Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications

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Springer Science & Business Media, Jan 1, 1997 - Computers - 379 pages
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Real-time systems play a crucial role in our society, supporting several important application areas, such as nuclear and chemical plant control, flight control systems, traffic control in airports, harbors, and train stations, telecommunication systems, industrial automation, robotics, defensive military systems, space missions, and so on. Despite such a large number of critical applications, most of the current real-time systems are still designed and implemented using low level programming and empirical techniques without the support of a precise scientific methodology. The consequence of this approach is a lack of reliability, which in critical applications may cause serious damage to the environment or result in significant human loss. Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications is a basic treatise on real-time computing, with particular emphasis on predictable scheduling algorithms. The main objectives of the book are to introduce the basic concepts of real-time computing, illustrate the most significant results in the field, and provide the basic methodologies for designing predictable computing systems which can be used to support critical control applications. Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications presents fundamental concepts which are clearly defined at the beginning of each chapter, and each algorithm is described through concrete examples, figures and tables. After introducing the basic concepts of real-time computing, the book covers such topics as taxonomy of scheduling algorithms, models of tasks with explicit time constraints, handling tasks with precedence relations, periodic and aperiodic task scheduling, access protocols to shared resources, asynchronous communication mechanisms, schedulability analysis, and handling overload conditions. Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications was written for use as a textbook and serves as an excellent reference for those interested in real-time computing for designing and/or developing predictable control applications, which may include robotics, plant control, monitoring systems, data acquisition, simulations of real-world systems, virtual reality, interactive games, etc.
  

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Contents

A GENERAL VIEW
1
12 WHAT DOES REAL TIME MEAN?
4
13 ACHIEVING PREDICTABILITY
12
BASIC CONCEPTS
22
22 TYPES OF TASK CONSTRAINTS
25
23 DEFINITION OF SCHEDULING PROBLEMS
34
24 SCHEDULING ANOMALIES
44
APERIODIC TASK SCHEDULING
51
68 PERFORMANCE EVALUATION
175
69 SUMMARY
178
RESOURCE ACCESS PROTOCOLS
181
72 THE PRIORITY INVERSION PHENOMENON
182
73 PRIORITY INHERITANCE PROTOCOL
186
74 PRIORITY CEILING PROTOCOL
201
75 STACK RESOURCE POLICY
208
76 SUMMARY
221

32 JACKSONS ALGORITHM
52
33 HORNS ALGORITHM
56
34 NONPREEMPTIVE SCHEDULING
61
35 SCHEDULING WITH PRECEDENCE CONSTRAINTS
68
36 SUMMARY
74
PERIODIC TASK SCHEDULING
77
42 RATE MONOTONIC SCHEDULING
82
43 EARLIEST DEADLINE FIRST
93
44 DEADLINE MONOTONIC
96
45 EDF WITH DEADLINES LESS THAN PERIODS
102
46 SUMMARY
107
FIXEDPRIORITY SERVERS
109
52 BACKGROUND SCHEDULING
110
53 POLLING SERVER
111
54 DEFERRABLE SERVER
116
55 PRIORITY EXCHANGE
125
56 SPORADIC SERVER
132
57 SLACK STEALING
138
58 NONEXISTENCE OF OPTIMAL SERVERS
142
59 PERFORMANCE EVALUATION
145
510 SUMMARY
146
DYNAMIC PRIORITY SERVERS
149
62 DYNAMIC PRIORITY EXCHANGE SERVER
150
63 DYNAMIC SPORADIC SERVER
155
64 TOTAL BANDWIDTH SERVER
159
65 EARLIEST DEADLINE LATE SERVER
163
66 IMPROVED PRIORITY EXCHANGE SERVER
167
67 IMPROVING TBS
171
HANDLING OVERLOAD CONDITIONS
224
82 LOAD DEFINITIONS
228
83 PERFORMANCE METRICS
230
84 SCHEDULING SCHEMES FOR OVERLOAD
243
85 PERFORMANCE EVALUATION
249
KERNEL DESIGN ISSUES
253
92 PROCESS STATES
256
93 DATA STRUCTURES
261
94 MISCELLANEOUS
265
95 KERNEL PRIMITIVES
271
96 INTERTASK COMMUNICATION MECHANISMS
289
97 SYSTEM OVERHEAD
296
APPLICATION DESIGN ISSUES
300
101 INTRODUCTION
302
102 TIME CONSTRAINTS DEFINITION
306
103 HIERARCHICAL DESIGN
313
104 A ROBOT CONTROL EXAMPLE
318
EXAMPLES OF REALTIME SYSTEMS
323
112 MARS
325
113 SPRING
331
114 RK
336
115 ARTS
340
116 HARTIK
345
GLOSSARY
353
REFERENCES
362
INDEX
373
Copyright

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Page 365 - Rosier, Algorithms and Complexity Concerning the Preemptive Scheduling of Periodic Real-Time Tasks on One Processor.
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