Handbook of Real-Time and

Embedded Systems

Edited by

Insup Lee University of Pennsylvania

Philadelphia, U.S.A.

Joseph Y-T. Leung New Jersey Institute of Technology

Newark, U.S.A.

Sang H. Son University of Virginia

Charlottesville, U.S.A.

# a | C h a p m a n & Hall/CRC ^ ^ | Taylor & Francis Group

Boca Raton London New York

Chapman & Hall/CRC is an imprint of the Taylor & Francis Group, an informa business

Contents

Preface xv

Editors xvii

Contributors xix

1 Int roduct ion and Overview Insup Lee, Joseph Y-T. Leung and SangHyuk Son 1-1 1.1 Introduction 1-1 1.2 Overview 1-2

I Real-Time Scheduling and Resource Management

2 Real-Time Scheduling and Resource Management Giorgio C. Buttazzo 2-1 2.1 Introduction 2-1 2.2 Periodic Task Handling 2-3 2.3 Handling Aperiodic Tasks 2-7 2.4 Handling Shared Resources 2-9 2.5 Overload Management 2-12 2.6 Conclusions 2-14

3 Schedulability Analysis of Multiprocessor Sporadic Task Systems Theodore P. Baker and Sanjoy K. Baruah 3-1 3.1 Introduction 3-1 3.2 Definitions and Models 3-2 3.3 Dynamic Priority Scheduling 3-4 3.4 Fixed Job-Priority Scheduling 3-5 3.5 Fixed Task-Priority Scheduling 3-10 3.6 Relaxations of the Sporadic Model 3-13 3.7 Conclusion 3-15

4 Rate-Based Resource Allocation Methods Kevin Jeffay 4-1 4.1 Introduction 4-1 4.2 Traditional Static Priority Scheduling 4-3 4.3 A Taxonomy of Rate-Based Allocation Models 4-4 4.4 Using Rate-Based Scheduling 4-9

vii

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4.5 Hybrid Rate-Based Scheduling 4-12 4.6 Summary and Conclusions 4-13

5 Compositional Real-Time Schedulability Analysis Insik Shirt and Insup Lee 5-1 5.1 Introduction 5-1 5.2 Compositional Real-Time Scheduling Framework 5-3 5.3 Workload Models 5-6 5.4 Resource Models 5-7 5.5 Schedulability Analysis 5-9 5.6 Schedulable Workload Utilization Bounds 5-12 5.7 Extension 5-16 5.8 Conclusions 5-18

6 Power-Aware Resource Management Techniques for Low-Power Embedded Systems JihongKim and Tajana Simunic Rosing 6-1 6.1 Introduction 6-1 6.2 Dynamic Voltage Scaling 6-2 6.3 Dynamic Power Management 6-8 6.4 Conclusions 6-12

7 Imprecise Computation Model: Total Weighted Error and Maximum Weighted Error Joseph Y-T. Leung 7-1 7.1 Introduction 7-1 7.2 Total Weighted Error 7-3 7.3 Maximum Weighted Error 7-9 7.4 Concluding Remarks 7-13

8 Imprecise Computation Model: Bicriteria and Other Related Problems Joseph Y-T. Leung 8-1 8.1 Introduction 8-1 8.2 Total w-Weighted Error with Constraints 8-2 8.3 Maximum W-Weighted Error with Constraints 8-3 8.4 0/1-Constraints 8-6 8.5 Conclusions 8-10

9 Stochastic Analysis of Priority-Driven Periodic Real-Time Systems Jose Luis Diaz, Kanghee Kim, Jose Maria Lopez, Lucia Lo Bello, Daniel F. Garcia, Chang-Gun Lee, Sang Lyul Min and Orazio Mirabella 9-1 9.1 Introduction 9-1 9.2 Related Work 9-2 9.3 System Model 9-3 9.4 Stochastic Analysis Framework 9-4 9.5 Steady-State Backlog Analysis 9-12 9.6 Computational Complexity 9-15 9.7 Experimental Results 9-17 9.8 Conclusions and Future Work 9-22

Contents ix

II Programming Languages, Paradigms, and Analysis for Real-Time and Embedded Systems

10 Temporal Control in Real-Time Systems: Languages and Systems Sebastian Fischmeister and Insup Lee 10-1 10.1 Introduction 10-1 10.2 The Model 10-3 10.3 The Example: A Stopwatch 10-4 10.4 Implicit Temporal Control 10-6 10.5 Programming with Temporal Control 10-7 10.6 Comparison and Conclusions 10-18

11 The Evolution of Real-Time Programming Christoph M. Kirsch and Raja Sengupta 11-1 11.1 Introduction 11-1 11.2 The Computing Abstractions of Control Engineering 11-3 11.3 Physical-Execution-Time Programming 11-6 11.4 Bounded-Execution-Time Programming 11-7 11.5 Zero-Execution-Time Programming 11-10 11.6 Logical-Execution-Time Programming 11-12 11.7 Networked Real-Time Systems 11-14

1 2 Real-Time Java Andy Wellings and Alan Bums 12-1 12.1 Introduction 12-1 12.2 Background on the RTSJ 12-2 12.3 Scheduling Objects and Scheduling 12-3 12.4 Resource Sharing and Synchronization 12-9 12.5 Time Values and Clocks 12-11 12.6 Memory Management 12-13 12.7 Conclusions 12-17

13 Pro gramming Execution-Time Servers and Supporting EDF Scheduling in Ada 2005 Alan Bums and Andy Wellings 13-1 13.1 Introduction 13-1 13.2 The Ada 95 Version of the Language 13-3 13.3 New Ada 2005 Features 13-3 13.4 Programming Execution-Time Servers 13-8 13.5 Support for Deadlines 13-14 13.6 Baker's Preemption Level Protocol for Protected Objects 13-15 13.7 Supporting EDF Scheduling in Ada 13-15 13.8 Mixed Dispatching Systems 13-19 13.9 Conclusion 13-20 13.10 Postscript—Ada and Java 13-20

1 4 Synchronous P rog ramming Paul Caspi, Pascal Raymond and Stavros Tripakis 14-1 14.1 Introduction 14-1 14.2 From Practice 14-2 14.3 IbTheory 14-3 14.4 Some Languages and Compilers 14-5

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14.5 Back to Practice 14-14 14.6 Conclusions and Perspectives 14-19

III Operating Systems and Middleware for Real-Time and Embedded Systems

1 5 QoS-Enabled C o m p o n e n t Middleware for Distr ibuted Real-Time and Embedded Systems Gan Deng, Douglas C. Schmidt, Christopher D. GUI and Nanbor Wang 15-1 15.1 Introduction 15-1 15.2 R&D Challenges for DRE Systems 15-2 15.3 Comparison of Middleware Paradigms 15-2 15.4 Achieving QoS-Enabled Component Middleware: CIAO,

DAnCE, and CoSMIC 15-5 15.5 Applications of CIAO, DAnCE, and CoSMIC 15-9 15.6 Related Work 15-13 15.7 Concluding Remarks 15-14

1 6 Safe and Structured Use of In te r rupts in Real-Time a n d E mb ed d ed Software John Regehr 16-1 16.1 Introduction 16-1 16.2 Interrupt Definitions and Semantics 16-2 16.3 Problems in Interrupt-Driven Software 16-4 16.4 Guidelines for Interrupt-Driven Embedded Software 16-9 16.5 Conclusions 16-12

1 7 QoS Suppor t and an Analytic Study for USB l.x/2.0 Devices Chih-Yuan Huang, Shi-Wu Lo, Tei-Wei Kuo and Ai-Chun Fang 17-1 17.1 Introduction 17-1 17.2 QoS Guarantees for USB Subsystems 17-6 17.3 Summary 17-18

1 8 Reference Middleware Architecture for Real-Time and E mb ed d ed Systems: A Case for Networked Service Robots Saehwa Kim and Seongsoo Hong 18-1 18.1 Introduction 18-1 18.2 Robot Middleware Requirements 18-2 18.3 Reference Robot Middleware Architecture 18-4 18.4 Future Challenges of Robot Middleware 18-10 18.5 Conclusions 18-12

IV Real-Time Communications/Sensor Networks

1 9 Onl ine QoS Adapta t ion wi th the Flexible Time-Triggered (FTT) Communica t i on Paradigm Luis Almeida, Paulo Pedreiras, Joaquim Ferreira, Mario Calha, Jose Alberto Fonseca, Ricardo Marau, Valter Silva and Ernesto Martins 19-1 19.1 Introduction 19-1 19.2 Toward Operational Flexibility 19-2

XI

19.3 The Flexible Time-Triggered Paradigm 19-5 19.4 The Synchronous Messaging System 19-8 19.5 The Asynchronous Messaging System 19-14 19.6 Case Study: A Mobile Robot Control System 19-17 19.7 Conclusions 19-19

2 0 Wireless Sensor Networks John A. Stankovic 20-1 20.1 Introduction 20-1 20.2 MAC 20-2 20.3 Routing 20-2 20.4 Node Localization 20-4 20.5 Clock Synchronization 20-5 20.6 Power Management 20-5 20.7 Applications and Systems 20-6 20.8 Conclusions 20-9

21 Messaging in Sensor Networks: Addressing Wireless Communications and Application Diversity Hongwei Zhang, Anish Arora, Prasun Sinha and Loren J. Rittle 21-1 21.1 Introduction 21-1 21.2 SMA: An Architecture for Sensornet Messaging 21-2 21.3 Data-Driven Link Estimation and Routing 21-6 21.4 Related Work 21-17 21.5 Concluding Remarks 21-18

22 Real-Time Communication for Embedded Wireless Networks Marco Caccamo and Tarek Abdehaher 22-1 22.1 Introduction 22-1 22.2 Basic Concepts for Predictable Wireless Communication 22-2 22.3 Robust and Implicit Earliest Deadline First 22-3 22.4 Higher-Level Real-Time Protocols for Sensor Networks 22-9 22.5 Real-Time Capacity of Wireless Networks 22-11 22.6 Concluding Remarks 22-13

2 3 P rog ramming and Virtualization of Dis t r ibuted Multi tasking Sensor Networks Azer Bestavros and Michael]. Ocean 23-1 23.1 Introduction 23-1 23.2 The SNAFU Programming Language 23-4 23.3 Sensorium Task Execution Plan 23-7 23.4 The Sensorium Service Dispatcher 23-9 23.5 Sensorium Execution Environments 23-12 23.6 Putting It All Together 23-16 23.7 Related Work 23-18 23.8 Conclusion 23-19

V Real-Time Database/Data Services

2 4 Data-Intensive Services for Real-Time Systems Krithi Ramamritham, Lisa Cingiser DiPippo and Sang Hyuk Son 24-1 24.1 Introduction 24-1

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24.2 Data Freshness and Timing Properties 24-4 24.3 Transaction Processing 24-6 24.4 Quality of Service in Real-Time Data Services 24-12 24.5 Data Services in Sensor Networks 24-17 24.6 Mobile Real-Time Databases 24-18 24.7 Dissemination of Dynamic Web Data 24-20 24.8 Conclusion 24-21

2 5 Real-Time Data Dis t r ibut ion Angela Uvarov Frolov, Lisa Cingiser DiPippo and Victor Fay-Wolfe 25-1 25.1 Introduction to Real-Time Data Distribution 25-1 25.2 Real-Time Data Distribution Problem Space 25-1 25.3 Approaches to Real-Time Data Distribution 25-5 25.4 Conclusion 25-16

2 6 Temporal Consistency Maintenance for Real-Time Update Transactions Ming Xiong and Krithi Ramamritham 26-1 26.1 Introduction 26-1 26.2 More-Less Using EDF 26-3 26.3 More-Less Using Deadline Monotonie 26-7 26.4 Deferrable Scheduling 26-8 26.5 Conclusions 26-17

2 7 Salvaging Resources by Discarding Irreconcilably Conflicting Transactions in Firm Real-Time Database Systems Victor C. S. Lee, Joseph Kee-Yin Ng and Ka Man Ho 27-1 27.1 Introduction 27-1 27.2 Related Work 27-3 27.3 A New Priority Cognizant CC Algorithm 27-5 27.4 Experiments 27-6 27.5 Results 27-8 27.6 Conclusion 27-13

28 Application-Tailored Databases for Real-Time Systems Aleksandra Tesanovic and Jörgen Hansson 28-1 28.1 Introduction 28-1 28.2 Dimensions of Tailorability 28-2 28.3 Tailorable Real-Time and Embedded Database Systems 28-3 28.4 The COMET Approach 28-6 28.5 Summary 28-16

29 DeeDS NG: Architecture, Design, and Sample Application Scenario Sten F. Andler, Marcus Brohede, Sanny Gustavsson and Gunnar Mathiason 29-1 29.1 Introduction 29-1 29.2 Active Research Problems 29-4 29.3 DeeDS NG 29-5 29.4 Related Work 29-16 29.5 Summary 29-17

Contents xiii

VI Formalisms, Methods, and Tools

30 State Space Abstractions for Time Petri Nets Bernard Berthomieu and Francois Vernadat 30-1 30.1 Introduction 30-1 30.2 Time Petri Nets and Their State Space 30-2 30.3 State Space Abstractions Preserving Markings and Traces 30-5 30.4 State Space Abstractions Preserving States and Traces 30-8 30.5 Abstractions Preserving States and Brandung Properties 30-13 30.6 Computing Experiments 30-15 30.7 Conclusion and Further Issues 30-16

31 Process-Algebraic Analysis of Timing and Schedulability Properties Anna Philippou and Oleg Sokolsky 31-1 31.1 Introduction 31-1 31.2 Modeling of Time-Sensitive Systems 31-4 31.3 Modeling of Resource-Sensitive Systems 31-9 31.4 Conclusions 31-19

3 2 Modula r Hierarchies of Models for Embedded Systems Manfred Broy 32-1 32.1 Motivation 32-1 32.2 Comprehensive System Modeling Theory 32-3 32.3 Structuring Interfaces 32-10 32.4 Refinement 32-15 32.5 Composition and Combination 32-18 32.6 Modeling Time 32-20 32.7 Perspective, Related Work, Summary, and Outlook 32-23

33 Metamodeling Languages and Metaprogrammable Tools Matthew Emerson, Sandeep Neema and Janos Sztipanovits 33-1 33.1 Introduction 33-1 33.2 Modeling Tool Architectures and Metaprogrammability 33-3 33.3 A Comparison of Metamodeling Languages 33-9 33.4 Relating Metamodeling Languages and

Metaprogrammable Tools 33-14 33.5 Conclusion 33-16

3 4 Hardware/Software Codesign Wayne Wolf 34-1 34.1 Introduction 34-1 34.2 Hardware/Software Partitioning Algorithms 34-2 34.3 Cosynthesis Algorithms 34-4 34.4 CPU Customization 34-5 34.5 Codesign and System Design 34-6 34.6 Summary 34-7

35 Execution Time Analysis for Embedded Real-Time Systems Andreas Ermedahl and Jakob Engblom 35-1 35.1 Introduction 35-1 35.2 Software Behavior 35-4 35.3 Hardware Timing 35-5 35.4 Timing by Measurements 35-8

xiv Contents

35.5 Timing by Static Analysis 35-10 35.6 Hybrid Analysis Techniques 35-15 35.7 Tools for WCET Analysis 35-15 35.8 Industrial Experience with WCET Analysis Tools 35-15 35.9 Summary 35-17

VII Experiences with Real-Time and Embedded Systems

3 6 Dynamic QoS Managemen t in Distr ibuted Real-Time Embedded Systems Joseph P. Loyall and Richard E. Schantz 36-1 36.1 Introduction 36-1 36.2 Issues in Providing QoS Management in DRE Systems 36-2 36.3 Solutions for Providing QoS Management in DRE Systems 36-5 36.4 Case Studies of Providing QoS Management 36-12 36.5 Conclusions 36-30

3 7 Embedding Mobil i ty in Mul t imedia Systems and Applications Heonshik Shirt 37-1 37.1 Introduction 37-1 37.2 Challenges for Mobile Computing with Multimedia 37-2 37.3 System-Layer Approaches 37-4 37.4 Application-Layer Approaches 37-9 37.5 Conclusions 37-14

3 8 Embedded Systems and Software Technology in the Automotive D o m a i n Manfred Broy 38-1 38.1 Introduction 38-1 38.2 TheHistory 38-2 38.3 State of Practice Today 38-2 38.4 The Domain Profile 38-3 38.5 TheFuture 38-4 38.6 Practical Challenges 38-6 38.7 Research Challenges 38-11 38.8 Comprehensive Research Agenda 38-16 38.9 Conclusion 38-18

3 9 Real-Time Data Services for Automotive Applications Gurulingesh Raravi, Krithi Ramamritham and Neera Sharma 39-1 39.1 Introduction 39-1 39.2 Real-Time Data Issues in Automotive Applications 39-2 39.3 Adaptive Cruise Control: An Overview 39-5 39.4 Our Goals and Our Approach 39-7 39.5 Specifics of the Dual Mode System 39-8 39.6 Specifics of the Real-Time Data Repository 39-10 39.7 Robotic Vehicle Control: Experimental Setup 39-12 39.8 Results and Observations 39-13 39.9 Related Work 39-17 39.10 Conclusions and Further Work 39-18

Index 1-1