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    Handbook of Real Time and Embedded Systems

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    Umair Mujtaba Qureshi
    This handbook provides an overview and introduction to real-time and embedded systems. It contains 29 chapters contributed by experts in the field, organized into five parts that cover real-time scheduling and resource management, programming languages and analysis, operating systems and middleware, real-time communications and sensor networks, and real-time database and data services. The handbook is a comprehensive reference for real-time and embedded systems researchers and practitioners.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Handbook of Real Time and Embedded Systems

    Uploaded by

    Umair Mujtaba Qureshi
    226 views9 pages
    This handbook provides an overview and introduction to real-time and embedded systems. It contains 29 chapters contributed by experts in the field, organized into five parts that cover real-time scheduling and resource management, programming languages and analysis, operating systems and middleware, real-time communications and sensor networks, and real-time database and data services. The handbook is a comprehensive reference for real-time and embedded systems researchers and practitioners.

    Original Description:

    A Hand Book for Real Time Systems and Entities

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    This handbook provides an overview and introduction to real-time and embedded systems. It contains 29 chapters contributed by experts in the field, organized into five parts that cover real-time scheduling and resource management, programming languages and analysis, operating systems and middleware, real-time communications and sensor networks, and real-time database and data services. The handbook is a comprehensive reference for real-time and embedded systems researchers and practitioners.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    226 views9 pages

    Handbook of Real Time and Embedded Systems

    Uploaded by

    Umair Mujtaba Qureshi
    This handbook provides an overview and introduction to real-time and embedded systems. It contains 29 chapters contributed by experts in the field, organized into five parts that cover real-time scheduling and resource management, programming languages and analysis, operating systems and middleware, real-time communications and sensor networks, and real-time database and data services. The handbook is a comprehensive reference for real-time and embedded systems researchers and practitioners.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 9
    At a glance
    Powered by AI
    The document discusses various topics related to real-time and embedded systems including scheduling, resource management, power management, modeling languages and tools.

    Some challenges discussed include handling periodic and aperiodic tasks, shared resources, and overloads. Power management for low-power systems and imprecise computations are also challenges.

    Techniques discussed include periodic task handling, handling aperiodic tasks and shared resources, and overload management. Rate-based resource allocation methods and compositional schedulability analysis are also presented.

    Handbook of

    Real-Time and
    Embedded Systems
    Edited by

    Insup Lee
    University of Pennsylvania
    Philadelphia, U.S.A.

    Joseph Y-T. Leung


    New Jersey Institute of Technology
    Newark, U.S.A.

    Sang H. Son
    University of Virginia
    Charlottesville, U.S.A.

    #a|Chapman&
    ^ ^

    Hall/CRC

    Taylor & Francis Group


    Boca Raton London New York

    Chapman & Hall/CRC is an imprint of the


    Taylor & Francis Group, an informa business

    Contents

    Preface

    xv

    Editors

    xvii

    Contributors

    xix

    I n t r o d u c t i o n a n d Overview
    SangHyuk Son
    1.1
    Introduction
    1.2
    Overview

    Insup Lee, Joseph Y-T. Leung and


    1-1
    1-1
    1-2

    I Real-Time Scheduling and Resource Management


    2

    Real-Time Scheduling and Resource Management


    Giorgio C. Buttazzo
    2.1
    Introduction
    2.2
    Periodic Task Handling
    2.3
    Handling Aperiodic Tasks
    2.4
    Handling Shared Resources
    2.5
    Overload Management
    2.6
    Conclusions

    2-1
    2-1
    2-3
    2-7
    2-9
    2-12
    2-14

    Schedulability Analysis of Multiprocessor Sporadic Task Systems


    Theodore P. Baker and Sanjoy K. Baruah
    3.1
    Introduction
    3.2
    Definitions and Models
    3.3
    Dynamic Priority Scheduling
    3.4
    Fixed Job-Priority Scheduling
    3.5
    Fixed Task-Priority Scheduling
    3.6
    Relaxations of the Sporadic Model
    3.7
    Conclusion

    3-1
    3-1
    3-2
    3-4
    3-5
    3-10
    3-13
    3-15

    Rate-Based Resource Allocation M e t h o d s


    Kevin Jeffay
    4.1
    Introduction
    4.2
    Traditional Static Priority Scheduling
    4.3
    A Taxonomy of Rate-Based Allocation Models
    4.4
    Using Rate-Based Scheduling

    4-1
    4-1
    4-3
    4-4
    4-9
    vii

    viii

    Contents
    4.5
    4.6

    Hybrid Rate-Based Scheduling


    Summary and Conclusions

    Compositional Real-Time Schedulability Analysis


    Insik Shirt and Insup Lee
    5.1
    Introduction
    5.2
    Compositional Real-Time Scheduling Framework
    5.3
    Workload Models
    5.4
    Resource Models
    5.5
    Schedulability Analysis
    5.6
    Schedulable Workload Utilization Bounds
    5.7
    Extension
    5.8
    Conclusions

    Imprecise Computation Model: Total Weighted Error and Maximum


    Weighted Error
    Joseph Y-T. Leung
    7.1
    7.2
    7.3
    7.4

    Introduction
    Total Weighted Error
    Maximum Weighted Error
    Concluding Remarks

    6-1
    6-1
    6-2
    6-8
    6-12

    7-1
    7-1
    7-3
    7-9
    7-13

    Imprecise Computation Model: Bicriteria and Other Related Problems


    Joseph Y-T. Leung
    8.1
    Introduction
    8.2
    Total w-Weighted Error with Constraints
    8.3
    Maximum W-Weighted Error with Constraints
    8.4
    0/1-Constraints
    8.5
    Conclusions

    5-1
    5-1
    5-3
    5-6
    5-7
    5-9
    5-12
    5-16
    5-18

    Power-Aware Resource Management Techniques for Low-Power


    E m b e d d e d Systems
    JihongKim and Tajana Simunic Rosing
    6.1
    Introduction
    6.2
    Dynamic Voltage Scaling
    6.3
    Dynamic Power Management
    6.4
    Conclusions

    4-12
    4-13

    8-1
    8-1
    8-2
    8-3
    8-6
    8-10

    Stochastic Analysis of Priority-Driven Periodic Real-Time Systems


    Jose Luis Diaz, Kanghee Kim, Jose Maria Lopez,
    Lucia Lo Bello, Daniel F. Garcia, Chang-Gun Lee,
    Sang Lyul Min and Orazio Mirabella
    9.1
    Introduction
    9.2
    Related Work
    9.3
    System Model
    9.4
    Stochastic Analysis Framework
    9.5
    Steady-State Backlog Analysis
    9.6
    Computational Complexity
    9.7
    Experimental Results
    9.8
    Conclusions and Future Work

    9-1
    9-1
    9-2
    9-3
    9-4
    9-12
    9-15
    9-17
    9-22

    Contents

    ix

    II Programming Languages, Paradigms, and Analysis for


    Real-Time and Embedded Systems
    10

    Temporal Control in Real-Time Systems: Languages and Systems


    Sebastian Fischmeister and Insup Lee
    10.1 Introduction
    10.2 The Model
    10.3 The Example: A Stopwatch
    10.4 Implicit Temporal Control
    10.5 Programming with Temporal Control
    10.6 Comparison and Conclusions

    11

    12

    13

    14

    10-1
    10-1
    10-3
    10-4
    10-6
    10-7
    10-18

    The Evolution of Real-Time Programming


    Christoph M. Kirsch and Raja Sengupta
    11.1 Introduction
    11.2 The Computing Abstractions of Control Engineering
    11.3 Physical-Execution-Time Programming
    11.4 Bounded-Execution-Time Programming
    11.5 Zero-Execution-Time Programming
    11.6 Logical-Execution-Time Programming
    11.7 Networked Real-Time Systems

    11-1
    11-1
    11-3
    11-6
    11-7
    11-10
    11-12
    11-14

    Real-Time Java
    Andy Wellings and Alan Bums
    12.1 Introduction
    12.2 Background on the RTSJ
    12.3 Scheduling Objects and Scheduling
    12.4 Resource Sharing and Synchronization
    12.5 Time Values and Clocks
    12.6 Memory Management
    12.7 Conclusions

    12-1
    12-1
    12-2
    12-3
    12-9
    12-11
    12-13
    12-17

    Pro gramming Execution-Time Servers and Supporting EDF Scheduling


    in Ada 2005
    Alan Bums and Andy Wellings
    13.1 Introduction
    13.2 The Ada 95 Version of the Language
    13.3 New Ada 2005 Features
    13.4 Programming Execution-Time Servers
    13.5 Support for Deadlines
    13.6 Baker's Preemption Level Protocol for Protected Objects
    13.7 Supporting EDF Scheduling in Ada
    13.8 Mixed Dispatching Systems
    13.9 Conclusion
    13.10 PostscriptAda and Java

    13-1
    13-1
    13-3
    13-3
    13-8
    13-14
    13-15
    13-15
    13-19
    13-20
    13-20

    Synchronous P r o g r a m m i n g
    Paul Caspi, Pascal Raymond and
    Stavros Tripakis
    14.1 Introduction
    14.2 From Practice
    14.3 IbTheory
    14.4 Some Languages and Compilers

    14-1
    14-1
    14-2
    14-3
    14-5

    Contents

    14.5
    14.6

    Back to Practice
    Conclusions and Perspectives

    14-14
    14-19

    III Operating Systems and Middleware for Real-Time and


    Embedded Systems
    15

    16

    17

    18

    Q o S - E n a b l e d C o m p o n e n t Middleware for Distributed


    Real-Time a n d E m b e d d e d Systems
    Gan Deng, Douglas C. Schmidt,
    Christopher D. GUI and Nanbor Wang
    15.1 Introduction
    15.2 R&D Challenges for DRE Systems
    15.3 Comparison of Middleware Paradigms
    15.4 Achieving QoS-Enabled Component Middleware: CIAO,
    DAnCE, and CoSMIC
    15.5 Applications of CIAO, DAnCE, and CoSMIC
    15.6 Related Work
    15.7 Concluding Remarks

    15-1
    15-1
    15-2
    15-2
    15-5
    15-9
    15-13
    15-14

    Safe a n d S t r u c t u r e d Use of I n t e r r u p t s in Real-Time a n d E m b e d d e d


    Software
    John Regehr
    16.1 Introduction
    16.2 Interrupt Definitions and Semantics
    16.3 Problems in Interrupt-Driven Software
    16.4 Guidelines for Interrupt-Driven Embedded Software
    16.5 Conclusions

    16-1
    16-1
    16-2
    16-4
    16-9
    16-12

    QoS S u p p o r t a n d an Analytic Study for USB l.x/2.0 Devices


    Chih-Yuan Huang, Shi-Wu Lo, Tei-Wei Kuo and Ai-Chun Fang
    17.1 Introduction
    17.2 QoS Guarantees for USB Subsystems
    17.3 Summary

    17-1
    17-1
    17-6
    17-18

    Reference M i d d l e w a r e Architecture for Real-Time a n d E m b e d d e d


    Systems: A Case for N e t w o r k e d Service Robots
    Saehwa Kim and
    Seongsoo Hong
    18.1 Introduction
    18.2 Robot Middleware Requirements
    18.3 Reference Robot Middleware Architecture
    18.4 Future Challenges of Robot Middleware
    18.5 Conclusions

    18-1
    18-1
    18-2
    18-4
    18-10
    18-12

    IV Real-Time Communications/Sensor Networks


    19

    O n l i n e QoS A d a p t a t i o n w i t h the Flexible Time-Triggered (FTT)


    Communication Paradigm
    Luis Almeida, Paulo Pedreiras, Joaquim Ferreira,
    Mario Calha, Jose Alberto Fonseca, Ricardo Marau, Valter Silva and Ernesto Martins
    19.1 Introduction
    19.2 Toward Operational Flexibility

    19-1
    19-1
    19-2

    XI

    19.3
    19.4
    19.5
    19.6
    19.7
    20

    21

    The Flexible Time-Triggered Paradigm


    The Synchronous Messaging System
    The Asynchronous Messaging System
    Case Study: A Mobile Robot Control System
    Conclusions

    19-5
    19-8
    19-14
    19-17
    19-19

    Wireless Sensor N e t w o r k s
    John A. Stankovic
    20.1 Introduction
    20.2 MAC
    20.3 Routing
    20.4 Node Localization
    20.5 Clock Synchronization
    20.6 Power Management
    20.7 Applications and Systems
    20.8 Conclusions

    20-1
    20-1
    20-2
    20-2
    20-4
    20-5
    20-5
    20-6
    20-9

    Messaging in Sensor Networks: Addressing Wireless Communications


    a n d Application Diversity
    Hongwei Zhang, Anish Arora, Prasun Sinha
    and Loren J. Rittle
    21.1 Introduction
    21.2 SMA: An Architecture for Sensornet Messaging
    21.3 Data-Driven Link Estimation and Routing
    21.4 Related Work
    21.5 Concluding Remarks

    22

    23

    21-1
    21-1
    21-2
    21-6
    21-17
    21-18

    Real-Time Communication for Embedded Wireless Networks


    Marco Caccamo and Tarek Abdehaher
    22.1 Introduction
    22.2 Basic Concepts for Predictable Wireless Communication
    22.3 Robust and Implicit Earliest Deadline First
    22.4 Higher-Level Real-Time Protocols for Sensor Networks
    22.5 Real-Time Capacity of Wireless Networks
    22.6 Concluding Remarks

    22-1
    22-1
    22-2
    22-3
    22-9
    22-11
    22-13

    P r o g r a m m i n g a n d Virtualization of D i s t r i b u t e d Multitasking
    Sensor N e t w o r k s
    Azer Bestavros and Michael]. Ocean
    23.1 Introduction
    23.2 The SNAFU Programming Language
    23.3 Sensorium Task Execution Plan
    23.4 The Sensorium Service Dispatcher
    23.5 Sensorium Execution Environments
    23.6 Putting It All Together
    23.7 Related Work
    23.8 Conclusion

    23-1
    23-1
    23-4
    23-7
    23-9
    23-12
    23-16
    23-18
    23-19

    V Real-Time Database/Data Services


    24

    Data-Intensive Services for Real-Time Systems


    Lisa Cingiser DiPippo and Sang Hyuk Son
    24.1 Introduction

    Krithi Ramamritham,
    24-1
    24-1

    Contents

    Xll

    24.2
    24.3
    24.4
    24.5
    24.6
    24.7
    24.8

    25

    26

    Data Freshness and Timing Properties


    Transaction Processing
    Quality of Service in Real-Time Data Services
    Data Services in Sensor Networks
    Mobile Real-Time Databases
    Dissemination of Dynamic Web Data
    Conclusion

    24-4
    24-6
    24-12
    24-17
    24-18
    24-20
    24-21

    Real-Time D a t a D i s t r i b u t i o n
    Angela Uvarov Frolov,
    Lisa Cingiser DiPippo and Victor Fay-Wolfe
    25.1 Introduction to Real-Time Data Distribution
    25.2 Real-Time Data Distribution Problem Space
    25.3 Approaches to Real-Time Data Distribution
    25.4 Conclusion

    25-1
    25-1
    25-1
    25-5
    25-16

    Temporal Consistency Maintenance for Real-Time Update


    Transactions
    Ming Xiong and Krithi Ramamritham
    26.1 Introduction
    26.2 More-Less Using EDF
    26.3 More-Less Using Deadline Monotonie
    26.4 Deferrable Scheduling
    26.5 Conclusions

    27

    Salvaging Resources by Discarding Irreconcilably Conflicting Transactions


    in Firm Real-Time Database Systems
    Victor C. S. Lee, Joseph Kee-Yin Ng
    and Ka Man Ho
    27.1 Introduction
    27.2 Related Work
    27.3 A New Priority Cognizant CC Algorithm
    27.4 Experiments
    27.5 Results
    27.6 Conclusion

    28

    27-1
    27-1
    27-3
    27-5
    27-6
    27-8
    27-13

    Application-Tailored Databases for Real-Time Systems


    Aleksandra Tesanovic and Jrgen Hansson
    28.1 Introduction
    28.2 Dimensions of Tailorability
    28.3 Tailorable Real-Time and Embedded Database Systems
    28.4 The COMET Approach
    28.5 Summary

    29

    26-1
    26-1
    26-3
    26-7
    26-8
    26-17

    28-1
    28-1
    28-2
    28-3
    28-6
    28-16

    DeeDS NG: Architecture, Design, and Sample Application Scenario


    Sten F. Andler, Marcus Brohede, Sanny Gustavsson and Gunnar Mathiason
    29.1 Introduction
    29.2 Active Research Problems
    29.3 DeeDS NG
    29.4 Related Work
    29.5 Summary

    29-1
    29-1
    29-4
    29-5
    29-16
    29-17

    Contents

    xiii

    VI Formalisms, Methods, and Tools


    30

    State Space Abstractions for Time Petri Nets


    Bernard Berthomieu and Francois Vernadat
    30.1 Introduction
    30.2 Time Petri Nets and Their State Space
    30.3 State Space Abstractions Preserving Markings and Traces
    30.4 State Space Abstractions Preserving States and Traces
    30.5 Abstractions Preserving States and Brandung Properties
    30.6 Computing Experiments
    30.7 Conclusion and Further Issues

    31

    30-1
    30-1
    30-2
    30-5
    30-8
    30-13
    30-15
    30-16

    Process-Algebraic Analysis of Timing and Schedulability


    Properties
    Anna Philippou and Oleg Sokolsky
    31.1 Introduction
    31.2 Modeling of Time-Sensitive Systems
    31.3 Modeling of Resource-Sensitive Systems
    31.4 Conclusions

    32

    33

    34

    35

    M o d u l a r Hierarchies of Models for E m b e d d e d Systems


    32.1 Motivation
    32.2 Comprehensive System Modeling Theory
    32.3 Structuring Interfaces
    32.4 Refinement
    32.5 Composition and Combination
    32.6 Modeling Time
    32.7 Perspective, Related Work, Summary, and Outlook

    31-1
    31-1
    31-4
    31-9
    31-19
    Manfred Broy

    32-1
    32-1
    32-3
    32-10
    32-15
    32-18
    32-20
    32-23

    Metamodeling Languages and Metaprogrammable Tools


    Matthew Emerson, Sandeep Neema and Janos Sztipanovits
    33.1 Introduction
    33.2 Modeling Tool Architectures and Metaprogrammability
    33.3 A Comparison of Metamodeling Languages
    33.4 Relating Metamodeling Languages and
    Metaprogrammable Tools
    33.5 Conclusion

    33-1
    33-1
    33-3
    33-9

    Hardware/Software Codesign
    Wayne Wolf
    34.1 Introduction
    34.2 Hardware/Software Partitioning Algorithms
    34.3 Cosynthesis Algorithms
    34.4 CPU Customization
    34.5 Codesign and System Design
    34.6 Summary

    34-1
    34-1
    34-2
    34-4
    34-5
    34-6
    34-7

    33-14
    33-16

    Execution Time Analysis for Embedded Real-Time Systems


    Andreas Ermedahl and Jakob Engblom
    35.1 Introduction
    35.2 Software Behavior
    35.3 Hardware Timing
    35.4 Timing by Measurements

    35-1
    35-1
    35-4
    35-5
    35-8

    xiv

    Contents
    35.5
    35.6
    35.7
    35.8
    35.9

    Timing by Static Analysis


    Hybrid Analysis Techniques
    Tools for WCET Analysis
    Industrial Experience with WCET Analysis Tools
    Summary

    35-10
    35-15
    35-15
    35-15
    35-17

    VII Experiences with Real-Time and Embedded Systems


    36

    37

    38

    39

    Index

    D y n a m i c Q o S M a n a g e m e n t in Distributed Real-Time E m b e d d e d
    Systems
    Joseph P. Loyall and Richard E. Schantz
    36.1 Introduction
    36.2 Issues in Providing QoS Management in DRE Systems
    36.3 Solutions for Providing QoS Management in DRE Systems
    36.4 Case Studies of Providing QoS Management
    36.5 Conclusions

    36-1
    36-1
    36-2
    36-5
    36-12
    36-30

    E m b e d d i n g Mobility in M u l t i m e d i a Systems a n d Applications


    Heonshik Shirt
    37.1 Introduction
    37.2 Challenges for Mobile Computing with Multimedia
    37.3 System-Layer Approaches
    37.4 Application-Layer Approaches
    37.5 Conclusions

    37-1
    37-1
    37-2
    37-4
    37-9
    37-14

    E m b e d d e d Systems a n d Software Technology in the A u t o m o t i v e


    Domain
    Manfred Broy
    38.1 Introduction
    38.2 TheHistory
    38.3 State of Practice Today
    38.4 The Domain Profile
    38.5 TheFuture
    38.6 Practical Challenges
    38.7 Research Challenges
    38.8 Comprehensive Research Agenda
    38.9 Conclusion

    38-1
    38-1
    38-2
    38-2
    38-3
    38-4
    38-6
    38-11
    38-16
    38-18

    Real-Time Data Services for A u t o m o t i v e Applications


    Gurulingesh Raravi, Krithi Ramamritham and Neera Sharma
    39.1 Introduction
    39.2 Real-Time Data Issues in Automotive Applications
    39.3 Adaptive Cruise Control: An Overview
    39.4 Our Goals and Our Approach
    39.5 Specifics of the Dual Mode System
    39.6 Specifics of the Real-Time Data Repository
    39.7 Robotic Vehicle Control: Experimental Setup
    39.8 Results and Observations
    39.9 Related Work
    39.10 Conclusions and Further Work

    39-1
    39-1
    39-2
    39-5
    39-7
    39-8
    39-10
    39-12
    39-13
    39-17
    39-18
    1-1

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