Real-time computing systems: the next generation
Tutorial: hard real-time systems
The interaction of architecture and operating system design
ASPLOS IV Proceedings of the fourth international conference on Architectural support for programming languages and operating systems
MIPS RISC architectures
A RISC-based architecture for real-time computation
A RISC-based architecture for real-time computation
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Priority Inheritance Protocols: An Approach to Real-Time Synchronization
IEEE Transactions on Computers
Efficient Scheduling Algorithms for Real-Time Multiprocessor Systems
IEEE Transactions on Parallel and Distributed Systems
Highly responsive real time token rings
Highly responsive real time token rings
Task synchronization in real-time systems
Task synchronization in real-time systems
Aperiodic task scheduling for real-time systems
Aperiodic task scheduling for real-time systems
Modeling and validation of the real-time Mach scheduler
SIGMETRICS '93 Proceedings of the 1993 ACM SIGMETRICS conference on Measurement and modeling of computer systems
Bringing real-time scheduling theory and practice closer for multimedia computing
Proceedings of the 1996 ACM SIGMETRICS international conference on Measurement and modeling of computer systems
Real-time computing with lock-free shared objects
ACM Transactions on Computer Systems (TOCS)
Slicing real-time programs for enhanced schedulability
ACM Transactions on Programming Languages and Systems (TOPLAS)
Structuring Communication Software for Quality-of-Service Guarantees
IEEE Transactions on Software Engineering
Analysis of Cache-Related Preemption Delay in Fixed-Priority Preemptive Scheduling
IEEE Transactions on Computers
The Ravenscar tasking profile for high integrity real-time programs
Proceedings of the 1998 annual ACM SIGAda international conference on Ada
AsaP—a framework for evaluating run-time schedulers in embedded multimedia end-systems
MULTIMEDIA '98 Proceedings of the sixth ACM international conference on Multimedia
A comparison of Windows driver model latency performance on Windows NT and Windows 98
OSDI '99 Proceedings of the third symposium on Operating systems design and implementation
Power conscious fixed priority scheduling for hard real-time systems
Proceedings of the 36th annual ACM/IEEE Design Automation Conference
EMERALDS: a small-memory real-time microkernel
Proceedings of the seventeenth ACM symposium on Operating systems principles
Schedulability-driven performance analysis of multiple mode embedded real-time systems
Proceedings of the 37th Annual Design Automation Conference
Analysis of Checkpointing for Real-Time Systems
Real-Time Systems
Bounding Cache-Related Preemption Delay for Real-Time Systems
IEEE Transactions on Software Engineering
EMERALDS: A Small-Memory Real-Time Microkernel
IEEE Transactions on Software Engineering
Power optimization of real-time embedded systems on variable speed processors
Proceedings of the 2000 IEEE/ACM international conference on Computer-aided design
Timing Analysis for Fixed-Priority Scheduling of Hard Real-Time Systems
IEEE Transactions on Software Engineering
Effective Analysis for Engineering Real-Time Fixed Priority Schedulers
IEEE Transactions on Software Engineering
Scheduling System Verification
TACAS '99 Proceedings of the 5th International Conference on Tools and Algorithms for Construction and Analysis of Systems
A Tool for Analyzing and Fine Tuning the Real-Time Properties of an Embedded System
IEEE Transactions on Software Engineering
HARTEX: a safe real-time kernel for distributed computer control systems
Software—Practice & Experience
Enforcing Schedulability of Multi-Task Systems by Hardware-Software Codesign
CODES '97 Proceedings of the 5th International Workshop on Hardware/Software Co-Design
Data Caches in Multitasking Hard Real-Time Systems
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
Dynamic voltage scaling for real-time multi-task scheduling using buffers
Proceedings of the 2004 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systems
Pruning-based, energy-optimal, deterministic I/O device scheduling for hard real-time systems
ACM Transactions on Embedded Computing Systems (TECS)
Preemptive Behavior Analysis and Improvement of Priority Scheduling Algorithms
IPDPS '05 Proceedings of the 19th IEEE International Parallel and Distributed Processing Symposium (IPDPS'05) - Workshop 2 - Volume 03
Systems Support for Preemptive Disk Scheduling
IEEE Transactions on Computers
Design and Implementation of Semi-preemptible IO
FAST '03 Proceedings of the 2nd USENIX Conference on File and Storage Technologies
Idle energy minimization by mode sequence optimization
ACM Transactions on Design Automation of Electronic Systems (TODAES)
Data cache locking for tight timing calculations
ACM Transactions on Embedded Computing Systems (TECS)
Sensitivity analysis of complex embedded real-time systems
Real-Time Systems
Feedback-controlled reliability-aware power management for real-time embedded systems
Proceedings of the 45th annual Design Automation Conference
Analysis on quantum-based fixed priority scheduling of real-time tasks
Proceedings of the 3rd International Conference on Ubiquitous Information Management and Communication
Robust priority assignment for messages on Controller Area Network (CAN)
Real-Time Systems
Research on enhancement of TOC Simplified Drum-Buffer-Rope system using novel generic procedures
Expert Systems with Applications: An International Journal
Getting system metrics using POSIX tracing services
Ada-Europe'03 Proceedings of the 8th Ada-Europe international conference on Reliable software technologies
Revisiting fixed priority techniques
EUC'07 Proceedings of the 2007 international conference on Embedded and ubiquitous computing
Improving commercial RTOS performance using a custom interrupt management scheduling policy
ACC'10 Proceedings of the 2010 international conference on Applied computing conference
Design and implementation of semi-preemptible IO
FAST'03 Proceedings of the 2nd USENIX conference on File and storage technologies
Efficient alternatives for implementing fixed-priority schedulers
Ada-Europe'05 Proceedings of the 10th Ada-Europe international conference on Reliable Software Technologies
Selecting a scheduling policy for embedded real-time monitor and control systems
ICESS'04 Proceedings of the First international conference on Embedded Software and Systems
Power-aware fixed priority scheduling for sporadic tasks in hard real-time systems
Journal of Systems and Software
| Hi-index | 0.01 |
Scheduling theory holds great promise as a means to a priori validate timing correctness of real-time applications. However, there currently exists a wide gap between scheduling theory and its implementation in operating system kernels running on specific hardware platforms. The implementation of any particular scheduling algorithm introduces overhead and blocking components which must be accounted for in the timing correctness validation process. This paper presents a methodology for incorporating the costs of scheduler implementation within the context of fixed priority scheduling algorithms. Both event-driven and timer-driven scheduling implementations are analyzed. We show that for the timer-driven scheduling implementations the selection of the timer interrupt rate can dramatically affect the schedulability of a task set, and we present a method for determining the optimal timer rate. We analyzed both randomly generated and two well-defined task sets and found that their schedulability can be significantly degraded by the implementation costs. Task sets that have ideal breakdown utilization over 90% may not even be schedulable when the implementation costs are considered. This work provides a first step toward bridging the gap between real-time scheduling theory and implementation realities. This gap must be bridged for any meaningful validation of timing correctness properties of real-time applications.