Reliability modeling of hard real-time systems

This paper introduces a novel lightweight clock synchronization protocol (LCSP) and BUB clock synchronization algorithm based on real-time micro-kernel. Unlike other clock synchronization approaches which rely on redundant exchanged messages, this approach takes advantages of the traffic smoothing technique at each end node to suppress or block other traffics during the clock synchronization duration. The BUB algorithm efficiently decreases the number of synchronization messages exchanged during each synchronization round and can easily extend to large distributed real-time systems. Performance evaluation results prove that the LCSP protocol and the BUB algorithm can provide perfect synchronization precision and are appropriate for most distributed hard real-time and embedded control systems, when integrated with the traffic smoothing technique.

In many real-time control applications, the task periods are typically fixed and worst-case execution times are used in schedulability analysis. With the advancement of robotics, flexible visual sensing using cameras has become a popular alternative to the use of embedded sensors. Unfortunately, the execution time of visual tracking varies greatly. In such environments, control tasks have a normally short computation time, but also an occasional long computation time; therefore, the use of worst-case execution time is inefficient for controlling performance optimization. Nevertheless, to maintain the control stability, we still need to guarantee the schedulability of the task set, even if the worst case arises. In this paper, we propose an integrated approach to control performance optimization and task scheduling for control applications where the execution time of each task can vary greatly. We present an innovative approach to overrun management that allows us to fully utilize the processor for optimizing the control performance and yet guaranteeing the schedulability of all tasks under worst-case conditions.

This paper discuss on how to develop a hard real-time machine control system with Microsoft Windows NT Operating System, where the respond must be within 0.5 milliseconds. The attempt to use a general-purpose operating system (Microsoft Windows NT 4.0 Workstation) is because there is abundance of Commercial-Off-the-Shelf Components (COTS), easily available tools (compilers, and 3 party tools) and need not to learn another operating system behavior. The most important factor is there is no single dominant operating system or tools vendor for real-time operating system. Since the no single dominant real-time operating system development under real-time operating system is riskier and more costly. Ideally codes must be portable between different operating system where it is apparent with Windows platforms, Windows 95/98, Windows ME, Windows 2000, Windows XP or even Windows CE. Firstly study was done on how Microsoft Windows NT operating system works internally from materials from Microsoft Software Development Network (MSDN). Secondly study was done how to take advantage of the operating system to create a real time application. Microsoft Windows NT is a general purpose operating system that does not support real time application development, but it has all the vital elements that a real time operating system needs. The vital elements are priority-driven, preemptive scheduler, preemptive interrupt handler (for critical interrupts), deferred procedure calls (DPC) for non-critical (DPC executes after ISR), synchronization and deterministic response time. With these vital elements and some modification to application codes to enable it to execute in higher priority level, would result a real time application. This does not mean changing all the codes to higher priority is the solution, as it would cause system to malfunction as other device driver or low-level interface run at high priority too and this would lock up the system. With the combination of priority level, synchronization a complete real time solution can be implemented and this paper covers the concept. This concept also explains what was done to overcome the need of special hardware (as recommended) to accomplish hard real-time application with the response of 0.5 milliseconds.

Real-time systems are those systems in which the correctness of the system depends not only on the logical results of computation but also on the time at which the results are produced [Stankovic 1988]. They span a broad spectrum of complexity from very simple microcontrollers in embedded systems (a microprocessor controlling an automobile engine) to highly sophisticated, complex, and distributed systems (air traffic control for the continental United States). Other real-time systems include command and control systems, process control systems, and multimedia and high-speed communication systems. Some real-time systems are beginning to add expert systems and other AI technology, creating additional requirements and complexities. At least three major trends in the real-time and embedded systems field have had a major impact on its technology: the increased growth and sophistication of embedded systems, the development of more scientific and technological results for hard real-time systems, and the advent of distributed multimedia. Most embedded systems consist of a small microcontroller and limited software situated within some product such as a microwave oven or automobile. However, with the increasing sophistication of such systems, powerful microcontrollers and digital signal processing (DSP) chips are commonly used, as are off-the-shelf real-time operating systems and design and debugging tools. Many people working with embedded systems deal on a daily basis with sensors and data acquisition technology and systems; others construct architectures based on single-board computers (many are still 68000-based, but RISC processors are being used more and more) and buses such as the VME bus. Many people are involved with the programming and debugging of embedded systems, largely using the C programming language and cross development and debugging platforms. Embedded systems may or may not have real-time constraints. Hard real-time systems are those in which missing an important deadline can cause severe consequences, even death. In this area, many fundamental results have been developed. For example, in real-time scheduling, rate monotonic analysis has enabled careful evaluation of many practical systems; the concept and analysis of competitive algorithms has provided important scheduling bounds and limits; and on-line planning has added flexible and dynamic capabilities to real-time systems. Operating systems research has produced predictable primitives, time-constrained synchronization techniques, and reservation and admission-control paradigms. Many other results exist in real-time architecture, fault tolerance, communication protocols, specification and design tools, formal verification, databases and object-oriented systems. Emphasis on all these areas is expected to increase in the foreseeable future. Many hard real-time systems are embedded systems. Distributed multimedia have produced a new set of soft real-time requirements. Real-time principles lie at the heart of distributed multimedia, but without the concomitant high reliability

To overcome the limitations of traditional Markov bridge degradation prediction models, which fail to consider the interactions between different component degradation mechanisms and struggle to accurately capture the true degradation conditions of bridge components, introducing an improved version of the traditional Markov model by incorporating the Weibull distribution. This enhancement results in a semi-Markov model that offers a probability distribution for predicting the technical condition of bridge components. Taking advantage of periodic inspection data from a highway section in Shandong Province, China. With this data, the states of bridge components are defined in the semi-Markov degradation model. The improved semi-Markov model integrates a two-parameter Weibull distribution and involves determining the parameters of the Weibull distribution, transition probability matrix, and state distribution vector. The semi-Markov degradation model, in contrast to commonly used Markov degradation models, accounts for both the state and duration of each state, resulting in significantly more accurate predictions of the degradation process of bridge components, achieving a prediction accuracy of 96%. The developed semi-Markov bridge degradation model facilitates the timely detection of changes in the technical condition of bridge components by updating the transition probability matrix according to variations in the duration of each state, thereby improving the efficiency of subsequent bridge maintenance decision-making.

9 - Software Structure of Controller

This paper presents an experimental work investigating the failure data of oil-impregnated paper under pulsating DC voltage. The failure data of the oil-impregnated paper specimens were obtained through constant voltage stress tests; the Weibull distribution was used to estimate the statistical distribution of failure data. The exponential function (EF) and the inverse power function (IPF) were used to modify the Weibull distribution of failure data, so as to obtain two dual-variable Weibull failure distributions (WFDs), which were used to analyze failure data of oil-paper specimens obtained under pulsating DC and individual DC and AC voltages. Their adequacies were evaluated by using failure data obtained through the constant stress tests under various voltages. Both EF-modified and IPF-modified WFDs show more adequacy for failure data of oil-paper insulation under DC and pulsating DC voltages than AC voltages. The EF-modified WFD was more adequate than IPF-modified WFD in estimating the statistical distribution of failure data.

We present a methodology for building timed models of real-time systems by adding time constraints to their application software. The applied constraints take into account execution times of atomic statements, the behavior of the system's external environment, and scheduling policies. The timed models of the application obtained in this manner can be analyzed by using time analysis techniques to check relevant real-time properties. We show an instance of the methodology developed in the TAXYS project for the modeling and analysis of real-time systems programmed in the Esterel language. This language has been extended to describe, by using pragmas, time constraints characterizing the execution platform and the external environment. An analyzable timed model of the real-time system is produced by composing instrumented C-code generated by the compiler. The latter has been re-engineered in order to take into account the pragmas. Finally, we report on applications of TAXYS to several nontrivial examples.

With the wide-spread using of LinuxOS, the Real-time requirement in certain applications is heighly demanded. So the Xenomai comes up, it has a higher priority than Linux kernel, so it can deal with the tasks which need real-time requirement.In order to set up the real-time Linux based on the ARM platform, the mini2440 development board contained s3c2440 as its MCU is used to set up the real-time operation system. Design and test the performs of the system. The results show that the embeded real-time Linux system based on the Xenomai has the good quality of real-time and can be used in the soft real-time system or the hard real-time system.

Speedup models are powerful analytical tools for evaluating and predicting the performance of parallel applications. Unfortunately, the well-known speedup models like Amdahl’s law and Gustafson’s law do not take reliability into consideration and therefore cannot accurately account for application performance in the presence of failures. In this study, we enhance Amdahl’s law and Gustafson’s law by considering the impact of failures and the effect of coordinated checkpointing/restart. Unlike existing analytical studies relying on Exponential failure distribution alone, in this work we consider both Exponential and Weibull failure distributions in the construction of our reliability-aware speedup models. The derived reliability-aware models are validated through trace-based simulations under a variety of parameter settings. Our trace-based simulations demonstrate these models can effectively quantify failure impact on application speedup. Moreover, we present two case studies to illustrate the use of these reliability-aware speedup models.

Hard real-time systems are typically written to execute either on bare metal or on a small real-time executive that offers no memory protection. This model scales poorly as systems become more complex and integrated, as is the trend in industry today. Designing hard real-time systems on a protected OS is often avoided due to the difficulty in predicting its response time.

The paper deals with problems of high level modeling of real-time systems in system level languages. Main advantages of transaction level modeling in SystemC are emphasized. The universal kernel for functionality, communication and timing issues modeling is presented. The problem of multithreading is exemplified on sorting procedure implemented in multi-core microprocessor system. Advantages of system level approach to modeling and design of real-time systems are outlined.

Evaluation of Level of Confidence and Optimization of Roll-back Recovery with Checkpointing for Real-Time Systems

This paper examines a class of real-time control systems in which each control task triggers its next release based on the value of the last sampled state. Prior work used simulations to demonstrate that self-triggered control systems can be remarkably robust to task delay. This paper derives bounds on a task's sampling period and deadline to quantify how robust the control system's performance will be to variations in these parameters. In particular we establish inequality constraints on a control task's period and deadline whose satisfaction ensures that the closed-loop system's induced L 2 gain lies below a specified performance threshold. The results apply to linear time-invariant systems driven by external disturbances whose magnitude is bounded by a linear function of the system state's norm. The plant is regulated by a full-information H infin controller. These results can serve as the basis for the design of soft real-time systems that guarantee closed-loop control system performance at levels traditionally seen in hard real-time systems.

In hard real-time systems, the importance of meeting a task execution deadline is a central issue for correctness and reliability of such systems. The focus of this research is to design and implement a real-time system which utilizes a set of mobile robots that are performing individual and common critical tasks. Specifically, a scheduling scheme consists of local and global schedulers is developed to schedule critical tasks using a transputer-based machine. To guarantee execution of critical tasks within the requested time frame, each task is provided with a Safety Time Factor (STF) based on its worst-case computation time. This STF can be added to the execution time of a newly arrived task if its deadline and the status of scheduled tasks allow. The local scheduler takes the advantages of accumulated safety times and provides alternatives for scheduling sporadic critical tasks. The performance of the model is evaluated in terms of the number of critical tasks that are guaranteed and executed by local processors. >