2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)最新文献

Firmness Analysis of Real-Time Applications Under Static-Priority Preemptive Scheduling 静态优先级抢占调度下实时应用的稳固性分析

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-08-08 DOI: 10.1109/RTAS.2018.00037

A. Behrouzian, Dip Goswami, T. Basten, M. Geilen, Hadi Alizadeh Ara, M. Hendriks

{"title":"Firmness Analysis of Real-Time Applications Under Static-Priority Preemptive Scheduling","authors":"A. Behrouzian, Dip Goswami, T. Basten, M. Geilen, Hadi Alizadeh Ara, M. Hendriks","doi":"10.1109/RTAS.2018.00037","DOIUrl":"https://doi.org/10.1109/RTAS.2018.00037","url":null,"abstract":"(m, k)-firm real-time tasks must meet the deadline of at least m jobs out of any k consecutive jobs to satisfy the firmness requirement. Scheduling of an (m,k)-firm task requires firmness analysis, whose results are used to provide system-level guarantees on the satisfaction of firmness conditions. We address firmness analysis of an (m, k)-firm task that is intended to be added to a set of asynchronous tasks scheduled under a Static-Priority Preemptive (SPP) policy. One of the main causes of deadline misses in periodic tasks running under an SPP policy is interference from higher priority tasks. Since the synchrony between the newly added task and higher priority tasks is unknown, the interference from the higher priority tasks is also unknown. We propose an analytic Firmness Analysis (FAn) method to obtain a synchrony that results in the maximum minimum number of deadline hit jobs in any k consecutive jobs of the task. Scalability of FAn is compared with that of existing work – a brute-force search approach – and a timed-automata model of the problem that is analysed using the reachability check of the Uppaal model checker. Our method substantially reduces the complexity of the analysis.","PeriodicalId":164981,"journal":{"name":"2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125914101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Demo Abstract: 6TiSCH in Full Bloom: From Dynamic Resource Management to Cloud-Based Network Analytics 摘要:6TiSCH的全面发展:从动态资源管理到基于云的网络分析

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-04-11 DOI: 10.1109/RTAS.2018.00017

Tao Gong, Huayi Ji, Tianyu Zhang, Jianwei Zhou, Xiaolin Lu, X. Hu, Song Han

引用次数: 0

A Clockless Synchronisation Framework for Cooperating Mobile Robots 协作移动机器人的无时钟同步框架

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-04-11 DOI: 10.1109/RTAS.2018.00038

Luis Oliveira, L. Almeida, D. Mossé

{"title":"A Clockless Synchronisation Framework for Cooperating Mobile Robots","authors":"Luis Oliveira, L. Almeida, D. Mossé","doi":"10.1109/RTAS.2018.00038","DOIUrl":"https://doi.org/10.1109/RTAS.2018.00038","url":null,"abstract":"Cooperating mobile robots are real-time systems that often require mutual synchronisation, either to carry out cooperative sensing and actuation, or to improve the quality of wireless communications. Concerning this last aspect, a common technique to improve the communication channel is to eliminate access collisions by allocating predefined disjoint time slots to robots, in a circular list, which is known as Time Division Multiple Access (TDMA). This technique typically requires a global clock to identify each slot. However, this method is not robust with respect to asynchronous transmissions generated by external or joining nodes. Consequently, this work proposes a global TDMA protocol that allows for real-time and guaranteed delivery of messages within deadlines, given its predictable schedule, and that: i) applies to dynamic mesh networks of cooperating mobile robots; ii) synchronises slots in a relative fashion using locally perceived delays of message exchanges that are globalised throughout the network, thus not relying on a global clock; and iii) tolerates external traffic and asynchronous joining robots using underneath standard ad-hoc wireless RF technologies that provide CSMA-type arbitration. We describe our protocol and prove that under common operating conditions all robots eventually reach synchronisation. We also propose a heuristic for the few cases that were not covered by the previous proof, which always led to consensus under extensive simulation testing. To the best of our knowledge, this is the first guaranteed clockless synchronisation approach for ad-hoc networks of mobile robots that works over commodity wireless protocols.","PeriodicalId":164981,"journal":{"name":"2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121864442","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

S^3DNN: Supervised Streaming and Scheduling for GPU-Accelerated Real-Time DNN Workloads S^3DNN: gpu加速实时DNN工作负载的监督流和调度

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-04-11 DOI: 10.1109/RTAS.2018.00028

Husheng Zhou, Soroush Bateni, Cong Liu

{"title":"S^3DNN: Supervised Streaming and Scheduling for GPU-Accelerated Real-Time DNN Workloads","authors":"Husheng Zhou, Soroush Bateni, Cong Liu","doi":"10.1109/RTAS.2018.00028","DOIUrl":"https://doi.org/10.1109/RTAS.2018.00028","url":null,"abstract":"Deep Neural Networks (DNNs) are being widely applied in many advanced embedded systems that require autonomous decision making, e.g., autonomous driving and robotics. To handle resource-demanding DNN workloads, graphic processing units (GPUs) have been used as the main acceleration engine. Although much research has been conducted to algorithmically optimize the efficiency of applying DNN to applications such as object recognition, limited attention has been given to optimizing the execution of GPU-accelerated DNN workloads at the system level. In this paper, we propose S^3DNN, a system solution that optimizes the execution of DNN workloads on GPU in a real-time multi-tasking environment, which simultaneously optimizes the two (sometimes) conflicting goals of real-time correctness and throughput. S^3DNN contains a governor that selectively gathers system-wide DNN requests to perform smart data fusion, and a novel supervised streaming and scheduling framework that combines a deadline-aware scheduler with the concurrency-enabled CUDA stream technique. To simultaneously maximize concurrency-induced benefits and real-time performance, S^3DNN explores a rather interesting and unique characteristic of DNN workloads, where multiple layers of a DNN instance often exhibit a gradually decreased GPU resource utilization pattern. We have fully implemented S^3DNN in a GPU-accelerated system and have conducted extensive sets of experiments evaluating the efficacy of S^3DNN under a wide range of system and workload scenarios. The results show that S^3DNN significantly improves upon state-of-the-art GPU-accelerated DNN processing frameworks, e.g., up to 37% and over 40% improvements in real-time performance and throughput, respectively.","PeriodicalId":164981,"journal":{"name":"2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131734451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 67

Analytical Enhancements and Practical Insights for MPCP with Self-Suspensions 具有自悬的MPCP的分析增强和实践见解

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-04-11 DOI: 10.1109/RTAS.2018.00027

Pratyush Patel, Iljoo Baek, Hyoseung Kim, R. Rajkumar

{"title":"Analytical Enhancements and Practical Insights for MPCP with Self-Suspensions","authors":"Pratyush Patel, Iljoo Baek, Hyoseung Kim, R. Rajkumar","doi":"10.1109/RTAS.2018.00027","DOIUrl":"https://doi.org/10.1109/RTAS.2018.00027","url":null,"abstract":"Hardware accelerators such as GP-GPUs and DSPs are being increasingly used in computationally-intensive real-time and multimedia systems. System efficiency is often increased when CPU tasks suspend while using these devices. In this paper, we extend the existing Multiprocessor Priority Ceiling Protocol (MPCP) schedulability analysis in this particular context. We present three methods to improve the traditional MPCP analysis that reduces pessimism in analyzing blocking times. Two of these methods, the request-driven and the job-driven approaches, are motivated by prior work and are adapted to MPCP. The third combines these two approaches in a novel way to consistently outperform either on its own. We note that our underlying observations are general, and that such methods can also be used for analyzing other real-time synchronization protocols. Experimental results indicate that our analytical improvements result in a significantly higher schedulability compared to the traditional recursion-based analysis, even when self-suspensions are not considered. Our approach is also competitive with and often outperforms the linear-programming-based FMLP+ analysis, while having a considerably lower runtime complexity. We further substantiate the practical feasibility of suspension-based MPCP and examine its benefits over the busy-waiting approach by presenting a case-study on an NVIDIA TX2 embedded platform using real-world vision applications.","PeriodicalId":164981,"journal":{"name":"2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130969142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 23

QuartzV: Bringing Quality of Time to Virtual Machines QuartzV:提高虚拟机的时间质量

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-04-11 DOI: 10.1109/RTAS.2018.00011

Sandeep M. D'Souza, R. Rajkumar

{"title":"QuartzV: Bringing Quality of Time to Virtual Machines","authors":"Sandeep M. D'Souza, R. Rajkumar","doi":"10.1109/RTAS.2018.00011","DOIUrl":"https://doi.org/10.1109/RTAS.2018.00011","url":null,"abstract":"Cyber-physical systems are increasingly interconnected and distributed. Examples range from factory-scale industrial robotics to regional-scale smart grids. Therefore, to enable dynamic coordination at scale among geo-distributed physical endpoints, the intelligence behind these systems will often be hosted in the cloud. However, most CPS applications are inherently safety-critical, and require low-latency responses. Hence, a hierarchy of edge cloudlets and the cloud can be used to offload computationally and data-intensive workloads. While low latency is key, a shared sense of time with the added notion of Quality of Time (QoT) is useful for fault detection, and enables fault-tolerant coordinated action in distributed CPS. Given that most public clouds and cloudlets provide multi-tenancy using virtualized units of computing, we aim to introduce the notion of QoT to virtual machines. The use of virtual machines entails the use of a hypervisor, which adds additional timing uncertainty due to relatively higher jitter in clock-read and timer-interrupt latencies. Hence, the use of virtualization presents a challenge in terms of observing and guaranteeing the QoT delivered to an application. To meet these challenges, we present the QuartzV extension to the QoT Stack for Linux, to make virtual machines QoT-aware. We utilize the open-source QEMU-KVM hypervisor, and illustrate the para-virtual design choices that are key for delivering near-native levels of timing performance in virtual machines. We also demonstrate the utility of QuartzV by using it in the development of an industrial-automation application. Experimental evaluations also show the efficacy of QuartzV with respect to the native and fully-virtualized cases.","PeriodicalId":164981,"journal":{"name":"2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128880094","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Shared-Resource-Centric Limited Preemptive Scheduling: A Comprehensive Study of Suspension-Based Partitioning Approaches 以共享资源为中心的有限抢占调度:基于挂起的分区方法的综合研究

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-04-11 DOI: 10.1109/RTAS.2018.00026

Zheng Dong, Cong Liu, Soroush Bateni, Kuan-Hsun Chen, Jian-Jia Chen, G. V. D. Brüggen, Junjie Shi

{"title":"Shared-Resource-Centric Limited Preemptive Scheduling: A Comprehensive Study of Suspension-Based Partitioning Approaches","authors":"Zheng Dong, Cong Liu, Soroush Bateni, Kuan-Hsun Chen, Jian-Jia Chen, G. V. D. Brüggen, Junjie Shi","doi":"10.1109/RTAS.2018.00026","DOIUrl":"https://doi.org/10.1109/RTAS.2018.00026","url":null,"abstract":"This paper studies the problem of scheduling a set of hard real-time sporadic tasks that may access CPU cores and a shared resource. Motivated by the observation that the CPU resource is often abundant compared to the shared resources in multi-core and many-core systems, we propose to resolve this problem from a counter-intuitive shared-resource-centric perspective, focusing on judiciously prioritizing and scheduling tasks' requests in a limited preemptive manner on the shared resource while viewing the worst-case latency a task may experience on the CPU cores as suspension delays. We develop a rather comprehensive set of task partitioning algorithms that partition tasks onto the shared resource with the objective of guaranteeing schedulability while minimizing the required size of the shared resource, which plays a critical role in reducing the overall cost and complexity of building resource-constrained embedded systems in many application domains. A GPU-based prototype case study and extensive simulation-based experiments have been conducted, which validate both our shared-resource-centric scheduling philosophy and the efficiency of our suspension-based partitioning solutions in practice.","PeriodicalId":164981,"journal":{"name":"2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117050813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

Demo Abstract: Industrial IoT Field Gateway Design for Heterogeneous Process Monitoring and Control 摘要:面向异构过程监控的工业物联网现场网关设计

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-04-11 DOI: 10.1109/RTAS.2018.00018

Tao Gong, Shaobo Zheng, M. Nixon, Eric Rotvold, Song Han

引用次数: 2

Achieving Predictable Multicore Execution of Automotive Applications Using the LET Paradigm 使用LET范式实现可预测的汽车应用程序多核执行

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-04-11 DOI: 10.1109/RTAS.2018.00032

Alessandro Biondi, M. Natale

{"title":"Achieving Predictable Multicore Execution of Automotive Applications Using the LET Paradigm","authors":"Alessandro Biondi, M. Natale","doi":"10.1109/RTAS.2018.00032","DOIUrl":"https://doi.org/10.1109/RTAS.2018.00032","url":null,"abstract":"Next generation automotive applications require support for safe, predictable, and deterministic execution. The Logical Execution Time (LET) model has been introduced to improve the predictability and correctness of time-critical applications. The advent of multicore architectures, together with the need to ensure time predictability despite the complex memory hierarchy and the hardware resources shared by the cores, is an additional motivation for the use of the LET paradigm in conjunction with a suitable scheduling and memory access model. In this paper, we show how an implementation of the LET model on actual multicore platforms for automotive systems brings the potential to improve time determinism at the price of a modicum run-time overhead. Multiple implementation options are discussed using the automotive AUTOSAR model and operating system standard, and a realistic application defined by Bosch for the 2017 WATERS challenge. Experimental data of executions on the Infineon Aurix platform show the feasibility of the proposed approach. The paper also provides a discussion on further implementation optimizations and other issues related to the general problem of memory-aware analysis of automotive applications on multicores.","PeriodicalId":164981,"journal":{"name":"2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125730233","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 54

Demo Abstract: Real-Time Heterogeneous Edge Computing System for Social Sensing Applications 摘要:面向社会传感应用的实时异构边缘计算系统

2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Pub Date : 2018-04-11 DOI: 10.1109/RTAS.2018.00019

D. Zhang, Nathan Vance, Dong Wang

引用次数: 1