Measuring the Performance of Schedulability Tests
Real-Time Systems
Algorithms for Determining the Demand-Based Load of a Sporadic Task System
RTCSA '06 Proceedings of the 12th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
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
Handling mixed-criticality in SoC-based real-time embedded systems
EMSOFT '09 Proceedings of the seventh ACM international conference on Embedded software
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
Load-based schedulability analysis of certifiable mixed-criticality systems
EMSOFT '10 Proceedings of the tenth ACM international conference on Embedded software
An Algorithm for Scheduling Certifiable Mixed-Criticality Sporadic Task Systems
RTSS '10 Proceedings of the 2010 31st IEEE Real-Time Systems Symposium
Implementing mixed criticality systems in Ada
Ada-Europe'11 Proceedings of the 16th Ada-Europe international conference on Reliable software technologies
Effective and Efficient Scheduling of Certifiable Mixed-Criticality Sporadic Task Systems
RTSS '11 Proceedings of the 2011 IEEE 32nd Real-Time Systems Symposium
Response-Time Analysis for Mixed Criticality Systems
RTSS '11 Proceedings of the 2011 IEEE 32nd Real-Time Systems Symposium
Timing faults and mixed criticality systems
Dependable and Historic Computing
Implementation and Evaluation of Mixed-Criticality Scheduling Approaches for Periodic Tasks
RTAS '12 Proceedings of the 2012 IEEE 18th Real Time and Embedded Technology and Applications Symposium
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Traditional fixed-priority scheduling analysis for periodic and sporadic task sets is based on the assumption that all tasks are equally critical to the correct operation of the system. Therefore, every task has to be schedulable under the chosen scheduling policy, and estimates of tasks' worst-case execution times must be conservative in case a task runs longer than is usual. To address the significant underutilization of a system's resources under normal operating conditions that can arise from these assumptions, several mixed-criticality scheduling approaches have been proposed. However, to date, there have been few quantitative comparisons of system schedulability or runtime overhead for the different approaches. In this article, we present a side-by-side implementation and evaluation of the known mixed-criticality scheduling approaches, for periodic and sporadic mixed-criticality tasks on uniprocessor systems, under a mixed-criticality scheduling model that is common to all these approaches. To make a fair evaluation of mixed-criticality scheduling, we also address previously open issues and propose modifications to improve particular approaches. Our empirical evaluations demonstrate that user-space implementations of mechanisms to enforce different mixed-criticality scheduling approaches can be achieved atop Linux without kernel modification, with reasonably low (but in some cases nontrivial) overhead for mixed-criticality real-time task sets.