Pattern languages of program design
The design and performance of a real-time CORBA event service
Proceedings of the 12th ACM SIGPLAN conference on Object-oriented programming, systems, languages, and applications
Pattern languages of program design 3
A feedback-driven proportion allocator for real-rate scheduling
OSDI '99 Proceedings of the third symposium on Operating systems design and implementation
Fundamentals of fault-tolerant distributed computing in asynchronous environments
ACM Computing Surveys (CSUR)
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Fail-stop processors: an approach to designing fault-tolerant computing systems
ACM Transactions on Computer Systems (TOCS)
The Design and Performance of a Real-Time CORBA SchedulingService
Real-Time Systems - Special issue on challenges in design and implementation of middlewares for real time systems
The case for reflective middleware
Communications of the ACM - Adaptive middleware
Deadline Assignment in a Distributed Soft Real-Time System
IEEE Transactions on Parallel and Distributed Systems
Feedback Control Real-Time Scheduling in ORB Middleware
RTAS '03 Proceedings of the The 9th IEEE Real-Time and Embedded Technology and Applications Symposium
On task schedulability in real-time control systems
RTSS '96 Proceedings of the 17th IEEE Real-Time Systems Symposium
A Dynamic Quality of Service Middleware Agent for Mediating Application Resource Usage
RTSS '98 Proceedings of the IEEE Real-Time Systems Symposium
Improving Quality-of-Control Using Flexible Timing Constraints: Metric and Scheduling Issues
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems Symposium
Analysis of a Reservation-Based Feedback Scheduler
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems Symposium
Synchronization protocols in distributed real-time systems
ICDCS '96 Proceedings of the 16th International Conference on Distributed Computing Systems (ICDCS '96)
ControlWare: A Middleware Architecture for Feedback Control of Software Performance
ICDCS '02 Proceedings of the 22 nd International Conference on Distributed Computing Systems (ICDCS'02)
Towards Highly Configurable Real-time Object Request Brokers
ISORC '02 Proceedings of the Fifth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing
Feedback Control Scheduling in Distributed Real-Time Systems
RTSS '01 Proceedings of the 22nd IEEE Real-Time Systems Symposium
A Hybrid Control Design for QoS Management
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
Middleware Specialization for Memory-Constrained Networked Embedded Systems
RTAS '04 Proceedings of the 10th IEEE Real-Time and Embedded Technology and Applications Symposium
Towards Real-Time Fault-Tolerant CORBA Middleware
Cluster Computing
Hybrid Supervisory Utilization Control of Real-Time Systems
RTAS '05 Proceedings of the 11th IEEE Real Time on Embedded Technology and Applications Symposium
Feedback Utilization Control in Distributed Real-Time Systems with End-to-End Tasks
IEEE Transactions on Parallel and Distributed Systems
Enhancing the Robustness of Distributed Real-Time Middleware via End-to-End Utilization Control
RTSS '05 Proceedings of the 26th IEEE International Real-Time Systems Symposium
On Evaluating the Performability of Degradable Computing Systems
IEEE Transactions on Computers
Distributed monitoring of hybrid systems: a model-directed approach
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
A control-based middleware framework for quality-of-service adaptations
IEEE Journal on Selected Areas in Communications
Online adaptive utilization control for real-time embedded multiprocessor systems
CODES+ISSS '08 Proceedings of the 6th IEEE/ACM/IFIP international conference on Hardware/Software codesign and system synthesis
FCS/nORB: A feedback control real-time scheduling service for embedded ORB middleware
Microprocessors & Microsystems
Online adaptive utilization control for real-time embedded multiprocessor systems
Journal of Systems Architecture: the EUROMICRO Journal
Simultaneous thermal and timeliness guarantees in distributed real-time embedded systems
Journal of Systems Architecture: the EUROMICRO Journal
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A key challenge for distributed real-time and embedded (DRE) middleware is maintaining both system reliability and desired real-time performance in unpredictable environments where system workload and resources may fluctuate significantly. This paper presents FC-ORB, a real-time Object Request Broker (ORB) middleware that employs end-to-end utilization control to handle fluctuations in application workload and system resources. The contributions of this paper are three-fold. First, we present a novel utilization control service that enforces desired CPU utilization bounds on multiple processors by adapting the rates of end-to-end tasks within user-specified ranges. Second, we describe a set of middleware-level mechanisms designed to support end-to-end tasks and distributed multi-processor utilization control in a real-time ORB. Finally, we present extensive experimental results on a Linux testbed. Our results demonstrate that our middleware can maintain desired utilizations in face of uncertainties and variations in task execution times, resource contentions from external workloads, and permanent processor failure. FC-ORB demonstrates that the integration of utilization control, end-to-end scheduling, and fault-tolerance mechanisms in DRE middleware is a promising approach for enhancing the robustness of DRE applications in unpredictable environments.