Journal ArticleDOI
Experimental Assessment of the Period Calibration Method: A Case Study
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TLDR
An experimental evaluation of the period calibration method (PCM), which was developed in Gerber et al. (1994, 1995) as a systematic design methodology for real-time systems, unveils several weaknesses and proposes a new communication scheme and a transient overload handling technique.Abstract:
In this paper we present an experimental evaluation of the period calibration method (PCM) which was developed in Gerber et al. (1994, 1995) as a systematic design methodology for real-time systems. The objective of this experimental study is to assess design alternatives integrated into the method and their performance implication on resultant systems built via the PCM. Such design alternatives include scheduling jitter, sensor-to-output latency, intertask communication schemes, and system utilization. For this study, we have chosen a computerized numerical control (CNC) machine as our target real-time system, and built a realistic controller and a plant simulator. We show the detailed development process of the CNC controller and report its performance. The performance results were extracted from a controlled series of more than hundred test controllers obtained by varying four test variables. This study unveils several weaknesses of the PCM: (1) the communication scheme built into PCM incurs a large latency though average sensor-to-output latency is one of the most dominating factors in determining control quality; (2) scheduling jitter is taken seriously in PCM though its effect appears only when average sensor-to-output latency is sufficiently small; (3) loop processing periods are not properly optimized for control quality though they are another dominating factor of performance; and (4) transient overloads are not considered at all in PCM, even though they can seriously damage the performance of a system. Based on these results, we propose a new communication scheme and a transient overload handling technique for the improved period calibration method.read more
Citations
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Journal ArticleDOI
A taxonomy and catalog of runtime software-fault monitoring tools
N. Delgado,Ann Q. Gates,S. Roach +2 more
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Verisim: formal analysis of network simulations
Karthikeyan Bhargavan,Carl A. Gunter,Moonjoo Kim,Insup Lee,Davor Obradovic,Oleg Sokolsky,Mahesh Viswanathan +6 more
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Proceedings ArticleDOI
Experimental evaluation of code properties for WCET analysis
Antoine Colin,Stefan M. Petters +1 more
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Dissertation
Towards the Integration of Control and Real-Time Scheduling Design
TL;DR: The thesis deals with scheduler and controller co-design for real-time control systems to minimize the performance loss due to jitter and control delays and to provide a co-simulation environment for Real-Time control systems.
References
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Priority inheritance protocols: an approach to real-time synchronization
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An extendible approach for analyzing fixed priority hard real-time tasks
TL;DR: This paper derives analysis for tasks with arbitrary deadlines that may suffer release jitter due to being dispatched by a tick driven scheduler, and considers bursty sporadic activities, where tasks arrive sporadically but then execute periodically for some bounded time.
Proceedings ArticleDOI
On task schedulability in real-time control systems
TL;DR: This work presents an algorithm that optimizes task frequencies and then schedules the resulting tasks with the limited computing resources available and is applicable to failure recovery and reconfiguration in real-time control systems.