Last update: July 7th, 2015.
News:
·
2015-07-07: Exam of July 3rd, 2015
including draft answers added.
·
2015-04-23: Exam of April 16th,
2015 including draft answers added.
·
2015-03-16: Presentation on FPTS removed from
the schedule.
·
2015-03-06: No classes on Friday, March 20th,
2015 (due to so-called “Open Days”).
·
2015-03-02: Presentation of RTS.B5-Analysis-5-FPPS-extension moved to March 3rd,
2015.
·
2015-02-25: Link to assignments activated.
·
2015-02-13: Link to Practical training included.
The examinations (including draft answers) of (previous years of) 2IN20
(!):
Examinations (including draft answers) of 2IN25 (!):
Examinations (including draft answers) of 2IN26:
·
2010/2011: November
3rd, 2010 (2XN26), January 20th,
2011 (reprise 2XN26), January
20th, 2011 (2YN26), April
11th, 2011 (reprise 2YN26).
·
2011/2012: November
1st, 2011 (2XN26), January
23rd, 2012 (reprise 2XN26), January
23rd, 2012 (2YN26), April
16th, 2012 (reprise 2YN26).
·
2012/2013: October
29th, 2012, January
23rd, 2013.
·
2013/2014: November
4th, 2013 (2XN26),
January 27th, 2014 (reprise 2XN26).
·
2014/2015: April
16th, 2015 (2XN26), July
3rd, 2015 (reprise 2XN26).
Notes:
·
2IN20 is a 4 ECTS credits BaMa
predecessor of 2IN26.
·
2IN25 is a 5 ECTS credits BaMa
predecessor of 2IN26.
The course addresses basic concepts of real-time
systems, presents examples of real-time systems, covers real-time systems
analysis and design, and gives an in-depth treatment of timing analysis and
scheduling. The course is organized around the issue of real-time requirements and
their impact on the architecture of a system. The considered system domain will
be networked embedded systems. Applications are drawn from automotive domain
(e.g. real-time control) and multi-media applications, such as video streaming.
The course is completed
by passing an examination and doing either
an assignment or a practical
training. The assignment involves studying one or more articles and writing a
report. The assignment can be done with groups of 4 or 5 students. These groups
must hand in their own, original work, reported by themselves. The practical
training involves performing weekly experiments with a set of simple real-time
kernels using a simple application.
This year, there
are 8 weeks of regular lectures. There will be two regular lectures per week
and a tutorial session. The tutorial session consists of two hours. The first
hour will be used to discuss
exercises. Students are expected to make
those assignments prior to the lecture. Answers to the exercises will be
made available via OASE. The second hour will be used to discuss the practical training.
On this site the
current status of the course will be maintained in terms of the contents, and
expected reading. Slides and other material will mostly be available from OASE
only.
Course objectives (high-level):
The objective of this course is to
bring students into the position to analyze and (partially) design real-time
systems, and conduct research in the area of real-time systems.
Course objectives (lower-level):
The student can:
(i)
explain
and apply the fundamental concepts and terminology of real-time systems;
(ii)
explain
and address the fundamental problems of real-time systems;
(iii)
analyze
real-time systems designs;
(iv)
design
a real-time system (at least partially); and
(v)
identify and assess the relevant literature and research
trends of real-time systems.
Preliminary course program
Classes Quartile 3 (February 2nd, 2015 – April 2nd, 2015):
Week 1 (02-02):
slides: RTS.A1-Overview, RTS.A1-Introduction;
book: chapter 1.
(03-02): slides:
RTS.B3-Specification-concepts, RTS.D0-Water-Vessel, RTS.B3-Reference Model;
book: chapter 2.
(06-02): discussion (exercises
& practical training).
Week 2 (09-02):
slides: RTS.B3-Reference Model (cnt’d), RTS.B4-Policies-1;
book: chapter 2;
expected reading:
[4].
(10-02): slides: RTS.B3-Cyclic
Executives, RTS.B5-Analysis-1;
book: section 3.3,
chapter 4, sections 4.1 till 4.4;
expected reading: “A Note
on Cyclic Executives”.
(13-09): discussion (exercises
& practical training).
Week 3 (16-02): No classes (Carnaval)
(17-02): No classes (Carnaval)
(20-02): No classes (Carnaval)
Week 4 (23-02): slides: RTS.B5-Analysis-2-FPPS;
book: section 4.5
(excluding 4.5.3);
expected reading:
[2].
(24-02): slides: RTS.B5-Analysis-2-FPPS (cnt’d),
RTS.C7-Periodic Tasks, RTS.B4-Policies-2-FP-servers;
book: chapter 5
(except for sections 5.3.1, 5.3.2, 5.3.3, 5.4.1, 5.4.3, 5.5, 5.6, and 5.7),
section 10.5.4;
expected reading:
[5].
(27-02): discussion (exercises & practical training).
Week 5 (02-03): slides: RTS.B4-Policies-2-FP-servers (cnt’d), RTS.B5-Policies-3-RAP;
book: chapter 7
(except for implementation considerations of all protocols and multi-unit
aspects of SRP);
expected reading: [1, 3].
(03-03): slides: RTS.B5-Analysis-5-FPPS-extensions, RTA.C6-Resource reservation;
book: section 4.5 (excluding 4.5.3);
(06-03): discussion (exercises &
practical training).
Week 6 (09-03):
Guest lecture by Prof.Dr.-Ing.habil. C. Hentschel from
the Brandenburg University of
Technology of Cottbus-Senftenberg, Germany;
expected reading:
[7].
(10-03): Guest lecture by Prof.Dr.-Ing.habil. C. Hentschel from
the Brandenburg University of
Technology of Cottbus-Senftenberg, Germany.
(13-03): discussion (exercises
& practical training).
Week 7 (16-03):
slides: RTS.B5-Analysis-6-FPPS-arbitrary deadlines;
(17-03): slides:
RTS.B5-Analysis-7-FPDS;
(20-03): No classes (Auditorium closed due to so-called “Open
Days”).
Week 8 (23-03):
discussion (exercises & practical training)
(24-03): slides:
RTS.B5-Analysis-8-FPDS-pessimistic, RTS.B5-Analysis-9-practical factors;
book: section 8.1,
8.2, 8.4 (up to and including 8.4.1).
(27-03): discussion (exercises
& practical training).
Week 9 (30-03):
Guest lecture by Dr. M.
Behnam from the Mälardalen
University of Västerås, Sweden;
expected reading:
[6].
(31-03): Guest lecture by Dr. M. Behnam from the Mälardalen University
of Västerås, Sweden.
(03-04): No classes (Good Friday)!
Week 10 (06-04): No classes (Easter Monday)!
(07-04): No classes (examination week)!
(10-04): No classes (examination week)!
Week 11 (13-04): No classes (examination week)!
(14-04): No classes (examination week)!
(17-04): No classes (examination week)!
RTA Reading guides:
·
2013/2014 (Last year!): 2IN26-reading-guide-2013/2014.
·
2014/2015: <t.b.s.>.
Examination: There will be an exam at the
end of the 3rd quartile and a reprise after the 4th
quartile. You are not allowed to take
any information with you to the examination! Next to the exam, there will be an
assignment.
Visualization
tools
·
Realtime
Assignments:
·
2013/2014 (Last year!): 2IN26-assignments-2013/2014.
·
2014/2015: 2IN26-assignment-2014/2015
(only
available within TU/e domain or via VPN).
Guidelines for the report can be found here.
Not making this is failing. There will be no acceptance after the
examination date of the reprise. You are expected to work in teams.
Practical training:
information can be found here.
Lecturers:
R.J.Bril (main lecturer)
MF 6.068, tel.:
5412
E.J. Luit (practical)
MF 6.118, tel.: 4338
Guest
lecturers:
Book: G.C. Buttazzo,
“Hard real-time computing systems, predictable scheduling – algorithms and
applications”, Springer, 2011, ISBN 978-1-4614-0676-1 (3nd edition).
Related slides: http://feanor.sssup.it/~giorgio/slides/realtime/;
Expected reading
(preliminary):
[1]
Risk Forum: What really happened on Mars Rover Pathfinder, December 1997.
[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] D. Polock and D. Zoebel,
Conformance testing of priority inheritance protocols, In: Proc. 7th
IEEE International Conference on Real-Time Computing Systems and Applications
(RTCSA), pp. 404-408, December 2000.
[4] J.A. Stankovic,
Real-Time Computing, Byte, pp. 155 –
160, August 1992.
[5] M. Stanovich,
T.P. Baker, A.I. Wang, and M. González Harbour, Defects of the POSIX
Sporadic Server and How to Correct Them, In: Proc. 16th IEEE
RTAS, pp. 35 – 45, April 2010.
[6]
R.I. Davis, A. Burns, R.J. Bril, and J.J. Lukkien, Controller
Area Network (CAN) schedulability analysis: Refuted, revisited and revised,
Real-Time Systems, ISSN 1573-1383 (online),
http://www.springerlink.com/content/8n32720737877071/, January 30th,
2007, ISSN 0922-6443 (print), 35(3):
239-272, April 2007.
[7] 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.
Further reading
(preliminary):
[8] L. Almeida and P. Peidreiras, Scheduling
with temporal partitions: response-time analysis and server design, In: Proc. 4th ACM International Conference on
Embedded Software (EMSOFT), pp. 95 - 103, September 2004.
[9] M. Behnam, Insik Shin, T.
Nolte, and M. Nolin, SIRAP: A
synchronization protocol for hierarchical resource sharing in real-time open
systems, In: Proc. 7th ACM & IEEE International Conference
on Embedded Software (EMSOFT), pp. 279 – 288, September 2004.
[10]
M. Bertogna, N.
Fisher, and S. Baruah. Static-priority scheduling and resource hold times, In: Proc. 15th
International Workshop on Parallel and Distributed Real-Time Systems, pp. 1-8,
March 2007.
[11]
R.J. Bril, J.J. Lukkien, and W.F.J. Verhaegh, Worst-case
response time analysis of real-time tasks under fixed-priority scheduling with
deferred preemption, Real-Time Systems Journal, ISSN 1573-1383 (online), DOI
10.1007/s11241-009-9071-z, http://www.springerlink.com/content/f05r404j63424h27, April 28th,
2009, ISSN 0922-6443 (print), 42(1-3): 63 – 119, August 2009.
[12]
G.C. Buttazzo, Rate Monotonic vs. EDF:
Judgment Day, Real-Time Systems, 29(1): 5 – 26, 2005.
[13]
R.I. Davis and A. Burns, Hierarchical Fixed Priority Pre-Emptive Scheduling, In: Proc. 26th
IEEE Real-Time Systems Symposium (RTSS), pp. 389-398, December 2005.
[14]
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.
[15]
M.
[16]
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.
[17]
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.
[19]
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.
[20]
J.W.S. Liu, Real-Time Systems, Prentice Hall, 2000.
[21]
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.
[22]
R. Obenza, Guaranteeing real-time
performance using RMA, Embedded Systems Programming, pp. 26-40, 1994.
[23]
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.
[24]
I. Shin and I. Lee, Periodic resource model for compositional real-time guarantees, In:
Proc. 24th IEEE Real-Time Systems Symposium (RTSS), pp. 2-13,
December 2003.
[25]
L. Steffens, G. Fohler,
G. Lipari, and G. Buttazzo, Resource Reservation in Real-Time Operating
Systems – a joint industrial and academic position, In: Proc. International
Workshop on Advanced Real-Time Operating System Services (ARTOSS), pp. 25 – 30,
July 2003.
[26]
D. Zoebel and P. Polock
and A. van Arkel, Testing for the Conformance of
Real-time Protocols Implemented by Operating Systems, Electronic Notes in
Theoretical Computer Science, Vol. 133, pp. 315- 332, May 2005. http://www.sciencedirect.com/science/journal/15710661