Scheduling for Overload in Real-Time Systems
IEEE Transactions on Computers
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Resource kernels: a resource-centric approach to real-time and multimedia systems
Readings in multimedia computing and networking
Priority Inheritance Protocols: An Approach to Real-Time Synchronization
IEEE Transactions on Computers
Preemptive Multiprocessor Scheduling Anomalies
IPDPS '02 Proceedings of the 16th International Parallel and Distributed Processing Symposium
RTSS '95 Proceedings of the 16th IEEE Real-Time Systems Symposium
A resource allocation model for QoS management
RTSS '97 Proceedings of the 18th IEEE Real-Time Systems Symposium
Elastic Task Model for Adaptive Rate Control
RTSS '98 Proceedings of the IEEE Real-Time Systems Symposium
Minimum and Maximum Utilization Bounds for Multiprocessor RM Scheduling
ECRTS '01 Proceedings of the 13th Euromicro Conference on Real-Time Systems
Dynamic Integrated Scheduling of Hard Real-Time, Soft Real-Time and Non-Real-Time Processes
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
Preemptive Scheduling of Multi-criticality Systems with Varying Degrees of Execution Time Assurance
RTSS '07 Proceedings of the 28th IEEE International Real-Time Systems Symposium
Schedulability Analysis of Sporadic Tasks with Multiple Criticality Specifications
ECRTS '08 Proceedings of the 2008 Euromicro Conference on Real-Time Systems
On the Scalability of Real-Time Scheduling Algorithms on Multicore Platforms: A Case Study
RTSS '08 Proceedings of the 2008 Real-Time Systems Symposium
Partitioned Fixed-Priority Preemptive Scheduling for Multi-core Processors
ECRTS '09 Proceedings of the 2009 21st Euromicro Conference on Real-Time Systems
On the Scheduling of Mixed-Criticality Real-Time Task Sets
RTSS '09 Proceedings of the 2009 30th IEEE Real-Time Systems Symposium
Towards the Design of Certifiable Mixed-criticality Systems
RTAS '10 Proceedings of the 2010 16th IEEE Real-Time and Embedded Technology and Applications Symposium
Resource Allocation in Distributed Mixed-Criticality Cyber-Physical Systems
ICDCS '10 Proceedings of the 2010 IEEE 30th International Conference on Distributed Computing Systems
An incremental approach to scheduling during overloads in real-time systems
RTSS'10 Proceedings of the 21st IEEE conference on Real-time systems symposium
Mixed-Criticality Real-Time Scheduling for Multicore Systems
CIT '10 Proceedings of the 2010 10th IEEE International Conference on Computer and Information Technology
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Cyber-physical systems are an emerging class of applications that require tightly coupled interaction between the computational and physical worlds. These systems are typically realized using sensor/actuator interfaces connected with processing backbones. Safety is a primary concern in cyber-physical systems since the actuators directly influence the physical world. However, unexpected or unusual conditions in the physical world can manifest themselves as increased workload demands being offered to the computational infrastructure of a cyber-physical system. Guaranteeing system safety under overload conditions is therefore a prime concern in developing and deploying cyber-physical systems. In this work, we study this problem in the context of a radar surveillance system, where tasks have different levels of criticality or influence on system safety. In the face of overloads, we observe that the desirable property in such systems is that the more critical tasks continue to meet their timing requirements. We capture this mixed-criticality overload requirement using a formal overload-tolerance metric called ductility. Using this overload-tolerance metric, we first develop our solution in the context of uniprocessor systems, where we show that Zero-Slack scheduling (ZS) algorithms can be used to improve the overload behavior in mixed-criticality cyber-physical systems compared to existing fixed-priority scheduling algorithms like Rate-Monotonic Scheduling (RMS) and Criticality-As-Priority-Assignment (CAPA). Leveraging these results, we then develop a criticality-aware task allocation algorithm called Compress-on-Overload Packing (COP) for dealing with multiprocessor cyber-physical systems. Evaluation results show that COP achieves up to five times better ductility than traditional load balancing bin-packing algorithms like Worst-Fit Decreasing (WFD). Finally, we apply ZS and COP to the radar surveillance system to demonstrate the resulting improvement in system overload behavior. Our implementation of the Zero-Slack scheduler is available as a part of the Linux/RK project, which provides resource kernel extensions for Linux.