Last update: August
8th, 2008.
News: The examination of August
8th 2008 (including draft answers) and results are now available.
The examinations (including
draft answers) of previous years and of June 2008:
This course is organized around the issue of real-time
requirements and their impact on the hardware-software architecture of a
system. This includes:
·
examples of applications with
real-time requirements;
·
the techniques used to enforce
real-time properties in a verifiable manner (e.g., real-time scheduling,
Quality of Service management);
·
examples of particular problems
and solutions.
The considered system domain will the hardware
software interface of most notably, (networked) embedded systems and
(multi)processing architectures. Applications are drawn from real-time control
and multimedia applications such as video streaming.
This
year is the fourth time that the course is taught, taking into account the
experiences gained and feedback received during the past three years.
For the web-sites of the past years, see RTA-2003/2004, RTA-2004/2005, and RTA-2005/2006.
There
will be 12 weeks of regular lectures. Some parts of the lectures may be used
for small exercises which will be given as homework assignments. The course is
completed by passing the final examination and doing a practical assignment.
The assignment has to be completed before
the exam and can be done with groups of 2 students. These groups must hand in
their own, original work, programmed and reported by themselves.
On
this site we will maintain the current status of the course in terms of the
contents, expected reading, assignments and presented slides.
Course
program
Week
1 (27-03): RTA.A1-Overview, RTA.A1-Introduction, RTA.B3-Specification concepts
(through slide 14);
Week
2 (03-04): Rehearse, RTA.B3-Specification concepts
(continued), RTA.B3-Reference model;
Week 3 (10-04): No
RTA-course (due to illness of teacher).
Week
4 (17-04): Rehearse, RTA.D0-Water-Vessel,
RTA.B4-Policies-I, RTA.B5-Analysis-I (through slide 20);
Week
5 (24-04): Rehearse, RTA.B5-Analysis-I
(continued), RTA.B5-Analysis-II (through
slide 24);
Week
6 (01-05): Rehearse, RTA.B5-Analysis-II-summary
(continued), RTA.B5-Analysis-II-summary,
RTA.B5-Analysis-IV, RTA.B5-Policies-II;
Week
7 (08-05): No RTA-course (examination week)!
Week
8 (15-05): lecture on Time-triggered and
Event-triggered; Off-line Scheduling by Prof. Dr. Gerhard Fohler from the
Week
9 (22-05): No RTA-course (absence of teacher);
Week
10 (29-05): RTA.D1-QoS-for-MCTs;
Week
11 (05-06): lecture on Scalable Video
Algorithms by Prof.
Dr.-Ing. habil. Christian Hentschel from the Technical
Week
12 (12-06): lecture on Behavioural
Analysis of Real-Time Systems with Interdependent Tasks by P.D.Eng. Alina Weffers-Albu
from the Technische Universiteit
Week
13 (19-06): RTA.D8-Resource-Reservation,
RTA.B4-Policies-III, RTA.B5-Analysis-V;
RTA
Reading guide: RTA
Reading guide 2007.
RTA
binder: RTA
binder 2007.
Time
& Location:
·
time: Tuesday,
8.45-10.30.
·
location: AUD. 16;
Examination:
There will be a final exam on Wednesday,
June 27th, 09.00-12.00 with a reprise on Wednesday, August 22nd,
14.00-17.00. You are not allowed to
take any information with you to the examination! Next to the exam, there will
be an assignment.
Visualization tools
· REST-tool: REST-setup.zip ; note that you need to set the language of your laptop to e.g. “English” if you want to use values for tasks that differ from Natural numbers.
· Realtime
Assignments: Below, you can find exercises of this year. Apart from exercise F, the
exercises are the same as last year. This has an advantage for students that
have already made an exercise last year: you do not need to hand in an exercise
this year again! However, please inform me by email about it, allowing me to
maintain an up-to-date status.
We
propose to you six assignments. You are allowed to use any sources to support
your work but you have to hand in your own original work, including relevant
references (especially those that you based your work on). Any attempt of fraud
will be taken very seriously. Comments on the exercises are welcome and
reasonable adjustments are ok. The idea is that it takes you roughly one week
and deepens your insight. So, if the amount of time required to complete an
assignment becomes a problem please contact us. If useful we will make a FAQ
for the exercises.
·
Exercise A: Producer/consumer with different
rates;
·
Exercise B: Processor demand approach for EDF
with deadlines less than periods;
·
Exercise C: Distributed clock
synchronization;
·
Exercise D: Elevator system architecture;
·
Exercise E: Design of a dedicated layer
supporting PCP on top of a COTS RTOS.
·
Exercise F: Investigation of incorporation of
cost of context switching, task scheduling, and budget scheduling in analysis.
·
Exercise G: Video Quality-of-Service for
consumer terminals.
The due date of the assignment is the day of the
examination (see above). Not making this is failing. There will be no
acceptance after this date. You are expected to work in couples.
Lecturers:
HG 5.09,
tel.: 5412
Book: G.C. Buttazzo, “Hard real-time computing systems, predictable scheduling – algorithms and applications”, Springer, 2005, ISBN 0-387-23137-4 (2nd edition).
Related slides: http://feanor.sssup.it/~giorgio/slides/realtime/;
Errata: http://feanor.sssup.it/~giorgio/errata-HRT2.pdf.
Identified errors 2006/2007: no errors identified (yet).
Expected
reading:
[1] M.
Jones, What really happened on Mars Rover
Pathfinder, December 1997,
http://www.cs.berkeley.edu/~brewer/cs262/PriorityInversion.html.
[2] R.J. Bril, E.F.M. Steffens, and W.F.J. Verhaegh, Best-case
response times and jitter analysis of real-time tasks, Journal of
Scheduling, 7(2): 133-147, 2004.
[3] C.
Hentschel, R.J. Bril, Y. Chen, R. Braspenning, and T.-H. Lan, Video Quality-of-Service for consumer
terminals - a novel system for programmable components, In: IEEE Transactions
on Consumer Electronics, 49(4): 1367-1377, November 2003.
[4] L. Sha, J. Lehoczky, and R.
Rajkumar, Solutions for some practical problems in prioritized preemptive
scheduling, In: Proc. 7th IEEE Real-Time Systems Symposium (RTSS), pp. 181
–191, 1986.
[6] M.A.
Weffers-Albu, J.J. Lukkien, E.F.M. Steffens, and P.D.V. van der Stok, On a Theory of Media Processing Systems
Behavior, with Applications, In: Proc. 18th Euromicro Conference
on Real-Time Systems, pp. 107 – 117, July 2006.
Further
reading:
[7] G.C. Buttazzo, Rate Monotonic vs. EDF: Judgment
Day, Real-Time Systems, 29(1): 5 – 26, 2005.
[8] R.I. Davis and A. Burns, Resource sharing in
Hierarchical Fixed Priority Pre-Emptive Systems, In: Proc. 27th IEEE
Real-Time Systems Symposium (RTSS), pp. 257-267, December 2006.
[9] M.
[10]
J. Goossens and R.
Devillers, The non-optimality of the monotonic priority assignments for hard
real-time offset free systems, Real-Time Systems, 13(2): 107-126, September
1997.
[11]
A.M. Groba, A. Alonso,
J.A. Rodriques, M. Garcia Valls, Response time of streaming chains: analysis
and results, In: Proc. 14th IEEE Euromicro Conference on Real-Time Systems,
pp. 182 – 189, 2002.
[13]
M.H. Klein, T. Ralya, B.
Pollak, R. Obenza, and M. González Harbour, A Practitioner’s Handbook for
Real-Time Analysis: Guide to Rate Monotonic Analysis for Real-Time Systems,
Kluwer Academic Publishers (KAP), 1993.
[14]
C.W. Mercer and S. Savage
and H. Tokuda, Processor Capability Reserves: Operating System Support for
Multimedia Applications, In: Proc. International Conference on Multimedia
Computing and Systems (ICMCS), pp. 90-99, May 1994.
[15]
R. Obenza, Guaranteeing
real-time performance using RMA, Embedded Systems Programming, pp. 26-40,
1994.
[16]
R. Rajkumar and K. Juvva
and A. Molano and S. Oikawa, Resource Kernels: A Resource-Centric Approach
to Real-Time and Multimedia Systems, In: Proc. SPIE Vol. 3310, Conference
on Multimedia Computing and Networking, pp. 150-164, January 1998.