An increasing number of distributed real-time systems face the critical challenge of providing quality of service guarantees in open and unpredictable environments. In particular, such systems often need to enforce utilization bounds on multiple processors in order to avoid overload and meet end-to-end deadlines even when task execution times are unpredictable. While recent feedback control real-time scheduling algorithms have shown promise, they cannot handle the common end-to-end task model where each task is comprised of a chain of subtasks distributed on multiple processors. This paper presents the end-to-end utilization control (EUCON) algorithm that adaptively maintains desired CPU utilization through performance feedbacks loops. EUCON is based on a model predictive control approach that models utilization control on a distributed platform as a multivariable constrained optimization problem. A multi-input-multi-output model predictive controller is designed based on a difference equation model that describes the dynamic behavior of distributed real-time systems. Both control theoretic analysis and simulations demonstrate that EUCON can provide robust utilization guarantees when task execution times deviate from estimation or vary significantly at runtime.

/pdf/feedback-utilization-control-in-distributed-real-time-55rykjhasf.pdf

Feedback utilization control in distributed real-time systems with end-to-end tasks

National Science Foundation (U.S.). Graduate Research Fellowship Program (grant number 2388357)

https://interactive.mit.edu/sites/default/files/documents/RSS_2013_Final.pdf

Fast Scheduling of Multi-Robot Teams with Temporospatial Constraints

These last years, we have witnessed a dramatic increase in the number of cores available in computational platforms. Concurrently, a new coding paradigm dividing tasks into smaller execution instances called threads, was developed to take advantage of the inherent parallelism of multiprocessor platforms. However, only few methods were proposed to efficiently schedule hard real-time multi-threaded tasks on multiprocessor. In this paper, we propose techniques optimizing the number of processors needed to schedule such sporadic parallel tasks with constrained deadlines. We first define an optimization problem determining, for each thread, an intermediate (artificial) deadline minimizing the number of processors needed to schedule the whole task set. The scheduling algorithm can then schedule threads as if they were independent sequential sporadic tasks. The second contribution is an efficient and nevertheless optimal algorithm that can be executed online to determine the thread's deadlines. Hence, it can be used in dynamic systems were all tasks and their characteristics are not known a priori. We finally prove that our techniques achieve a resource augmentation bound of 2 when the threads are scheduled with algorithms such as U-EDF, PD^2, LLREF, DP-Wrap, etc.

/pdf/techniques-optimizing-the-number-of-processors-to-schedule-2g7iggh4zn.pdf

Techniques Optimizing the Number of Processors to Schedule Multi-threaded Tasks

In a multitasking system executing real-time harmonic and dynamic tasks having various priority levels, slack is stolen from both timeline and reclaimed slack to enable the execution of high priority non-essential tasks on a best efforts basis. Counts of the amount of slack consumed, slack reclaimed, and periodic compute time consumed are maintained by individual priority level and dynamically updated at certain times. Idle time is calculated by priority level. Available slack is calculated, and slack is allocated and consumed by rate, with the highest rate first and the lowest rate last. Slack is made available to tasks in more than one time partition. All slack belongs to a common system-wide pool of slack obtained from any one or more of the time partitions. Common slack can also be time-shared by static, non-harmonic tasks residing in different time partitions. Also described are a computer system and various methods that perform slack scheduling in a time-partitioned system.

Methods and apparatus for sharing slack in a time-partitioned system

Many real-time systems must control their CPU utilizations in order to meet end-to-end deadlines and prevent overload. Utilization control is particularly challenging in distributed real-time systems with highly unpredictable workloads and a large number of end-to-end tasks and processors. This paper presents the decentralized end-to-end utilization control (DEUCON) algorithm, which can dynamically enforce the desired utilizations on multiple processors in such systems. In contrast to centralized control schemes adopted in earlier works, DEUCON features a novel decentralized control structure that requires only localized coordination among neighbor processors. DEUCON is systematically designed based on advances in distributed model predictive control theory. Both control-theoretic analysis and simulations show that DEUCON can provide robust utilization guarantees and maintain global system stability despite severe variations in task execution times. Furthermore, DEUCON can effectively distribute the computation and communication cost to different processors and tolerate considerable communication delay between local controllers. Our results indicate that DEUCON can provide a scalable and robust utilization control for large-scale distributed real-time systems executing in unpredictable environments.

/pdf/deucon-decentralized-end-to-end-utilization-control-for-45wr2kn35t.pdf

DEUCON: Decentralized End-to-End Utilization Control for Distributed Real-Time Systems

In many distributed real-time systems, the workload can be modeled as a set of periodic tasks, each of which consists of a chain of subtasks executing on different processors. Synchronization protocols are used to govern the release of subtasks so that the precedence constraints among subtasks are satisfied and the schedulability of the resultant system is analyzable. Tasks have different worst-case and average end-to-end response times when different protocols are used. In this paper, we consider distributed real-time systems with independent, periodic tasks and fixed-priority scheduling algorithms. We propose three synchronization protocols and conduct simulation to compare their performance with respect to the two timing aspects.

J. Sun

Papers

Synchronization protocols in distributed real-time systems