{"title":"The Frame Packing Problem for CAN-FD","authors":"Unmesh D. Bordoloi, Soheil Samii","doi":"10.1109/RTSS.2014.8","DOIUrl":"https://doi.org/10.1109/RTSS.2014.8","url":null,"abstract":"CAN with flexible data rate (CAN-FD) allows transmission of larger payloads compared to standard CAN. However, efficient utilization of CAN-FD bandwidth space calls for a systematic strategy. The challenge arises from the nature of the frame sizes stipulated by CAN-FD as well as the heterogeneity of the periods of the messages and the signals. In this paper, we formulate a frame packing problem for CAN-FD with the optimization objective of bandwidth utilization while meeting temporal constraints. As part of the solution, first, we propose a formula to compute the best-case and the worst-case transmission times of the CAN-FD frames. Thereafter, we propose a framework that solves the optimization problem in pseudo-polynomial time. Experiments show the gains achieved by our framework. The results also show that, when applied to standard CAN, our heuristic provides improved results over existing techniques.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124698731","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}
{"title":"A Wormhole NoC Protocol for Mixed Criticality Systems","authors":"A. Burns, J. Harbin, L. Indrusiak","doi":"10.1109/RTSS.2014.13","DOIUrl":"https://doi.org/10.1109/RTSS.2014.13","url":null,"abstract":"Lack of scalability and difficulties in predicting the temporal behaviour of bus-based architectures has lead to the development of Network-on-Chip (NoC) protocols that provide a schedulable resource for moving data across multi-core platforms. Wormhole switching and credit-based flow control protocols have been used to support flit-level priority-preemptive link arbitration in NoCs, which leads to analysable temporal behaviour. In this paper we develop a new protocol (WPMC), based on the same family of protocols, that gives full support to mixed-criticality on-chip communications. WPMC is defined to give adequate partitioning between criticality levels, and to use resources efficiently. Analysis is developed and implementation aspects are considered. A cycle accurate simulator is used for scenario-based verification, and the effectiveness of the protocol and its scheduling model is evaluated via message-set generation.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130865971","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}
{"title":"Gemini: A Non-invasive, Energy-Harvesting True Power Meter","authors":"Bradford Campbell, P. Dutta","doi":"10.1109/RTSS.2014.36","DOIUrl":"https://doi.org/10.1109/RTSS.2014.36","url":null,"abstract":"Power meters are critical for sub metering loads in residential and commercial settings, but high installation cost and complexity hamper their broader adoption. Recent approaches address installation burdens by proposing non-invasive meters that easily clip onto a wire, or stick onto a circuit breaker, to perform contact less metering. Unfortunately, these designs require regular maintenance (e.g. Battery replacement) or reduce measurement accuracy (e.g. Work poorly with non-unity power factors). This paper presents Gemini, a new design point in the power metering space. Gemini addresses the drawbacks of prior approaches by decoupling and distributing the AC voltage and current measurement acquisitions, and recombining them wirelessly using a low-bandwidth approach, to offer non-invasive real, reactive, and apparent power metering. Battery maintenance is eliminated by using an energy-harvesting design that enables the meter to power itself using a current transformer. Accuracy is substantially improved over other non-invasive meters by virtualizing the voltage channel -- effectively allowing the meter to calculate power as if it could directly measure voltage (since true power requires sample-by-sample multiplication of current and voltage measurements acquired with tight timing constraints). Collectively, these improvements result in a new design point that meters resistive loads with 0.6 W average error and a range of reactive and switching loads with 2.2 W average error -- matching commercial, mains-powered solutions.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126404416","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}
R. J. Bril, S. Altmeyer, M. V. D. Heuvel, Robert I. Davis, M. Behnam
{"title":"Integrating Cache-Related Pre-Emption Delays into Analysis of Fixed Priority Scheduling with Pre-Emption Thresholds","authors":"R. J. Bril, S. Altmeyer, M. V. D. Heuvel, Robert I. Davis, M. Behnam","doi":"10.1109/RTSS.2014.25","DOIUrl":"https://doi.org/10.1109/RTSS.2014.25","url":null,"abstract":"Cache-related pre-emption delays (CRPD) have been integrated into the schedulability analysis of sporadic tasks with constrained deadlines for fixed-priority pre-emptive scheduling (FPPS). This paper generalizes that work by integrating CRPD into the schedulability analysis of tasks with arbitrary deadlines for fixed-priority pre-emption threshold scheduling (FPTS). The analysis is complemented by an optimal threshold assignment algorithm that minimizes CRPD. The paper includes a comparative evaluation of the schedulability ratios of FPPS and FPTS, for constrained-deadline tasks, taking CRPD into account.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114462884","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}
{"title":"Deriving Unbounded Proof of Linear Hybrid Automata from Bounded Verification","authors":"Dingbao Xie, Lei Bu, Xuandong Li","doi":"10.1109/RTSS.2014.22","DOIUrl":"https://doi.org/10.1109/RTSS.2014.22","url":null,"abstract":"The behavior space of real time hybrid systems is very complex and hence expensive to conduct the classical full state space model checking. Compared to the classical model checking, bounded model checking (BMC) is much cheaper to conduct and has better scalability. This work presents a technique that can derive, in some cases, a proof of unbounded reach ability argument of Linear Hybrid Automata (LHA) from a BMC procedure. During BMC of LHA, typical procedures can discover sets of unsatisfiable constraint cores, a.k.a. UC or IIS, in the constraint set according to the bounded continuous state space of LHA. Currently, such unsatisfiable constraints are only fed back to the constraint set to accelerate the BMC solving. In this paper, we propose that such unsatisfiable constraint core can be exploited to give general unbounded verification result of the system model. As each constraint can be mapped back to certain semantical elements of the system model, the unsatisfiable constraint cores can be mapped back into path segments, which are not feasible, in the graph structure of the LHA model. Clearly, if all the potential paths to reach the target location in the graph structure have to go through such infeasible path segments, the target location is not reachable in general, not only in the given bound. Based on this observation, we propose to encode the infeasible path segments as linear temporal logic (LTL) formulas, and present the graph structure, the discrete part, of the LHA model as a transition system. Then, we can take advantage of the mature off-the-shelf LTL model checking techniques to verify whether there exists a path to reach the target location without touching any detected IIS path segment in the graph structure of the LHA model. We implement this technique into a bounded LHA checker BACH. The experiments show that most of the benchmarks can be verified by the enhanced BACH with a clearly better performance and scalability.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128960613","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}
{"title":"Scheduling Mixed-Criticality Implicit-Deadline Sporadic Task Systems upon a Varying-Speed Processor","authors":"Sanjoy Baruah, Zhishan Guo","doi":"10.1109/RTSS.2014.15","DOIUrl":"https://doi.org/10.1109/RTSS.2014.15","url":null,"abstract":"A mixed criticality (MC) workload consists of components of varying degrees of importance (or \"criticalites\"). The problem of executing a MC workload, modeled as a collection of independent implicit-deadline sporadic tasks executing upon a preemptive uniprocessor, is considered. Suitable scheduling strategies are devised for scheduling such systems despite uncertainty and unpredictability in both the amount of execution needed by the tasks, and the effective speed of the processor. These scheduling strategies allow for simultaneously making efficient use of platform resources and ensuring the correctness of the more critical workload components at greater levels of assurance.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"274 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121362256","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}
{"title":"Predictable Communication and Migration in the Quest-V Separation Kernel","authors":"Ye Li, R. West, Zhuoqun Cheng, Eric S. Missimer","doi":"10.1109/RTSS.2014.17","DOIUrl":"https://doi.org/10.1109/RTSS.2014.17","url":null,"abstract":"Quest-V is a separation kernel, which partitions a system into a collection of sandboxes. Each sandbox encapsulates one or more processing cores, a region of machine physical memory, and a subset of I/O devices. Quest-V behaves like a distributed system on a chip, using explicit communication channels to exchange data and migrate addresses spaces between sandboxes, which operate like traditional hosts. This design has benefits in safety-critical systems, which require continued availability in the presence of failures. Additionally, online faults can be recovered without rebooting an entire system. However, the programming model for such a system is more complicated. Each sandbox has its own local scheduler, and threads must communicate using message passing with those in remote sandboxes. Similarly, address spaces may need to be migrated between sandboxes, to ensure newly forked processes do not violate the feasibility of existing local task schedules. Migration may also be needed to move a thread closer to its required resources, such as I/O devices that are not directly available in the local sandbox. This paper describes how Quest-V performs real-time communication and migration without violating service guarantees for existing threads.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129166164","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}
{"title":"On the Complexity of Worst-Case Blocking Analysis of Nested Critical Sections","authors":"Alexander Wieder, Björn B. Brandenburg","doi":"10.1109/RTSS.2014.34","DOIUrl":"https://doi.org/10.1109/RTSS.2014.34","url":null,"abstract":"Accurately bounding the worst-case blocking for finite job sets, a special case of the classic sporadic task model of recurrent real-time systems, using either nested FIFO-or priority-ordered locks on multiprocessors is NP-hard. These intractability results are obtained with reductions from the Multiple-Choice Matching problem. The reductions are quite general and do not depend on (1) whether the locks are spin-or suspension-based, or (2) whether global or partitioned scheduling is used, or (3) which scheduling policy is employed (as long as it is work-conserving). Further, we show that, for a special case in which the blocking analysis problem is NP-hard for FIFO- and priority-ordered locks, the problem for unordered spin locks with nested critical sections can be answered in polynomial time by solving a reach ability problem on a suitably constructed graph, although (or rather, because) unordered locks do not offer any acquisition-order guarantees. Finally, we identify several challenging open problems, pertaining both to circumventing the hardness results and to classifying the inherent difficulty of the problem more precisely.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127826862","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}
{"title":"A Synchronous IPC Protocol for Predictable Access to Shared Resources in Mixed-Criticality Systems","authors":"Björn B. Brandenburg","doi":"10.1109/RTSS.2014.37","DOIUrl":"https://doi.org/10.1109/RTSS.2014.37","url":null,"abstract":"In mixed-criticality systems, highly critical tasks must be temporally and logically isolated from faults in lower-criticality tasks. Such strict isolation, however, is difficult to ensure even for independent tasks, and has not yet been attained if low- and high-criticality tasks share resources subject to mutual exclusion constraints (e.g., Shared data structures, peripheral I/O devices, or OS services), as it is often the case in practical systems. Taking a pragmatic, systems-oriented point of view, this paper argues that traditional real-time locking approaches are unsuitable in a mixed-criticality context: locking is a cooperative activity and requires trust, which is inherently in conflict with the paramount isolation requirements. Instead, a solution based on resource servers (in the microkernel sense) is proposed, and MC-IPC, a novel synchronous multiprocessor IPC protocol for invoking such servers, is presented. The MC-IPC protocol enables strict temporal and logical isolation among mutually untrusted tasks and thus can be used to share resources among tasks of different criticalities. It is shown to be practically viable with a prototype implementation in LITMUSRT and validated with a case study involving several antagonistic failure modes. Finally, MC-IPC is shown to offer analytical benefits in the context of Vestal's mixed-criticality task model.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128098019","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}
Goran Frehse, A. Hamann, Sophie Quinton, M. Woehrle
{"title":"Formal Analysis of Timing Effects on Closed-Loop Properties of Control Software","authors":"Goran Frehse, A. Hamann, Sophie Quinton, M. Woehrle","doi":"10.1109/RTSS.2014.28","DOIUrl":"https://doi.org/10.1109/RTSS.2014.28","url":null,"abstract":"The theories underlying control engineering and real-time systems engineering use idealized models that mutually abstract from central aspects of the other discipline. Control theory usually assumes jitter-free sampling and negligible (constant) input-output latencies, disregarding complex real-world timing effects. Real-time systems theory uses abstract performance models that neglect the functional behavior and derives worst-case situations with limited expressiveness for control functions, e.g., In physically dominated automotive systems. In this paper, we propose an approach that integrates state-of-the art timing models into functional analysis. We combine physical, control and timing models by representing them as a network of hybrid automata. Closed-loop properties can then be verified on this hybrid automata network by using standard model checkers for hybrid systems. Since the computational complexity is critical for model checking, we discuss abstract models of timing behavior that seem particularly suited for this type of analysis. The approach facilitates systematic co-engineering between both control and real-time disciplines, increasing design efficiency and confidence in the system. The approach is illustrated by analyzing an industrial example, the control software of an electro-mechanical braking system, with the hybrid model checker Space Ex.","PeriodicalId":353167,"journal":{"name":"2014 IEEE Real-Time Systems Symposium","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123793961","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}