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Non-preemptive scheduling of messages on controller area network for real-time control applications

Non-preemptive scheduling of messages on controller area net...

引用

1995 real-time Technology and Applications Symposium, RTAS 1995

作者： Zuberi, Khawar M. Shin, Kang G. Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109-2122 United States

Scheduling messages on the controller area network (CAN) corresponds to assigning identifiers (IDs) to messages according to their priorities. If fixed priority scheduling such as deadline monotonic (DM) is used to calculate these priorities, then in general, it will result in low schedulability. Dynamic scheduling schemes such as earliest deadline (ED) can give greater schedulability, but they are not practical for CAN because if the ID is to reflect message deadlines then a long ID must be used. This increases the length of each message to the point that ED is no better than DM. Our solution to this problem is the mixed traffic scheduler (MTS), which is a cross between ED and DM, and provides high schedulability without needing long IDs. Through simulations, we compare the performance of MTS with that of DM and ED* (an imaginary scheduler which works like ED, except it needs only short IDs). We use a realistic workload in our simulations based on messages typically found in computer integrated manufacturing. Our simulations show that MTS performs much better than DM and at the same level as ED, except under high loads and tight deadlines, when ED* is superior. © 1995 IEEE.

关键词： real time control

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Representing architectural designs: a central issue in the development of complex systems

Representing architectural designs: a central issue in the d...

引用

IEEE International Conference on engineering of Complex Computer Systems

作者： V. Kirova W. Rossak Software Engineering Laboratory & Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark NJ USA

This paper discusses the need for and the use of a software architecture as an important means in the development of complex systems. We start out with a brief analysis of the term "complex" with regard to computerized systems. On this basis, we introduce software architectures as a means to cope with the software design aspect of system complexity. We then identify the architectural concepts that are necessary to capture a comprehensive, high level system design and discuss their characterizing properties. Finally, we propose a "construction-oriented" technique for architecture specification which is based on a generic set of architectural elements and is supported by a tool, d-ASPECT (domain Architecture Specification Tool), currently under development at NJIT.

关键词： Buildings Laboratories Control systems Computer architecture software engineering real time systems Information science Paper technology software architecture Law

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A distributed table-driven route selection scheme for establishing real-time video channels

A distributed table-driven route selection scheme for establ...

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International Conference on Distributed computing Systems

作者： Chih-Che Chou K.G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

To guarantee the delivery of real-time messages before their deadline, a real-time connection or channel must be established before the transmission of any real-time messages. During this channel-establishment phase, one must first select a route between the source and destination of this channel and then reserve sufficient resources along this route so that the worst-case end-to-end delay over the selected route may not exceed the user-specified delay bound. We propose a table-driven distributed route-selection scheme that is guaranteed to find a "qualified" route, if any, that meets the performance requirement of the requested channel without compromising any of the existing guarantees. The proposed scheme uses the Bellman-Ford shortest path algorithm to build real-time delay tables, and hence, can solve the route-selection problem by a simple table look-up. Several examples are presented to demonstrate the effectiveness of the proposed distributed route-selection scheme.

关键词： Delay

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Mapping concurrently-communicating modules onto mesh multicomputers equipped with virtual channels

Mapping concurrently-communicating modules onto mesh multico...

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International Conference on Distributed computing Systems

作者： Bing-Rung Tsai K.G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

It is difficult to define and evaluate a meaningful performance metric when many packets are generated and exchanged concurrently in mesh-connected multicomputers equipped with wormhole switching and virtual channels. Thus, an approximate metric/cost function must be chosen so that when, task modules are mapped by optimizing this function, the actual performance of the mapping is also optimized. Several low-complexity cost functions are evaluated using the simulated annealing optimization process. The mappings found by optimizing these cost functions are then fed into a flit-level simulator to evaluate their actual performance. One particular cost function is found to be very effective.

关键词： Cost function Measurement Packet switching Simulated annealing

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Localized multicast routing

Localized multicast routing

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IEEE Conference and Exhibition on Global Telecommunications (GLOBECOM)

作者： A. Shaikh S. Lu K. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

Multicast is a fundamental issue in distributed computing and networking, especially for applications such as audio and video transmission. The minimal cost route selection problem for multicasting is an NP-complete problem even for regular network topologies such as meshes and hypercubes. We therefore present a simple heuristic algorithm for multicast route selection in arbitrarily-connected point-to-point communication networks. Several other heuristics have been presented for finding the minimal multicast route, but most of them are global in the sense that the source uses global cost information to construct a multicast tree. Our algorithm does not require the use of global cost information; it uses cost information only from neighboring nodes as it proceeds which makes it more practical from an implementation paint of view. The performance of the algorithm is analyzed through empirical comparisons and is shown to perform as well against algorithms which use global information.

关键词： Routing Costs Multicast algorithms Distributed computing NP-complete problem Network topology Hypercubes Heuristic algorithms Communication networks Paints

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real-time communication in FieldBus multiaccess networks

Real-time communication in FieldBus multiaccess networks

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real-time Technology and Applications Symposium

作者： Ching-Chih Han K.G. Shin Real Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

There has been an increasing need of timely and predictable communication services for embedded real-time systems in automated factories and industrial process controls. Work has been done on real-time communication with deadline guarantees in point-to-point, token bus/token ring/FDDI, and DQDB (Distributed Queue Dual Bus) networks. However, due to the random access nature of the CSMA/CD type multiaccess networks, they are not suitable for applications with stringent timing constraints. We consider real-time communication services with absolute deadline guarantees in multiaccess local area networks equipped with a centralized scheduler, such as the SP-50 FieldBus, an industrial standard protocol for process control and manufacturing applications. Similar to most token-passing networks, in a centralized scheduling multiaccess network, the access to the bus is controlled by a token. Only the station currently holding the token has the exclusive right to use the multiaccess bus. Unlike the token bus, token ring, or FDDI network, the multiaccess network uses a centralized token scheduling scheme and the token need not be allocated to the stations in a cyclic fashion. We show that the pinwheel and the distance-constrained scheduling techniques can be adapted to schedule the token in centralized-scheduling multiaccess networks to guarantee message deadlines.

关键词： Field buses Job shop scheduling Communication industry Industrial control Process control Token networks FDDI real time systems Production facilities Electrical equipment industry

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A polynomial-time optimal synchronous bandwidth allocation scheme for the timed-token MAC protocol

A polynomial-time optimal synchronous bandwidth allocation s...

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IEEE Annual Joint Conference: INFOCOM, IEEE Computer and Communications Societies

作者： Ching-Chih Han K.G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

Numerous methods have been proposed to integrate real-time and non-real-time services of the timed-token medium access control (MAC) protocol. One of the key issues in tailoring the timed-token MAC protocol for real-time applications is the synchronous bandwidth allocation (SEA) problem whose objective is to meet both the protocol and deadline constraints. Several non-optimal local SEA schemes and an optimal global scheme have been proposed previously. Local SEA schemes use only information available locally to each node, and are thus preferred to global schemes because of their lower network-management overhead. Unfortunately it has been formally proved in Han et al. (1995) that there does not exist any optimal local SEA scheme. Chen et al. [1992] proposed the only-known optimal global SEA scheme which is based on an iterative approach. However, their algorithm may not terminate theoretically. The present authors give an optimal global SEA scheme of polynomial-time worst-case complexity.

关键词： Polynomials Channel allocation Media Access Protocol Access protocols Bandwidth Timing Laboratories Iterative methods Iterative algorithms real time systems

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QoS-Sensitive Protocol Processing In Shared-Memory Multiprocessor Multimedia Servers

QoS-Sensitive Protocol Processing In Shared-Memory Multiproc...

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IEEE Workshop on the Architecture and Implementation of High Performance Communication Subsystems

作者： A. Mehra Kang G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

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A software fault injection tool on real-time Mach

A software fault injection tool on real-time Mach

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real-time Systems Symposium (RTSS)

作者： S. Dawson F. Jahanian T. Mitton Real-Time Computing Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

Ensuring that a distributed real-time system with strict dependability constraints meets its prescribed specification is a growing challenge that confronts software developers and system engineers. This paper reports on a software fault injection tool, called SockPFI, for testing the fault tolerance and timing behavior of distributed real-time applications. SockPFI, developed on real-time Mach, can be used to test socket-based distributed real-time applications on this platform without modifying the source code of the target protocol. The SockPFI tool is based on the concept of script-driven probing and fault injection. It is explicitly designed to address some of the intrusiveness associated with fault injection of distributed systems, and in particular, with real-time protocols. The paper describes the design and implementation of SockPFI on real time Mach, and a demonstration of the tool on a real-time primary-backup replication protocol.

关键词： software tools Protocols real time systems Probes Trademarks software systems Systems engineering and theory software testing Fault tolerance Timing

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PP-MESS-SIM: a simulator for evaluating multicomputer interconnection networks

PP-MESS-SIM: a simulator for evaluating multicomputer interc...

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Annual Symposium on Simulation

作者： J. Rexford J. Dolter Wu-Chang Feng K.G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

Presents PP-MESS-SIM, an object-oriented discrete-event simulation environment for evaluating multicomputer networks. The simulator provides a toolbox of various network topologies, communication workloads, routing-switching algorithms, and router models. These router models can vary from high-level architectures to low-level specification of actual devices. By decoupling individual parts of the code, PP-MESS-SIM enables independent code development and creates a flexible and extensible environment for evaluating different aspects of network design. Sample simulation experiments capitalize on this flexibility to compare routing-switching schemes under various application workloads.< >

关键词： Multiprocessor interconnection networks Object oriented modeling Computational modeling Network topology Routing Communication switching Computer networks Telecommunication traffic Discrete event simulation Parallel processing

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