ing WS1S Systems to Verify Parameterized Networks . . . . . . . . . . . . 188 Kai Baukus, Saddek Bensalem, Yassine Lakhnech and Karsten Stahl FMona: A Tool for Expressing Validation Techniques over Infinite State Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 J.-P. Bodeveix and M. Filali Transitive Closures of Regular Relations for Verifying Infinite-State Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 Bengt Jonsson and Marcus Nilsson Diagnostic and Test Generation Using Static Analysis to Improve Automatic Test Generation . . . . . . . . . . . . . 235 Marius Bozga, Jean-Claude Fernandez and Lucian Ghirvu Efficient Diagnostic Generation for Boolean Equation Systems . . . . . . . . . . . . 251 Radu Mateescu Efficient Model-Checking Compositional State Space Generation with Partial Order Reductions for Asynchronous Communicating Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266 Jean-Pierre Krimm and Laurent Mounier Checking for CFFD-Preorder with Tester Processes . . . . . . . . . . . . . . . . . . . . . . . 283 Juhana Helovuo and Antti Valmari Fair Bisimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299 Thomas A. Henzinger and Sriram K. Rajamani Integrating Low Level Symmetries into Reachability Analysis . . . . . . . . . . . . . 315 Karsten Schmidt Model-Checking Tools Model Checking Support for the ASM High-Level Language . . . . . . . . . . . . . . 331 Giuseppe Del Castillo and Kirsten Winter Table of

Tools and Algorithms for the Construction and Analysis of Systems. Proc. TACAS 2009

This survey covers hard real-time scheduling algorithms and schedulability analysis techniques for homogeneous multiprocessor systems. It reviews the key results in this field from its origins in the late 1960s to the latest research published in late 2009. The survey outlines fundamental results about multiprocessor real-time scheduling that hold independent of the scheduling algorithms employed. It provides a taxonomy of the different scheduling methods, and considers the various performance metrics that can be used for comparison purposes. A detailed review is provided covering partitioned, global, and hybrid scheduling algorithms, approaches to resource sharing, and the latest results from empirical investigations. The survey identifies open issues, key research challenges, and likely productive research directions.

/pdf/a-survey-of-hard-real-time-scheduling-for-multiprocessor-313o35g6ho.pdf

A survey of hard real-time scheduling for multiprocessor systems

Digital twin can be defined as a virtual representation of a physical asset enabled through data and simulators for real-time prediction, optimization, monitoring, controlling, and improved decision making. Recent advances in computational pipelines, multiphysics solvers, artificial intelligence, big data cybernetics, data processing and management tools bring the promise of digital twins and their impact on society closer to reality. Digital twinning is now an important and emerging trend in many applications. Also referred to as a computational megamodel, device shadow, mirrored system, avatar or a synchronized virtual prototype, there can be no doubt that a digital twin plays a transformative role not only in how we design and operate cyber-physical intelligent systems, but also in how we advance the modularity of multi-disciplinary systems to tackle fundamental barriers not addressed by the current, evolutionary modeling practices. In this work, we review the recent status of methodologies and techniques related to the construction of digital twins mostly from a modeling perspective. Our aim is to provide a detailed coverage of the current challenges and enabling technologies along with recommendations and reflections for various stakeholders.

/pdf/digital-twin-values-challenges-and-enablers-from-a-modeling-3hpoelaogn.pdf

Digital Twin: Values, Challenges and Enablers From a Modeling Perspective

This review covers research on the topic of mixed criticality systems that has been published since Vestal’s 2007 paper. It covers the period up to and including December 2015. The review is organised into the following topics: introduction and motivation, models, single processor analysis (including job-based, hard and soft tasks, fixed priority and EDF scheduling, shared resources and static and synchronous scheduling), multiprocessor analysis, related topics, realistic models, formal treatments, and systems issues. An appendix lists funded projects in the area of mixed criticality.

/pdf/mixed-criticality-systems-a-review-3ftn7gd29e.pdf

Mixed Criticality Systems - A Review

With the widespread adoption of multicore architectures, multiprocessors are now a standard deployment platform for (soft) real-time applications. This dissertation addresses two questions fundamental to the design of multicore-ready real-time operating systems: (1) Which scheduling policies offer the greatest flexibility in satisfying temporal constraints; and (2) which locking algorithms should be used to avoid unpredictable delays? 
With regard to Question 1, LITMUSRT, a real-time extension of the Linux kernel, is presented and its design is discussed in detail. Notably, LITMUSRT implements link-based scheduling, a novel approach to controlling blocking due to non-preemptive sections. Each implemented scheduler (22 configurations in total) is evaluated under consideration of overheads on a 24-core Intel Xeon platform. The experiments show that partitioned earliest-deadline first (EDF) scheduling is generally preferable in a hard real-time setting, whereas global and clustered EDF scheduling are effective in a soft real-time setting. 
With regard to Question 2, real-time locking protocols are required to ensure that the maximum delay due to priority inversion can be bounded a priori. Several spinlock- and semaphore-based multiprocessor real-time locking protocols for mutual exclusion (mutex), reader-writer (RW) exclusion, and k-exclusion are proposed and analyzed. A new category of RW locks suited to worst-case analysis, termed phase-fair locks, is proposed and three efficient phase-fair spinlock implementations are provided (one with few atomic operations, one with low space requirements, and one with constant RMR complexity). 
Maximum priority-inversion blocking is proposed as a natural complexity measure for semaphore protocols. It is shown that there are two classes of schedulability analysis, namely suspension-oblivious and suspension-aware analysis, that yield two different lower bounds on blocking. Five asymptotically optimal locking protocols are designed and analyzed: a family of mutex, RW, and k-exclusion protocols for global, partitioned, and clustered scheduling that are asymptotically optimal in the suspension-oblivious case, and a mutex protocol for partitioned scheduling that is asymptotically optimal in the suspension-aware case. A LITMUSRT-based empirical evaluation is presented that shows these protocols to be practical.

https://cdr.lib.unc.edu/downloads/5138jf819

Scheduling and locking in multiprocessor real-time operating systems

Compositional schedulability analysis of hierarchical scheduling frameworks is a well studied problem, as it has wide-ranging applications in the embedded systems domain. Several techniques, such as periodic resource model based abstraction and composition, have been proposed for this problem. However these frameworks are sub-optimal because they incur bandwidth overhead. In this work, we introduce the explicit deadline periodic (EDP) resource model, and present compositional analysis techniques under EDF and DM. We show that these techniques are bandwidth optimal, in that they do not incur any bandwidth overhead in abstraction or composition. Hence, this framework is more efficient when compared to existing approaches.

/pdf/compositional-analysis-framework-using-edp-resource-models-jirar0q6b2.pdf

Compositional Analysis Framework Using EDP Resource Models

Scheduling of sporadic task systems on multiprocessor platforms is an area which has received much attention in the recent past. It is widely believed that finding an optimal scheduler is hard, and therefore most studies have focused on developing algorithms with good utilization bounds. These algorithms can be broadly classified into two categories: partitioned scheduling in which tasks are statically assigned to individual processors, and globalscheduling in which each task is allowed to execute on any processor in the platform. In this paper we consider a third, more general, approach called cluster-based scheduling. In this approach each task is statically assigned to a processor cluster, tasks in each cluster areglobally scheduled among themselves, and clusters in turn are scheduled on the multiprocessor platform. We develop techniques to support such cluster-based scheduling algorithms, and also consider properties that minimize processor utilization of individual clusters. Since neither partitioned nor global strategies dominate over the other, cluster-based scheduling is a natural direction for research towards achieving improved utilization bounds.

/pdf/hierarchical-scheduling-framework-for-virtual-clustering-of-236juynq9j.pdf

Hierarchical Scheduling Framework for Virtual Clustering of Multiprocessors

The current industry trend is towards using Commercially available Off-The-Shelf (COTS) based multicores for developing real-time embedded systems, as opposed to the usage of custom-made hardware. In typical implementation of such COTS-based multicores, multiple cores access the main memory via a shared bus. This often leads to contention on this shared channel, which results in an increase of the response time of the tasks. Analyzing this increased response time, considering the contention on the shared bus, is challenging on COTS-based systems mainly because bus arbitration protocols are often undocumented and the exact instants at which the shared bus is accessed by tasks are not explicitly controlled by the operating system scheduler, they are instead a result of cache misses. This paper makes three contributions towards analyzing tasks scheduled on COTS-based multicores. Firstly, we describe a method to model the memory access patterns of a task. Secondly, we apply this model to analyze the worst-case response time for a set of tasks. Although the required parameters to obtain the request profile can be obtained by static analysis, we provide an alternative method to experimentally obtain them by using performance monitoring counters (PMCs). We also compare our work against an existing approach and show that our approach outperforms it by providing tighter upper-bound on the number of bus requests generated by a task.

/pdf/response-time-analysis-of-cots-based-multicores-considering-2vbrtmxf13.pdf

Response Time Analysis of COTS-Based Multicores Considering the Contention on the Shared Memory Bus

In this paper we consider global fixed-priority preemptive multiprocessor scheduling of constrained-deadline sporadic tasks that share resources in a non-nested manner. We develop a novel resource-sharing protocol and a corresponding schedulability test for this system. We also develop the first schedulability analysis of priority inheritance protocol for the aforementioned system. Finally, we show that these protocols are efficient (based on the developed schedulability tests) for a class of priority-assignments called reasonable priority-assignments.

/pdf/resource-sharing-in-global-fixed-priority-preemptive-4mztbpqm2j.pdf

Resource Sharing in Global Fixed-Priority Preemptive Multiprocessor Scheduling

Strategies that artificially tighten high-criticality task deadlines in low-criticality behaviors have been successfully employed for scheduling mixed-criticality systems. Although efficient scheduling algorithms have been developed for implicit deadline task systems, the same is not true for more general sporadic tasks. In this paper we develop a new demand-based schedulability test for such general mixed-criticality task systems, in which we collectively bound the low- and high-criticality demand of tasks. We show that the new test strictly dominates the only other known demand-based test for such systems. We also propose a new deadline tightening strategy based on this test, and show through simulations that the strategy significantly outperforms all known scheduling algorithms for a variety of sporadic task systems.

Arvind Easwaran

Papers

Compositional Analysis Framework Using EDP Resource Models

Hierarchical Scheduling Framework for Virtual Clustering of Multiprocessors

Response Time Analysis of COTS-Based Multicores Considering the Contention on the Shared Memory Bus

Resource Sharing in Global Fixed-Priority Preemptive Multiprocessor Scheduling

Demand-Based Scheduling of Mixed-Criticality Sporadic Tasks on One Processor