Poster Abstract: An Optimizing Framework for Real-Time Scheduling

Sundharam, Sakthivel Manikandan; Altmeyer, Sebastian; Navet, Nicolas

doi:10.1109/rtas.2016.7461346

Cited by 3 publications

(4 citation statements)

References 6 publications

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“…At Step 2, a suitable scheduling solution, i.e., a scheduling policy and the associated parameters should be selected so as to meet the real-time constraints expressed as deadlines derived at the first step. This can be achieved, for instance, using the optimization framework in [12], a form of scheduler synthesis. Schedulability analysis has to be performed under some Worst-Case Execution Time (WCET) assumptions for all tasks.…”

Section: Framework For Fusing Control and Scheduling Viewpointsmentioning

confidence: 99%

“…We proposed in [12] a scheduling synthesis approach, where performance, hardware and functional constraints only need to be specified to derive a feasible low-level scheduling configuration. The framework proposed in this paper is compatible with any scheduling policy that guarantees that the deadlines will be met, although in the remainder of this paper, we will rely on FIFO which, as explained, facilitates the system design.…”

Section: Timing Verification Using Schedulability Analysismentioning

confidence: 99%

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A Model-Driven Co-Design Framework for Fusing Control and Scheduling Viewpoints

Sundharam

Navet

Altmeyer

et al. 2018

Sensors

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Model-Driven Engineering (MDE) is widely applied in the industry to develop new software functions and integrate them into the existing run-time environment of a Cyber-Physical System (CPS). The design of a software component involves designers from various viewpoints such as control theory, software engineering, safety, etc. In practice, while a designer from one discipline focuses on the core aspects of his field (for instance, a control engineer concentrates on designing a stable controller), he neglects or considers less importantly the other engineering aspects (for instance, real-time software engineering or energy efficiency). This may cause some of the functional and non-functional requirements not to be met satisfactorily. In this work, we present a co-design framework based on timing tolerance contract to address such design gaps between control and real-time software engineering. The framework consists of three steps: controller design, verified by jitter margin analysis along with co-simulation, software design verified by a novel schedulability analysis, and the run-time verification by monitoring the execution of the models on target. This framework builds on CPAL (Cyber-Physical Action Language), an MDE design environment based on model-interpretation, which enforces a timing-realistic behavior in simulation through timing and scheduling annotations. The application of our framework is exemplified in the design of an automotive cruise control system.

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Section: Framework For Fusing Control and Scheduling Viewpointsmentioning

confidence: 99%

Section: Timing Verification Using Schedulability Analysismentioning

confidence: 99%

A Model-Driven Co-Design Framework for Fusing Control and Scheduling Viewpoints

Sundharam

Navet

Altmeyer

et al. 2018

Sensors

Self Cite

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“…"State the what, not the how": the idea is that the developer should state the permissible behavior of the program, and a system synthesis step involving both analysis and optimization generates executable artifacts that guarantee the requirements to be met. The feasibility of this idea with respect to scheduling has been assessed in [2,18] but other dimensions such as power consumption and dependability remains to be studied. A question of particular interest in the targeted application domain of CPAL is how an application can be made sufficiently robust to respect a given safety level (e.g., SIL2) by introducing at the synthesis step fault-tolerant mechanisms such as for instance redundant executions or watchdog mechanisms.…”

Section: Ongoing Workmentioning

confidence: 99%

CPAL: high-level abstractions for safe embedded systems

Navet

Fejoz²

2016

Proceedings of the International Workshop on Domain-Specific Modeling

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Innovation in the field of embedded systems, and more broadly in cyber-physical systems, increasingly relies on software. The productivity gain in software development can hardly keep up with the demand for software despite the increasing adoption of Model-Driven Development (MDD). In this context, we believe that major productivity and quality improvements are still ahead of us through better programming languages and environments. CPAL, the CyberPhysical Action Language, is a contribution in that direction with the objective to speed-up the development of embedded systems with dependability constraints. The objective of this paper is to present and illustrate the use-cases of the highlevel abstractions offered to the developer in CPAL with respect to real-time scheduling, introspection mechanisms, native support of Finite State Machines (FSMs), abstracting the hardware and decoupling functional concerns from non-functional concerns.

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“…Tuning a motor can be a challenging process, but tuning has an advantage that, it lets the users have more control over the behavior of the motor. Adaptive step size for controlling the differential (D) part and integral (I) part of PID is easily achievable in CPAL by using the introspection The CPAL Controller block defines the controller code and the scheduling policy [8] is to abstract all the low-level details from the system designer, where designer would define the initial task specifications and performance objectives such as stability, power-consumption, etc.. This paper is in the direction of system synthesis automation, where acceptable scheduling configurations are identified by evaluating the control performance with the scheduling delays.…”

Section: Case-study: Servo Control In An Automotive Functionmentioning

confidence: 99%

A model-based development environment for rapid-prototyping of latency-sensitive automotive control software

Sundharam

Havet²,

Altmeyer

et al. 2016

2016 Sixth International Symposium on Embedded Computing and System Design (ISED)

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The innovation in the field of automotive embedded systems has been increasingly relying on software-implemented functions. The control laws of these functions typically assume deterministic sampling rates and constant delays from input to output. However, on the target processors, the execution times of the software will depend on many factors such as the amount of interferences from other tasks, resulting in varying delays from sensing to actuating. Three approaches supported by tools, namely TrueTime, T-Res, and SimEvents, have been developed to facilitate the evaluation of how timing latencies affect control performance. However, these approaches support the simulation of control algorithms, but not their actual implementation. In this paper, we present a model interpretation engine running in a co-simulation environment to study control performances while considering the run-time delays in to account. Introspection features natively available facilitate the implementation of selfadaptive and fault-tolerance strategies to mitigate and compensate the run-time latencies. A DC servo controller is used as a supporting example to illustrate our approach. Experiments on controller tasks with injected delays show that our approach is on par with the existing techniques with respect to simulation. We then discuss the main benefits of our development approach that are the support for rapid-prototyping and the re-use of the simulation model at run-time, resulting in productivity and quality gains.

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Poster Abstract: An Optimizing Framework for Real-Time Scheduling

Cited by 3 publications

References 6 publications

A Model-Driven Co-Design Framework for Fusing Control and Scheduling Viewpoints

A Model-Driven Co-Design Framework for Fusing Control and Scheduling Viewpoints

CPAL: high-level abstractions for safe embedded systems

A model-based development environment for rapid-prototyping of latency-sensitive automotive control software

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