In this paper we present a prototype of the RTSC the Real-Time System Compiler. The RTSC is a compiler-based tool that leverages the migration from event-triggered to time-triggered real-time systems. For this purpose, it uses an abstraction called Atomic Basic Blocks (ABBs) which is used to capture all relevant dependencies of the event-triggered system in a so-called ABB-graph. This ABB-graph is transformed by the RTSC and finally mapped to a statically computed schedule that could be executed by standard time-triggered real-time operating systems. Moreover, we demonstrate the applicability of our approach and the operation of our prototype by transforming the event-triggered implementation of a real-world embedded system into a trime-triggered equivalent.
{"title":"The RTSC: Leveraging the Migration from Event-Triggered to Time-Triggered Systems","authors":"F. Scheler, Wolfgang Schröder-Preikschat","doi":"10.1109/ISORC.2010.11","DOIUrl":"https://doi.org/10.1109/ISORC.2010.11","url":null,"abstract":"In this paper we present a prototype of the RTSC the Real-Time System Compiler. The RTSC is a compiler-based tool that leverages the migration from event-triggered to time-triggered real-time systems. For this purpose, it uses an abstraction called Atomic Basic Blocks (ABBs) which is used to capture all relevant dependencies of the event-triggered system in a so-called ABB-graph. This ABB-graph is transformed by the RTSC and finally mapped to a statically computed schedule that could be executed by standard time-triggered real-time operating systems. Moreover, we demonstrate the applicability of our approach and the operation of our prototype by transforming the event-triggered implementation of a real-world embedded system into a trime-triggered equivalent.","PeriodicalId":142767,"journal":{"name":"2010 13th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124727256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Caches are widely used to bridge the increasingly growing gap between processor and memory performance. They store copies of frequently used parts of the slow main memory for faster access. Static analysis techniques allow the estimation of the worst case cache behavior and enable the computation of an upper bound of the execution time of a program. This bound is called worst-case execution time (WCET). Its knowledge is crucial to verify if hard real-time systems satisfy their timing constraints and the WCET is a key parameter for the design of embedded systems. In this paper, we propose a new WCET-driven cache-aware memory content selection algorithm, which allocates functions whose WCET highly benefits from a cached execution to cached memory areas. Vice versa, rarely used functions which do not benefit from a cached execution are allocated to noncached memory areas. As a result of this, unfavorable functions w. r. t. a program’s WCET can not evict beneficial functions from the cache. This can lead to a reduced cache miss ratio and a decreased WCET. The effectiveness of our approach is demonstrated by results achieved on real-life benchmarks. In a case study, our greedy algorithm is able to reduce the benchmarks’ WCET by up to 20%.
{"title":"WCET-Driven Cache-Aware Memory Content Selection","authors":"Sascha Plazar, Paul Lokuciejewski, P. Marwedel","doi":"10.1109/ISORC.2010.36","DOIUrl":"https://doi.org/10.1109/ISORC.2010.36","url":null,"abstract":"Caches are widely used to bridge the increasingly growing gap between processor and memory performance. They store copies of frequently used parts of the slow main memory for faster access. Static analysis techniques allow the estimation of the worst case cache behavior and enable the computation of an upper bound of the execution time of a program. This bound is called worst-case execution time (WCET). Its knowledge is crucial to verify if hard real-time systems satisfy their timing constraints and the WCET is a key parameter for the design of embedded systems. In this paper, we propose a new WCET-driven cache-aware memory content selection algorithm, which allocates functions whose WCET highly benefits from a cached execution to cached memory areas. Vice versa, rarely used functions which do not benefit from a cached execution are allocated to noncached memory areas. As a result of this, unfavorable functions w. r. t. a program’s WCET can not evict beneficial functions from the cache. This can lead to a reduced cache miss ratio and a decreased WCET. The effectiveness of our approach is demonstrated by results achieved on real-life benchmarks. In a case study, our greedy algorithm is able to reduce the benchmarks’ WCET by up to 20%.","PeriodicalId":142767,"journal":{"name":"2010 13th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123609831","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
H. Shimada, Alexandre Courbot, Y. Kinebuchi, T. Nakajima
The recent increase in complexity and functionality in embedded systems makes them more vulnerable to rootkit-type attacks, raising the need for integrity management systems. However, as of today there is no such system that can guarantee the system’s safety while matching the low-resource, real-time and multi-core requirements of embedded systems. In this paper, we present a Virtual Machine Monitor (VMM)based monitoring service for embedded systems that checks the actual kernel data against a safe data specification. However, due to the VMM and multi-core nature of the system, the guest OS can be preempted at any time, leading to the checking of potentially inconsistent states. We evaluated two approaches to solve this problem: detecting such invalid states by checking specific kernel data, and detecting system calls using the VMM.
{"title":"A Lightweight Monitoring Service for Multi-core Embedded Systems","authors":"H. Shimada, Alexandre Courbot, Y. Kinebuchi, T. Nakajima","doi":"10.1109/ISORC.2010.12","DOIUrl":"https://doi.org/10.1109/ISORC.2010.12","url":null,"abstract":"The recent increase in complexity and functionality in embedded systems makes them more vulnerable to rootkit-type attacks, raising the need for integrity management systems. However, as of today there is no such system that can guarantee the system’s safety while matching the low-resource, real-time and multi-core requirements of embedded systems. In this paper, we present a Virtual Machine Monitor (VMM)based monitoring service for embedded systems that checks the actual kernel data against a safe data specification. However, due to the VMM and multi-core nature of the system, the guest OS can be preempted at any time, leading to the checking of potentially inconsistent states. We evaluated two approaches to solve this problem: detecting such invalid states by checking specific kernel data, and detecting system calls using the VMM.","PeriodicalId":142767,"journal":{"name":"2010 13th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128707104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Takuya Azumi, H. Takada, Takayuki Ukai, Hiroshi Oyama
Software component techniques have been widely used for enhancement and the cost reduction of software development. We herein introduce a component system with a real-time operating system (RTOS). A case study of a two-wheeled inverted pendulum balancing robot with the component system is presented. The component system can deal with RTOS resources, such as tasks and semaphores, as components. Moreover, a trace functionality which is a new functionality to confirm the state of components or calling components without modification of C source code is introduced.
{"title":"Wheeled Inverted Pendulum with Embedded Component System: A Case Study","authors":"Takuya Azumi, H. Takada, Takayuki Ukai, Hiroshi Oyama","doi":"10.1109/ISORC.2010.21","DOIUrl":"https://doi.org/10.1109/ISORC.2010.21","url":null,"abstract":"Software component techniques have been widely used for enhancement and the cost reduction of software development. We herein introduce a component system with a real-time operating system (RTOS). A case study of a two-wheeled inverted pendulum balancing robot with the component system is presented. The component system can deal with RTOS resources, such as tasks and semaphores, as components. Moreover, a trace functionality which is a new functionality to confirm the state of components or calling components without modification of C source code is introduced.","PeriodicalId":142767,"journal":{"name":"2010 13th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127735561","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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