TDDD07 Real Time Systems LiteratureReading can be found under 'Lectures and lessons'.Recommended text booksThe following two texts are considered as useful for a broad knowledgein real-time systems, each covering about half of the material in thiscourse (partially overlapping). You can choose to read selected chapters from any of these, butin both cases this should be combined with the articles/e-booksmentioned below. Jan Carlson et al., Real-time Systems Compendium from MRTC, available forpurchase at LiU Servicecenter, Building A, entrance 19 C (opposite to LiU print) for 250SEK, with Ref number A1777. A. Wellings:, Addison-Wesley.An earlier version of this book can be found in as preview material. For students that are willing to sharea borrowed book, we have 5 copies of earlier versions of this book that wecan lend on a FCFS basis (contact the course assistant!).Articles and BookchaptersThe pdf files of the articles listed below you can accessdirectly from the University. If accessing from home you need to provideusername and password for your LiU student account.
Z. Chen, Dynamic resource allocation using virtual machines for cloud computing environment, IEEE Transactions on Parallel and Distrubuted Systems, Vol. 6, June 2013. Kopetz, and W. Steiner Deterministic System Design with Time-triggered Technology, Proceedings of Microelectronics Systems Symposium, 2014.
Kopetz, H., Bauer, G. The time-triggered architecture, Proceedings of the IEEE, Volume 91, issue 1, pages 112 - 126, 2003 ( ).
Attiya, H.,Welch, J. Distributed Computing: Fundamentals,Simulations, and Advanced Topics (2nd Edition), Chapter 6, John Wiley &Sons, 2004,. R. Lukkien, Controller Area Network(CAN) schedulability analysis, Refuted, revisited, and revised, Journal ofReal-time Systems, Elsevier, January 2007.
( ). El-Gendy, M., Bose, A., and Shin, K. Evolution of the InternetQoS and Support for Soft Real-Time Applications, Proceedings of the IEEE, Vol 91, Number 7, July 2003. A.
Avizienis, J.-C. Randell, and C. Landwehr Basic Conceptsand Taxonomy of Dependable and Secure Computing,IEEE Transactions onDependable and Secure Computing, vol. 1, pp.11-33, 2004.
Ventevogel and L. Van Bokhoven. Platform-independent Design for Embedded Real-Time Systems In Proceedings of FDL'03, pp. 318-329, 2003.
Example on a case study from platform-independent to platform-specific model (UML-MARTE): Ralph Weissnegger, Markus Pistauer, Christian Kreiner, Kay Romer, Christian Steger. A Novel Design Method for AutomotiveSafety-Critical Systems based on UML/MARTE, Forum on specification & Design Languages, 2015. ( ). Baskiyar, S. And Meghanathan, N.
A Survery ofContemporary Real-time Operating Systems, (click on 'Download this pdf file')Background readingIf you need to refresh your knowledge of processes, concurrent programming anddeadlocks, read:. Silberschatz, Galvin and Gagne, Operating Systems & Concepts, SixthEdition, Wiley, 2003.chapters 4, 7, and 8.
Burns and Wellings, Real-time Systems and their programming languages,AddisonWelsey, 2001, chapters 7-8.Extra reading. Giorgio C. Buttazzo, Rate monotonic vs.
EDF: judgment day Real-Time Syst. 29, 1 (January 2005). Giorgio C. Buttazzo, Hard Real-time Computing Systems, KluwerAcademic publishers, 1997, Chapter 4: Periodic taskscheduling.
N. Halwbachs, F. Ratel, Programming and verifying criticalsystems by means of synchronous data-flow programming language Lustre,IEEE Transactions on Software Engineering, Sept.
Rajan, and D. Hui, Embedded Application Design Using a Real-Time OperatingSystem, Proceedings of the Design Automation Conference (DAC), 1999 ( ).Page responsible:Last updated: 2018-11-08.
Real Time System by Jane W. Liu (Pearson), the book builds on the student's background in Operating System, Embedded System. It covers techniques for scheduling, resource access control, and validation that are, or are likely to be, widely used in real time computing and communication systems. Each algorithm, protocol, or mechanism is defined by pseudo code or simple rules that can serve as a starting point of implementation. With few exceptions, each scheduling algorithm is accompanied that your application will meet its real time requirement when scheduling according to the algorithm. Like the course, the book builds on the student's background in operating systems. It covers techniques for scheduling, resource access control, and validation that are, or are likely to be, widely used in real-time computing and communication systems.
Each algorithm, protocol, or mechanism is defined by pseudocode or simple rules that can serve as a starting point of implementation. With few exceptions, each scheduling algorithm is accompanied by one or more validation techniques. You can use the techniques to ascertain that your application will meet its real-time requirements when scheduled according to the algorithm. In addition to information on existing techniques, the book emphasizes basic principles of realtime systems. The foundations of these techniques are presented as theorems and corollaries. (I would like to have avoided this style, but feared that they might be buried in the narratives and details if not thus highlighted.
I tried to keep them and their proofs informal.) I cover many of the theorems and proofs in my course in order to give students insight into why and how well the techniques work, and teach them the skills they will need to extend the existing techniques and develop new ones. Comments on Contents. The focus of the book is real-time operating systems and networks.
It starts with a small part (Chapters 1, 2 and 3) on real-time applications and systems in general. It ends with a part (Chapters 11 and 12) on specific attributes and implementations of network protocols and operating systems. The large part (Chapters 4-10) in the middle covers uniprocessor scheduling, resource access control, and multiprocessor and distributed scheduling. Sections and subsections marked by. are included for the sake of completeness. You can skip over them without loss of continuity. Chapters 1 and 2.
Chapter 1 gives an overview of several sample real-time applica dons for which the techniques described in the book were developed. I find most computer science and engineering students in my classes are unfamiliar with these applications. The chapter tries to explain for them the characteristics of workloads generated by the applications and the reasons for their timing requirements.
Chapter 2 follows by giving the definitions of hard and soft real-time systems and the rationales for this classification. Chapter 3 describes a reference model of real-time systems. Subsequent chapters (e.g., 4-10) characterize the systems we study according to special variants of the model.
The reference model has a rich set of features. We can describe a wide spectrum of real-time applications and underlying platforms in a sufficiently faithful manner in terms of the model so that we can analyze, simulate, and even emulate the system based on the description; indeed, some scheduling and validation tools use this kind of description as input. However, many features of the model are not used in later chapters. Sections describing them are marked by. Chapters 6, 7, and 8 are devoted to algorithms for scheduling and resource access control on one processor (i.e., a CPU, or a network link, I/O bus, a disk, and so on).
Most of these algorithms are priority-driven; all of them can be implement easily on modern real-time operating systems and communication networks. The chapters adopt increasingly more complex variants of the periodic-task model: Chapter 6 starts from workloads consisting solely of independent periodic tasks that do not require any resource other than a processor. Chapter 7 adds aperiodic and sporadic tasks, and Chapter 8 adds resource contentions. Together, Chapters 6-9 give a comprehensive treatment of the RMA approach, which in essence is synonymous to fixed-priority scheduling. Most algorithms based on this approach allow application components to be added and deleted at run-time and can handle nondeterministic resource demands.
The timing behavior of applications scheduled according to the algorithms are nondeterministic. However, the adverse effects of scheduling anomalies are bounded when fluctuations in resource demands are bounded. For most real-time applications, such as those described in Chapter 1, the accompanied validation techniques make it possible for us to predict fairly accurately the worstcase real-time performance of applications thus scheduled. The chapters also describe ways to schedule applications with widely varying resource demands within the deadline-driven framework.
As examples, rate-based algorithms can provide timing isolation to sporadic tasks and enables us to predict the real-time performance of a distributed sporadic task independent of other tasks in the system. Chapter 10 introduces the concept of flexible applications. A flexible application contains tasks that can trade off the qualities of their results for their time and resource demands. The flexible computation approach is a means for handling overload and increasing availability. This chapter describes workload models that capture the characteristics and requirements of flexible applications and algorithms that have been developed to schedule them.
Another subject of discussion is the temporal distance model. The timing requirements of some real-time tasks can be more conveniently defined in the terms of the maximum length of time between completions of consecutive task instances. The temporal distance model captures this kind of requirement.
The last chapter examines in depth implementation details that were ignored in earlier chapters. It consists of two parts. The first part discusses how operating systems services and mechanisms should be implemented to enhance the predictability of applications using them. Some services and mechanisms are easy to implement, have low overhead, and can make the implementation of many algorithms described in previous chapters significantly simpler, but are not provided by most commercial operating systems. This part describes examples of them.
Written by a renowned expert, Real-Time Systems provides professionals and students with a comprehensive treatment of real-time computing and communication systems. The book covers the most recent advances in real-time operating systems and communications networks.
Thus, this book serves as a vehicle for technology transition within the real-time systems community of systems architects, designers, chief scientists and technologists, and systems analysts. Jane Liu's subject matter and adept treatment provide an engaging learning environment for students as well. With real-time systems, the technologies at play include telecommunication, signal processing, command and control, and digital control. Their applications have particular relevance to day-to-day operations, such as engine and break mechanisms in cars, traffic light operations, flight control and air-traffic control, and heart beat and blood pressure monitoring.