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A survey of hard real-time scheduling for multiprocessor systems
- ACM COMPUTING SURVEYS
, 2011
"... This survey covers hard real-time scheduling algorithms and schedulability analysis techniques for homogeneous multiprocessor systems. It reviews the key results in this field from its origins in the late 1960s to the latest research published in late 2009. The survey outlines fundamental results ab ..."
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Cited by 99 (9 self)
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This survey covers hard real-time scheduling algorithms and schedulability analysis techniques for homogeneous multiprocessor systems. It reviews the key results in this field from its origins in the late 1960s to the latest research published in late 2009. The survey outlines fundamental results about multiprocessor real-time scheduling that hold independent of the scheduling algorithms employed. It provides a taxonomy of the different scheduling methods, and considers the various performance metrics that can be used for comparison purposes. A detailed review is provided covering partitioned, global, and hybrid scheduling algorithms, approaches to resource sharing, and the latest results from empirical investigations. The survey identifies open issues, key research challenges, and likely productive research directions.
An optimal realtime scheduling algorithm for multiprocessors
- In Proc. 27th IEEE International Real-Time Systems Symposium, Rio de Janeiro
, 2006
"... Abstract — We consider several object sharing synchronization mechanisms including lock-based, lock-free, and wait-free sharing for LNREF [1], an optimal real-time scheduling algorithm on multiprocessors. We derive LNREF’s minimum-required space cost for wait-free synchronization using the space-opt ..."
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Cited by 67 (0 self)
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Abstract — We consider several object sharing synchronization mechanisms including lock-based, lock-free, and wait-free sharing for LNREF [1], an optimal real-time scheduling algorithm on multiprocessors. We derive LNREF’s minimum-required space cost for wait-free synchronization using the space-optimal waitfree algorithm. We then establish the feasibility conditions for lock-free and lock-based sharing under LNREF, and the concomitant tradeoffs. While the tradeoff between wait-free versus the other sharing is obvious, i.e., space and time costs, we show that the tradeoff between lock-free and lock-based sharing for LNREF hinges on the cost of the lock-free retry, blocking time under lock-based. Finally, we numerically evaluate lock-free and lock-based sharing for LNREF. I.
Pragmatic Nonblocking Synchronization for Real-Time Systems
, 2001
"... We present a pragmatic methodology for designing nonblocking real-time systems. Our methodology uses a combination of lock-free and wait-free synchronization techniques and clearly states which technique should be applied in which situation. ..."
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Cited by 47 (10 self)
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We present a pragmatic methodology for designing nonblocking real-time systems. Our methodology uses a combination of lock-free and wait-free synchronization techniques and clearly states which technique should be applied in which situation.
On recent advances in time/utility function real-time scheduling and resource management
- In IEEE ISORC, pages 55 – 60
, 2005
"... We argue that the key underpinning of the current stateof-the real-time practice — the priority artifact — and that of the current state-of-the real-time art — deadline-based timeliness optimality — are entirely inadequate for specifying timeliness objectives, for reasoning about timeliness behavior ..."
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Cited by 36 (11 self)
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We argue that the key underpinning of the current stateof-the real-time practice — the priority artifact — and that of the current state-of-the real-time art — deadline-based timeliness optimality — are entirely inadequate for specifying timeliness objectives, for reasoning about timeliness behavior, and for performing resource management that can dependably satisfy timeliness objectives in many dynamic real-time systems. We argue that time/utility functions and the utility accrual scheduling paradigm provide a more generalized, adaptive, and flexible approach. Recent research in the utility accrual paradigm have significantly advanced the state-of-the-art of that paradigm. We survey these advances. 1.
An improved schedulability test for uniprocessor periodic task systems
- In Proceedings of EuroMicro Conference on Real-Time Systems
, 2003
"... We present a sufficient linear-time schedulability test for preemptable, asynchronous, periodic task systems with arbitrary relative deadlines, scheduled on a uniprocessor by an optimal scheduling algorithm. We show analytically and empirically that this test is more accurate than the commonlyused d ..."
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Cited by 33 (0 self)
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We present a sufficient linear-time schedulability test for preemptable, asynchronous, periodic task systems with arbitrary relative deadlines, scheduled on a uniprocessor by an optimal scheduling algorithm. We show analytically and empirically that this test is more accurate than the commonlyused density condition. We also present and discuss the results of experiments that compare the accuracy and execution time of our test with that of a pseudo-polynomial-time schedulability test presented previously for a restricted class of task systems in which utilization is strictly less than one. 1
Utility Accrual Real-Time Scheduling: Models and Algorithms
- PH.D. DISSERTATION, VIRGINIA TECH
, 2004
"... ..."
A Survey of Hard Real-Time Scheduling Algorithms and Schedulability Analysis Techniques for Multiprocessor Systems
"... This survey covers hard real-time scheduling algorithms and schedulability analysis techniques for homogeneous multiprocessor systems. It reviews the key results in this field from its origins in the late 1960’s to the latest research published in late 2009. The survey outlines fundamental results a ..."
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Cited by 28 (1 self)
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This survey covers hard real-time scheduling algorithms and schedulability analysis techniques for homogeneous multiprocessor systems. It reviews the key results in this field from its origins in the late 1960’s to the latest research published in late 2009. The survey outlines fundamental results about multiprocessor realtime scheduling that hold independent of the scheduling algorithms employed. It provides a taxonomy of the different scheduling methods, and considers the various performance metrics that can be used for comparison purposes. A detailed review is provided covering partitioned, global, and hybrid scheduling algorithms, approaches to resource sharing, and the latest results from empirical investigations. The survey identifies open
A Framework for Implementing Objects and Scheduling Tasks in Lock-Free Real-Time Systems
- In Proceedings of the 17th IEEE Real-Time Systems Symposium
, 1996
"... We present an integrated framework for developing realtime systems in which lock-free algorithms are employed to implement shared objects. There are two key objectives of our work. The first is to enable functionality for object sharing in lock-free real-time systems that is comparable to that in lo ..."
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Cited by 28 (14 self)
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We present an integrated framework for developing realtime systems in which lock-free algorithms are employed to implement shared objects. There are two key objectives of our work. The first is to enable functionality for object sharing in lock-free real-time systems that is comparable to that in lock-based systems. Our main contribution toward this objective is an efficient approach for implementing multiobject lock-free operations and transactions. A second key objective of our work is to improve upon previously proposed scheduling conditions for tasks that share lock-free objects. When developing such conditions, the key issue is to bound the cost of operation "interferences". We present a general approach for doing this, based on linear programming. 1. Introduction Mostworkon implementing shared objects in preemptive real-time uniprocessor systems has focused on using critical sections to ensure object consistency. The main problem that arises when using critical sections is that ...
Real-Time Object Sharing with Minimal System Support (Extended Abstract)
- In Proceedings of the 15th Annual ACM Symposium on Principles of Distributed Computing
, 1996
"... ) Srikanth Ramamurthy, Mark Moir, and James H. Anderson Department of Computer Science, University of North Carolina at Chapel Hill Abstract We show that, for a large class of hard real-time systems, any object with consensus number P in Herlihy's wait-free hierarchy is universal for any numbe ..."
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Cited by 22 (6 self)
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) Srikanth Ramamurthy, Mark Moir, and James H. Anderson Department of Computer Science, University of North Carolina at Chapel Hill Abstract We show that, for a large class of hard real-time systems, any object with consensus number P in Herlihy's wait-free hierarchy is universal for any number of tasks executing on P processors. These results exploit characteristics of priority-based schedulers common to most hard real-time systems. An important special case of this result is that, for hard real-time applications on uniprocessors, reads and writes are universal. Thus, Herlihy's hierarchy collapses for such applications. 1 Introduction This paper is concerned with implementations of shared objects in hard real-time systems. A hard real-time system is comprised of a collection of tasks that execute on one or more processors. A task is a sequential program that may be invoked repeatedly in response to an external stimulus or timer. Each invocation of a task must complete execution by ...
