scheduled tasks. In Real-Time Systems, 2002. Proceedings. 14th Euromicro Conference on. IEEE, 165--172.

Digital Library

[28]

Lui Sha, Tarek Abdelzaher, Karl-Erik Årzén, Anton Cervin, Theodore Baker, Alan Burns, Giorgio Buttazzo, Marco Caccamo, John Lehoczky, and Aloysius K. Mok. 2004. Real time scheduling theory: A historical perspective. Real-time Systems 28, 2--3 (2004), 101--155.

Digital Library

[29]

Lui Sha, Ragunathan Rajkumar, and John P. Lehoczky. 1990. Priority inheritance protocols: An approach to real-time synchronization. IEEE Transactions on Computers 39, 9 (1990), 1175--1185.

Digital Library

[30]

Damoon Soudbakhsh, Linh T. X. Phan, Anuradha M. Annaswamy, and Oleg Sokolsky. 2016. Co-design of arbitrated network control systems with overrun strategies. IEEE Transactions on Control of Network Systems (2016).

[31]

Damoon Soudbakhsh, Linh T. X. Phan, Oleg Sokolsky, Insup Lee, and Anuradha Annaswamy. 2013. Co-design of control and platform with dropped signals. In Cyber-Physical Systems (ICCPS), 2013 ACM/IEEE International Conference on. 129--140.

Digital Library

[32]

Alexander Wieder and Björn B. Brandenburg. 2013. Efficient partitioning of sporadic real-time tasks with shared resources and spin locks. In Industrial Embedded Systems (SIES), 2013 8th IEEE International Symposium on. 49--58.

[33]

Wenbo Xu, Zain AH Hammadeh, Alexander Kroller, Rolf Ernst, and Sophie Quinton. 2015. Improved deadline miss models for real-time systems using typical worst-case analysis. In Real-Time Systems (ECRTS), 2015 27th Euromicro Conference on. IEEE, 247--256.

Digital Library

[34]

Yang Xu, Karl-Erik Årzén, Enrico Bini, and Anton Cervin. 2014. Response time driven design of control systems. IFAC Proceedings Volumes 47, 3 (2014), 6098--6104.

[35]

Yang Xu, Karl-Erik Årzén, Anton Cervin, Enrico Bini, and Bogdan Tanasa. 2015. Exploiting job response-time information in the co-design of real-time control systems. In Embedded and Real-Time Computing Systems and Applications (RTCSA), 2015 IEEE 21st International Conference on. 247--256.

Digital Library

Cited By

Niu LRawat DZhu DMusselwhite JGu ZDeng Q(2024)Energy Management for Fault-tolerant (m,k)-constrained Real-time Systems That Use Standby-SparingACM Transactions on Embedded Computing Systems10.1145/364836523:3(1-36)Online publication date: 21-Feb-2024
https://dl.acm.org/doi/10.1145/3648365
Niu LRawat DMusselwhite JGu ZDeng Q(2024)Energy-Constrained Scheduling for Weakly Hard Real-Time Systems Using Standby-SparingACM Transactions on Design Automation of Electronic Systems10.1145/363158729:2(1-35)Online publication date: 15-Feb-2024
https://dl.acm.org/doi/10.1145/3631587
Hobbs CXu SGhosh BFraccaroli EDuggirala PChakraborty S(2024)Quantitative Safety-Driven Co-Synthesis of Cyber-Physical System Implementations2024 ACM/IEEE 15th International Conference on Cyber-Physical Systems (ICCPS)10.1109/ICCPS61052.2024.00016(99-110)Online publication date: 13-May-2024
https://doi.org/10.1109/ICCPS61052.2024.00016
Show More Cited By

Index Terms

Weakly Hard Schedulability Analysis for Fixed Priority Scheduling of Periodic Real-Time Tasks
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Embedded systems
      1. Embedded software
  2. Real-time systems
    1. Real-time operating systems

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 Real-time Guarantees for Earliest Deadline First Scheduling of Independent Tasks

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) ...
Schedulability Analysis for Real-Time P-FRP Tasks under Fixed Priority Scheduling
RTCSA '15: Proceedings of the 2015 IEEE 21st International Conference on Embedded and Real-Time Computing Systems and Applications

This paper studies the schedulability of real-time tasks in the Priority-based Functional Reactive Programming (P-FRP) model under fixed priority scheduling, one of the influential scheduling policies. Since the abort-and-restart execution paradigm of ...

Comments

Information & Contributors

Information

Published In

cover image ACM Transactions on Embedded Computing Systems

ACM Transactions on Embedded Computing Systems Volume 16, Issue 5s

Special Issue ESWEEK 2017, CASES 2017, CODES + ISSS 2017 and EMSOFT 2017

October 2017

1448 pages

ISSN:1539-9087

EISSN:1558-3465

DOI:10.1145/3145508

Editor:
Sandeep K. Shukla
Indian Institute of Technology, India

Issue’s Table of Contents

Copyright © 2017 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

Journal Family

ACM Journals for the Design of Smart and Connected Systems

Publication History

Published: 27 September 2017

Accepted: 01 June 2017

Revised: 01 June 2017

Received: 01 April 2017

Published in TECS Volume 16, Issue 5s

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article
Research
Refereed

Funding Sources

European Union's Horizon 2020 research and innovation programme

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

32
Total Citations
View Citations
354
Total Downloads

Downloads (Last 12 months)21
Downloads (Last 6 weeks)4

Reflects downloads up to 10 Nov 2024

Other Metrics

View Author Metrics

Citations

Cited By

Niu LRawat DZhu DMusselwhite JGu ZDeng Q(2024)Energy Management for Fault-tolerant (m,k)-constrained Real-time Systems That Use Standby-SparingACM Transactions on Embedded Computing Systems10.1145/364836523:3(1-36)Online publication date: 21-Feb-2024
https://dl.acm.org/doi/10.1145/3648365
Niu LRawat DMusselwhite JGu ZDeng Q(2024)Energy-Constrained Scheduling for Weakly Hard Real-Time Systems Using Standby-SparingACM Transactions on Design Automation of Electronic Systems10.1145/363158729:2(1-35)Online publication date: 15-Feb-2024
https://dl.acm.org/doi/10.1145/3631587
Hobbs CXu SGhosh BFraccaroli EDuggirala PChakraborty S(2024)Quantitative Safety-Driven Co-Synthesis of Cyber-Physical System Implementations2024 ACM/IEEE 15th International Conference on Cyber-Physical Systems (ICCPS)10.1109/ICCPS61052.2024.00016(99-110)Online publication date: 13-May-2024
https://doi.org/10.1109/ICCPS61052.2024.00016
Niu LMusselwhite J(2024)Reliability-aware scheduling for ( m , k )-firm real-time embedded systems under hard energy budget constraintJournal of Systems Architecture: the EUROMICRO Journal10.1016/j.sysarc.2024.103185154:COnline publication date: 1-Sep-2024
https://dl.acm.org/doi/10.1016/j.sysarc.2024.103185
Vreman NMaggio M(2023)Stochastic Analysis of Control Systems Subject to Communication and Computation FaultsACM Transactions on Embedded Computing Systems10.1145/360912322:5s(1-25)Online publication date: 9-Sep-2023
https://dl.acm.org/doi/10.1145/3609123
Hsieh YChang TTsai CWu SBai CChang KLin CKang EHuang CZhu Q(2023)System Verification and Runtime Monitoring with Multiple Weakly-Hard ConstraintsACM Transactions on Cyber-Physical Systems10.1145/36033807:3(1-28)Online publication date: 13-Jul-2023
https://dl.acm.org/doi/10.1145/3603380
Xu SGhosh BHobbs CThiagarajan PChakraborty STakahashi A(2023)Safety-Aware Flexible Schedule Synthesis for Cyber-Physical Systems Using Weakly-Hard ConstraintsProceedings of the 28th Asia and South Pacific Design Automation Conference10.1145/3566097.3567848(46-51)Online publication date: 16-Jan-2023
https://dl.acm.org/doi/10.1145/3566097.3567848
Balbastre PAceituno JGuasque ABlanes JCrespo APoza J(2022)Planificación de sistemas de tiempo real crítico mediante técnicas no convencionalesRevista Iberoamericana de Automática e Informática industrial10.4995/riai.2022.1714819:4(369-379)Online publication date: 22-Mar-2022
https://doi.org/10.4995/riai.2022.17148
GUASQUE ABALBASTRE P(2022)Evaluation and Comparison of Integer Programming Solvers for Hard Real-Time SchedulingIEICE Transactions on Information and Systems10.1587/transinf.2022EDP7073E105.D:10(1726-1733)Online publication date: 1-Oct-2022
https://doi.org/10.1587/transinf.2022EDP7073
Pazzaglia PMaggio M(2022)Characterizing the Effect of Deadline Misses on Time-Triggered Task ChainsIEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems10.1109/TCAD.2022.319914641:11(3957-3968)Online publication date: Nov-2022
https://doi.org/10.1109/TCAD.2022.3199146
Show More Cited By

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.

Full Access

Get this Article

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Media

Figures

Other

Tables

View Issue’s Table of Contents