Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461325
P. Kurtin, J. Hausmans, M. Bekooij
Stream processing applications executed on multiprocessor systems usually contain cyclic data dependencies due to the presence of bounded FIFO buffers and feedback loops, as well as cyclic resource dependencies due to the usage of shared processors. In recent works it has been shown that temporal analysis of such applications can be performed by iterative fixed-point algorithms that combine dataflow and response time analysis techniques. However, these algorithms consider resource dependencies based on the assumption that tasks on shared processors are enabled simultaneously, resulting in a significant overestimation of interference between such tasks. This paper extends these approaches by integrating an explicit consideration of precedence constraints with a notion of offsets between tasks on shared processors, leading to a significant improvement of temporal analysis results for cyclic stream processing applications. Moreover, the addition of an iterative buffer sizing enables an improvement of temporal analysis results for acyclic applications as well. The performance of the presented approach is evaluated in a case study using a WLAN transceiver application. It is shown that 56% higher throughput guarantees and 52% smaller end-to-end latencies can be determined compared to state-of-the-art.
{"title":"Combining Offsets with Precedence Constraints to Improve Temporal Analysis of Cyclic Real-Time Streaming Applications","authors":"P. Kurtin, J. Hausmans, M. Bekooij","doi":"10.1109/RTAS.2016.7461325","DOIUrl":"https://doi.org/10.1109/RTAS.2016.7461325","url":null,"abstract":"Stream processing applications executed on multiprocessor systems usually contain cyclic data dependencies due to the presence of bounded FIFO buffers and feedback loops, as well as cyclic resource dependencies due to the usage of shared processors. In recent works it has been shown that temporal analysis of such applications can be performed by iterative fixed-point algorithms that combine dataflow and response time analysis techniques. However, these algorithms consider resource dependencies based on the assumption that tasks on shared processors are enabled simultaneously, resulting in a significant overestimation of interference between such tasks. This paper extends these approaches by integrating an explicit consideration of precedence constraints with a notion of offsets between tasks on shared processors, leading to a significant improvement of temporal analysis results for cyclic stream processing applications. Moreover, the addition of an iterative buffer sizing enables an improvement of temporal analysis results for acyclic applications as well. The performance of the presented approach is evaluated in a case study using a WLAN transceiver application. It is shown that 56% higher throughput guarantees and 52% smaller end-to-end latencies can be determined compared to state-of-the-art.","PeriodicalId":338179,"journal":{"name":"2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126470975","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}
Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461349
Xingliang Zou, A. Cheng
Summary form only given. Functional Reactive Programming (FRP) is playing and potentially going to play a more important role in real-time systems. Priority-based (preemptive) FRP (P-FRP), a variant of FRP with more real-time characteristics, demands more research in its scheduling and timing analysis. In a P-FRP system, similar to a classic preemptive system, a higher priority task can preempt a lower-priority one and make the latter abort. The lower-priority task will restart after the higher priority tasks complete their execution. However, unlike the classic preemptive model, when a task aborts, all the changes made by the task are discarded (Abort and Restart). In previous studies, the value of Worst Case Execution Time (WCET) of a task is used for all its restarted tasks. However, in practice restarted tasks likely consume less time than WCET when considering the memory effect such as cache-hit in loading code and data. Here we consider a typical task life cycle without being interrupted (cold started task): (1) code is loaded from hard drive and data is loaded from main memory; (2) computation is done by processor(s); (3) results are committed to main memory. In the P-FRP model, the time spent in phase (2) and (3) is wasted when a task is aborted, however, since the existence of memory hierarchy, the time spent in phase (1) can be less when a task is restarted, for example, the task code is still in cache and does not need to be read from slow main memory again. This memory effect is not considered in previous studies of P-FRP systems. In this paper, we present our preliminary memory-aware P-FRP task response time analysis and experimental results. Our ongoing research is to present more theoretical response time analysis and priority assignment research in the memory-aware P-FRP task scheduling. And since the execution time difference is likely related to data placement/locality, we will address this difference in our multi-core P-FRP task scheduling research too.
只提供摘要形式。函数式反应性编程(FRP)在实时系统中扮演着并且有可能扮演更重要的角色。基于优先级(preemptive)的FRP (P-FRP)是FRP的一种变体，具有更强的实时性，其调度和时序分析需要更多的研究。在P-FRP系统中，类似于经典的抢占系统，高优先级的任务可以抢占低优先级的任务并使后者终止。高优先级的任务执行完毕后，低优先级的任务将重新启动。然而，与经典的抢占模型不同，当任务终止时，任务所做的所有更改都将被丢弃(Abort and Restart)。在以往的研究中，一个任务的最坏情况执行时间(WCET)值用于该任务的所有重启任务。然而，考虑到加载代码和数据时的缓存命中等内存影响，在实践中，重新启动任务可能比WCET消耗更少的时间。这里我们考虑一个没有中断的典型任务生命周期(冷启动任务):(1)代码从硬盘加载，数据从主存加载;(2)计算由处理器完成;(3)结果提交到主存。在P-FRP模型中，当任务被终止时，阶段(2)和(3)所花费的时间是浪费的，然而，由于内存层次结构的存在，当任务重新启动时，阶段(1)所花费的时间可以更少，例如，任务代码仍在缓存中，不需要再次从慢速主存中读取。这种记忆效应在以前的P-FRP系统研究中没有被考虑。在本文中，我们提出了初步的记忆感知P-FRP任务响应时间分析和实验结果。我们正在进行的研究是在记忆感知的P-FRP任务调度中提供更多的理论响应时间分析和优先级分配研究。由于执行时间差异可能与数据放置/位置有关，我们也将在我们的多核P-FRP任务调度研究中解决这一差异。
{"title":"Poster Abstract: Memory-Aware Response Time Analysis for P-FRP Tasks","authors":"Xingliang Zou, A. Cheng","doi":"10.1109/RTAS.2016.7461349","DOIUrl":"https://doi.org/10.1109/RTAS.2016.7461349","url":null,"abstract":"Summary form only given. Functional Reactive Programming (FRP) is playing and potentially going to play a more important role in real-time systems. Priority-based (preemptive) FRP (P-FRP), a variant of FRP with more real-time characteristics, demands more research in its scheduling and timing analysis. In a P-FRP system, similar to a classic preemptive system, a higher priority task can preempt a lower-priority one and make the latter abort. The lower-priority task will restart after the higher priority tasks complete their execution. However, unlike the classic preemptive model, when a task aborts, all the changes made by the task are discarded (Abort and Restart). In previous studies, the value of Worst Case Execution Time (WCET) of a task is used for all its restarted tasks. However, in practice restarted tasks likely consume less time than WCET when considering the memory effect such as cache-hit in loading code and data. Here we consider a typical task life cycle without being interrupted (cold started task): (1) code is loaded from hard drive and data is loaded from main memory; (2) computation is done by processor(s); (3) results are committed to main memory. In the P-FRP model, the time spent in phase (2) and (3) is wasted when a task is aborted, however, since the existence of memory hierarchy, the time spent in phase (1) can be less when a task is restarted, for example, the task code is still in cache and does not need to be read from slow main memory again. This memory effect is not considered in previous studies of P-FRP systems. In this paper, we present our preliminary memory-aware P-FRP task response time analysis and experimental results. Our ongoing research is to present more theoretical response time analysis and priority assignment research in the memory-aware P-FRP task scheduling. And since the execution time difference is likely related to data placement/locality, we will address this difference in our multi-core P-FRP task scheduling research too.","PeriodicalId":338179,"journal":{"name":"2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121469253","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}
Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461360
A. Bouakaz, Pascal Fradet, A. Girault
The synchronous dataflow model is widely used to design real-time streaming applications which must assure a minimum quality-of-service. A benefit of that model is to allow static analyses to predict and guarantee timing (e.g., throughput) and buffering requirements of an application. Performance analyses can either be performed at compile time (for design space exploration) or at run-time (for resource management and reconfigurable systems). However, these algorithms, which often have an exponential time complexity, may cause a huge run-time overhead or make design space exploration unacceptably slow. In this paper, we argue that symbolic analyses are more appropriate since they express the system performance as a function of parameters (i.e., input and output rates, execution times). Such functions can be quickly evaluated for each different configuration or checked w.r.t. many different non-functional requirements. We first provide a symbolic expression of the maximal throughput of acyclic synchronous dataflow graphs. We then perform an analytic and exact study of the minimum buffer sizes needed to achieve this maximal throughput for a single parametric edge graph. Based on these investigations, we define symbolic analyses that approximate the minimum buffer sizes needed to achieve maximal throughput for acyclic graphs. We assess the proposed analyses experimentally on both synthetic and real benchmarks.
{"title":"Symbolic Buffer Sizing for Throughput-Optimal Scheduling of Dataflow Graphs","authors":"A. Bouakaz, Pascal Fradet, A. Girault","doi":"10.1109/RTAS.2016.7461360","DOIUrl":"https://doi.org/10.1109/RTAS.2016.7461360","url":null,"abstract":"The synchronous dataflow model is widely used to design real-time streaming applications which must assure a minimum quality-of-service. A benefit of that model is to allow static analyses to predict and guarantee timing (e.g., throughput) and buffering requirements of an application. Performance analyses can either be performed at compile time (for design space exploration) or at run-time (for resource management and reconfigurable systems). However, these algorithms, which often have an exponential time complexity, may cause a huge run-time overhead or make design space exploration unacceptably slow. In this paper, we argue that symbolic analyses are more appropriate since they express the system performance as a function of parameters (i.e., input and output rates, execution times). Such functions can be quickly evaluated for each different configuration or checked w.r.t. many different non-functional requirements. We first provide a symbolic expression of the maximal throughput of acyclic synchronous dataflow graphs. We then perform an analytic and exact study of the minimum buffer sizes needed to achieve this maximal throughput for a single parametric edge graph. Based on these investigations, we define symbolic analyses that approximate the minimum buffer sizes needed to achieve maximal throughput for acyclic graphs. We assess the proposed analyses experimentally on both synthetic and real benchmarks.","PeriodicalId":338179,"journal":{"name":"2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124506299","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}
Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461359
Johannes Schlatow, R. Ernst
When modelling software components for timing analysis, we typically encounter functional chains of tasks that lead to precedence relations. As these task chains represent a functionally-dependent sequence of operations, in real-time systems, there is usually a requirement for their end-to-end latency. When mapped to software components, functional chains often result in communicating threads. Since threads are scheduled rather than tasks, specific task chain properties arise that can be exploited for response-time analysis. As a core contribution, this paper presents an extension of the busy-window analysis suitable for such task chains in static-priority preemptive systems. We evaluated the extended busy-window analysis in a compositional performance analysis using synthetic test cases and a realistic automotive use case showing far tighter response-time bounds than current approaches.
{"title":"Response-Time Analysis for Task Chains in Communicating Threads","authors":"Johannes Schlatow, R. Ernst","doi":"10.1109/RTAS.2016.7461359","DOIUrl":"https://doi.org/10.1109/RTAS.2016.7461359","url":null,"abstract":"When modelling software components for timing analysis, we typically encounter functional chains of tasks that lead to precedence relations. As these task chains represent a functionally-dependent sequence of operations, in real-time systems, there is usually a requirement for their end-to-end latency. When mapped to software components, functional chains often result in communicating threads. Since threads are scheduled rather than tasks, specific task chain properties arise that can be exploited for response-time analysis. As a core contribution, this paper presents an extension of the busy-window analysis suitable for such task chains in static-priority preemptive systems. We evaluated the extended busy-window analysis in a compositional performance analysis using synthetic test cases and a realistic automotive use case showing far tighter response-time bounds than current approaches.","PeriodicalId":338179,"journal":{"name":"2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129583870","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}
Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461342
M. Panic, Carles Hernández, E. Quiñones, J. Abella, F. Cazorla
Manycore chips are a promising computing platform to cope with the increasing performance needs of critical real-time embedded systems (CRTES). However, manycores adoption by CRTES industry requires understanding task's timing behavior when their requests use manycore's network-on-chip (NoC) to access hardware shared resources. This paper analyzes the contention in wormhole-based NoC (wNoC) designs - widely implemented in the high-performance domain - for which we introduce a new metric: worst-contention delay (WCD) that captures wNoC impact on worst-case execution time (WCET) in a tighter manner than the existing metric, worst-case traversal time (WCTT). Moreover, we provide an analytical model of the WCD that requests can suffer in a wNoC and we validate it against wNoC designs resembling those in the Tilera-Gx36 and the Intel-SCC 48-core processors. Building on top of our WCD analytical model, we analyze the impact on WCD that different design parameters such as the number of virtual channels, and we make a set of recommendations on what wNoC setups to use in the context of CRTES.
{"title":"Modeling High-Performance Wormhole NoCs for Critical Real-Time Embedded Systems","authors":"M. Panic, Carles Hernández, E. Quiñones, J. Abella, F. Cazorla","doi":"10.1109/RTAS.2016.7461342","DOIUrl":"https://doi.org/10.1109/RTAS.2016.7461342","url":null,"abstract":"Manycore chips are a promising computing platform to cope with the increasing performance needs of critical real-time embedded systems (CRTES). However, manycores adoption by CRTES industry requires understanding task's timing behavior when their requests use manycore's network-on-chip (NoC) to access hardware shared resources. This paper analyzes the contention in wormhole-based NoC (wNoC) designs - widely implemented in the high-performance domain - for which we introduce a new metric: worst-contention delay (WCD) that captures wNoC impact on worst-case execution time (WCET) in a tighter manner than the existing metric, worst-case traversal time (WCTT). Moreover, we provide an analytical model of the WCD that requests can suffer in a wNoC and we validate it against wNoC designs resembling those in the Tilera-Gx36 and the Intel-SCC 48-core processors. Building on top of our WCD analytical model, we analyze the impact on WCD that different design parameters such as the number of virtual channels, and we make a set of recommendations on what wNoC setups to use in the context of CRTES.","PeriodicalId":338179,"journal":{"name":"2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128478065","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}
Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461357
Jiaming Lv, Yu Jiang, Xingliang Zou, A. Cheng
Summary form only given. In the context of fixed priority preemptive real-time systems, for n periodic/sporadic tasks that comply with a restrictive system model and that have implicit deadlines the Rate-Monotonic (RM) scheduling is optimal. When these tasks are released simultaneously the time required by the first job of each task defines its response time. It thus needs only to make response time analysis or conduct exact schedulability test within a time length no more than the maximum task period (Tn) for RM scheduling, and these tests are thus known to be pseudo-polynomial in time complexity. Although the response time computation for RM schedules of implicit-deadline task-systems has been proved to be an NPhard problem, the scale of many commercial systems is such that pseudo-polynomial exact tests can be used, and to achieve more efficient exact tests such as for online response time analysis (RTA) is one of important considerations of both research motivation and practice stage. The innovative aspect of our solution is that we use a linked list for representing the schedule in the exact response-time schedulability test, referred to as the LList-based test. A busy period in the schedule is represented by a linked list node, recording the starting time and the end time of a busy period, and the pointer to the next node. The simulation is performed task per task in the priority order (from 1 to n), and, when the starting time or the end time of a busy period is the same as that of other busy periods, then the two nodes are merged into one node to represent a longer busy period. For improving the efficiency, memory allocation and recycle for each node are also performed in the user space. The time complexity of the LList-based test is O(N) where N is the total number of jobs within the time length Tn, while the total number of nodes in the linked list is no more than N - n + 1 in the worst case. Our experiments show that the LList-based exact test is a better candidate in exact response-time tests when task periods span no more than three orders of magnitude, since it outperforms the current best exact tests in this scenario, and the needed memory space is also affordable.
只提供摘要形式。在固定优先级抢占式实时系统中，对于n个符合约束系统模型且具有隐式截止日期的周期性/偶发任务，速率单调调度(RM)是最优调度。当这些任务同时被释放时，每个任务的第一个作业所需的时间定义了它的响应时间。因此，只需在不超过RM调度的最大任务周期(Tn)的时间长度内进行响应时间分析或精确的可调度性测试，这些测试在时间复杂度上被称为伪多项式。虽然隐式截止日期任务系统RM调度的响应时间计算已被证明是一个NPhard问题，但由于许多商业系统的规模，可以使用伪多项式精确测试，而实现更有效的精确测试，如在线响应时间分析(RTA)，是研究动机和实践阶段的重要考虑之一。我们的解决方案的创新之处在于，我们使用链表来表示精确的响应时间可调度性测试中的计划，称为基于llist的测试。调度中的繁忙时段用一个链表节点表示，记录繁忙时段的开始时间和结束时间，以及指向下一个节点的指针。按照优先级从1到n的顺序，对每个任务执行模拟，当某个繁忙时段的开始时间或结束时间与其他繁忙时段相同时，将两个节点合并为一个节点，表示较长的繁忙时段。为了提高效率，还在用户空间中执行每个节点的内存分配和回收。基于llist的测试的时间复杂度为O(N)，其中N为时间长度为Tn的作业总数，而在最坏情况下，链表节点总数不超过N - N + 1。我们的实验表明，当任务周期跨度不超过三个数量级时，基于llist的精确测试在精确响应时间测试中是更好的候选者，因为它在此场景中优于当前最佳的精确测试，并且所需的内存空间也可以负担得起。
{"title":"Poster Abstract: Using Linked List in Exact Schedulability Tests for Fixed Priority Scheduling","authors":"Jiaming Lv, Yu Jiang, Xingliang Zou, A. Cheng","doi":"10.1109/RTAS.2016.7461357","DOIUrl":"https://doi.org/10.1109/RTAS.2016.7461357","url":null,"abstract":"Summary form only given. In the context of fixed priority preemptive real-time systems, for n periodic/sporadic tasks that comply with a restrictive system model and that have implicit deadlines the Rate-Monotonic (RM) scheduling is optimal. When these tasks are released simultaneously the time required by the first job of each task defines its response time. It thus needs only to make response time analysis or conduct exact schedulability test within a time length no more than the maximum task period (Tn) for RM scheduling, and these tests are thus known to be pseudo-polynomial in time complexity. Although the response time computation for RM schedules of implicit-deadline task-systems has been proved to be an NPhard problem, the scale of many commercial systems is such that pseudo-polynomial exact tests can be used, and to achieve more efficient exact tests such as for online response time analysis (RTA) is one of important considerations of both research motivation and practice stage. The innovative aspect of our solution is that we use a linked list for representing the schedule in the exact response-time schedulability test, referred to as the LList-based test. A busy period in the schedule is represented by a linked list node, recording the starting time and the end time of a busy period, and the pointer to the next node. The simulation is performed task per task in the priority order (from 1 to n), and, when the starting time or the end time of a busy period is the same as that of other busy periods, then the two nodes are merged into one node to represent a longer busy period. For improving the efficiency, memory allocation and recycle for each node are also performed in the user space. The time complexity of the LList-based test is O(N) where N is the total number of jobs within the time length Tn, while the total number of nodes in the linked list is no more than N - n + 1 in the worst case. Our experiments show that the LList-based exact test is a better candidate in exact response-time tests when task periods span no more than three orders of magnitude, since it outperforms the current best exact tests in this scenario, and the needed memory space is also affordable.","PeriodicalId":338179,"journal":{"name":"2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129288162","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}
Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461337
Yu Jiang, Yixiao Yang, Han Liu, Hui Kong, M. Gu, Jiaguang Sun, L. Sha
Simulink is widely used for model driven development (MDD) of industrial software systems. Typically, the Simulink based development is initiated from Stateflow modeling, followed by simulation, validation and code generation mapped to physical execution platforms. However, recent industrial trends have raised the demands of rigorous verification on safety-critical applications, which is unfortunately challenging for Simulink. In this paper, we present an approach to bridge the Stateflow based model driven development and a well- defined rigorous verification. First, we develop a self- contained toolkit to translate Stateflow model into timed automata, where major advanced modeling features in Stateflow are supported. Taking advantage of the strong verification capability of Uppaal, we can not only find bugs in Stateflow models which are missed by Simulink Design Verifier, but also check more important temporal properties. Next, we customize a runtime verifier for the generated nonintrusive VHDL and C code of Stateflow model for monitoring. The major strength of the customization is the flexibility to collect and analyze runtime properties with a pure software monitor, which opens more opportunities for engineers to achieve high reliability of the target system compared with the traditional act that only relies on Simulink Polyspace. We incorporate these two parts into original Stateflow based MDD seamlessly. In this way, safety-critical properties are both verified at the model level, and at the consistent system implementation level with physical execution environment in consideration. We apply our approach on a train controller design, and the verified implementation is tested and deployed on a real hardware platform.
{"title":"From Stateflow Simulation to Verified Implementation: A Verification Approach and A Real-Time Train Controller Design","authors":"Yu Jiang, Yixiao Yang, Han Liu, Hui Kong, M. Gu, Jiaguang Sun, L. Sha","doi":"10.1109/RTAS.2016.7461337","DOIUrl":"https://doi.org/10.1109/RTAS.2016.7461337","url":null,"abstract":"Simulink is widely used for model driven development (MDD) of industrial software systems. Typically, the Simulink based development is initiated from Stateflow modeling, followed by simulation, validation and code generation mapped to physical execution platforms. However, recent industrial trends have raised the demands of rigorous verification on safety-critical applications, which is unfortunately challenging for Simulink. In this paper, we present an approach to bridge the Stateflow based model driven development and a well- defined rigorous verification. First, we develop a self- contained toolkit to translate Stateflow model into timed automata, where major advanced modeling features in Stateflow are supported. Taking advantage of the strong verification capability of Uppaal, we can not only find bugs in Stateflow models which are missed by Simulink Design Verifier, but also check more important temporal properties. Next, we customize a runtime verifier for the generated nonintrusive VHDL and C code of Stateflow model for monitoring. The major strength of the customization is the flexibility to collect and analyze runtime properties with a pure software monitor, which opens more opportunities for engineers to achieve high reliability of the target system compared with the traditional act that only relies on Simulink Polyspace. We incorporate these two parts into original Stateflow based MDD seamlessly. In this way, safety-critical properties are both verified at the model level, and at the consistent system implementation level with physical execution environment in consideration. We apply our approach on a train controller design, and the verified implementation is tested and deployed on a real hardware platform.","PeriodicalId":338179,"journal":{"name":"2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133657734","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}
Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461339
R. Pellizzoni, H. Yun
In multicore systems, tasks can be significantly delayed due to contention for access to shared physical resources. Due to the complexity of the underlying hardware arbitration, analyzing resources such as DRAM main memory is challenging. In particular, compositional delay bounds tend to be highly pessimistic, while non- compositional bounds are tighter but prevent independent subsystem development. To address this issue, in this paper we introduce a novel memory server for multicore real-time systems under partitioned fixed-priority scheduling. Similar to a hierarchical server, our memory server regulates the amount of resource (bandwidth) that a group of tasks is allowed to consume, but the server interface is modified to account for the properties of delay analysis. We show how to derive schedulability conditions for each server and for the system as a whole. Our technique can support multiple memory regulation implementations and delay analyses, while significantly improving system schedulability compared to the unregulated case.
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Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461328
Gaetano Patti, G. Muscato, Nunzio Abbate, L. L. Bello
Summary form only given. Applications that involve mobile cooperating robot teams require real-time communications to enable the robots to cooperate and fulfill a common task. In particular, bounded end-to-end delays must be achieved while also ensuring other properties, such as, mobility support and scalability. Commercial-off-the-shelf devices must be used in order to allow for large deployments at affordable costs. Moreover, there is an increasing interest in enabling interactions between robot teams and Wireless Sensor Networks (WSNs) located in the surrounding environment, to pave the way for applications in which the mobile robots act as the mobile sensors of a WSN. This demo shows the implementation on low datarate devices of RoboMAC, a new real-time MAC protocol for the communication between mobile cooperating robots. The contributions of RoboMAC are the following: It enables the integration of robots with WSNs, as it is specifically devised for low data rate communications. It provides support to mobility, thanks to the combination of clustering with a distributed topology management mechanism which is based on the Received Signal Strength Indicator (RSSI) acquired during the communication between nodes. It provides scalable real-time communications thanks to a TDMA-based mechanism combined with multichannel transmissions and clustering. RoboMAC was implemented on the STMicroelectronics STEVAL-IKR002V5 board that is commercially available. The board embeds the SPIRIT1 transceiver that operates at 915MHz, provides a datarate of 250kbps and provide a high radio coverage. The demo will show the videos of two cooperative mobile robot applications. In the first application two robots cooperate to search a radio target which periodically transmits beacons, while in the second application the two robots cooperate in order to maintain the connectivity during the exploration of an area. Moreover during the interactive session several examples of communications will demonstrate how the protocol works and how it can offer bounded latencies (in the order of hundreds of milliseconds) on COTS low data rate devices.
{"title":"Demo Abstract: A Real-Time Low Datarate Protocol for Cooperative Mobile Robot Teams","authors":"Gaetano Patti, G. Muscato, Nunzio Abbate, L. L. Bello","doi":"10.1109/RTAS.2016.7461328","DOIUrl":"https://doi.org/10.1109/RTAS.2016.7461328","url":null,"abstract":"Summary form only given. Applications that involve mobile cooperating robot teams require real-time communications to enable the robots to cooperate and fulfill a common task. In particular, bounded end-to-end delays must be achieved while also ensuring other properties, such as, mobility support and scalability. Commercial-off-the-shelf devices must be used in order to allow for large deployments at affordable costs. Moreover, there is an increasing interest in enabling interactions between robot teams and Wireless Sensor Networks (WSNs) located in the surrounding environment, to pave the way for applications in which the mobile robots act as the mobile sensors of a WSN. This demo shows the implementation on low datarate devices of RoboMAC, a new real-time MAC protocol for the communication between mobile cooperating robots. The contributions of RoboMAC are the following: It enables the integration of robots with WSNs, as it is specifically devised for low data rate communications. It provides support to mobility, thanks to the combination of clustering with a distributed topology management mechanism which is based on the Received Signal Strength Indicator (RSSI) acquired during the communication between nodes. It provides scalable real-time communications thanks to a TDMA-based mechanism combined with multichannel transmissions and clustering. RoboMAC was implemented on the STMicroelectronics STEVAL-IKR002V5 board that is commercially available. The board embeds the SPIRIT1 transceiver that operates at 915MHz, provides a datarate of 250kbps and provide a high radio coverage. The demo will show the videos of two cooperative mobile robot applications. In the first application two robots cooperate to search a radio target which periodically transmits beacons, while in the second application the two robots cooperate in order to maintain the connectivity during the exploration of an area. Moreover during the interactive session several examples of communications will demonstrate how the protocol works and how it can offer bounded latencies (in the order of hundreds of milliseconds) on COTS low data rate devices.","PeriodicalId":338179,"journal":{"name":"2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121312608","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}
Pub Date : 2016-04-11DOI: 10.1109/RTAS.2016.7461329
Loïc Fejoz, N. Navet, S. M. Sundharam, S. Altmeyer
CPAL is a new language to model, simulate, verify and program Cyber-Physical Systems (CPS). CPAL serves to describe both the functional behaviour of activities (i.e., the code of the function itself) as well as the functional architecture of the system (i.e., the set of functions, how they are activated, and the data flows among the functions). CPAL is meant to support two use-cases. Firstly, CPAL is a development and design-space exploration environment for CPS with main features being the formal description, the editing, graphical representation and simulation of CPS models. Secondly, CPAL is a real-time execution platform. The vision behind CPAL is that a model is executed and verified in simulation mode on a workstation and the same model can be later run on an embedded board with a timing-equivalent run-time behaviour. The design and development of CPAL have been organized around a set of realistic case-studies that will be demonstrated during the demonstration session. The CPAL case studies and experiments are inspired from the research and teaching carried out at University of Luxembourg, and RTAW's projects with partner and customer companies.
{"title":"Demo Abstract: Applications of the CPAL Language to Model, Simulate and Program Cyber-Physical Systems","authors":"Loïc Fejoz, N. Navet, S. M. Sundharam, S. Altmeyer","doi":"10.1109/RTAS.2016.7461329","DOIUrl":"https://doi.org/10.1109/RTAS.2016.7461329","url":null,"abstract":"CPAL is a new language to model, simulate, verify and program Cyber-Physical Systems (CPS). CPAL serves to describe both the functional behaviour of activities (i.e., the code of the function itself) as well as the functional architecture of the system (i.e., the set of functions, how they are activated, and the data flows among the functions). CPAL is meant to support two use-cases. Firstly, CPAL is a development and design-space exploration environment for CPS with main features being the formal description, the editing, graphical representation and simulation of CPS models. Secondly, CPAL is a real-time execution platform. The vision behind CPAL is that a model is executed and verified in simulation mode on a workstation and the same model can be later run on an embedded board with a timing-equivalent run-time behaviour. The design and development of CPAL have been organized around a set of realistic case-studies that will be demonstrated during the demonstration session. The CPAL case studies and experiments are inspired from the research and teaching carried out at University of Luxembourg, and RTAW's projects with partner and customer companies.","PeriodicalId":338179,"journal":{"name":"2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129705799","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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