基于抢占阈值调度的周期任务最小响应时间分析*

针对采用抢占阈值调度策略的系统,在假设任务对释放偏移没有特定要求的情况下,给出使得任务响应时间最小时应满足的条件,并根据该条件得到了任务最小响应时间的计算公式。该公式的一个重要应用是在分布式系统中分析后继子任务的最大释放抖动,有效降低端到端任务的最大响应时间的计算结果,从而有利于提高系统的可调度性。     

基于EDF抢占式调度的周期任务最小响应时间分析

针对采用EDF抢占式调度策略的系统，在假设任务对释放偏移没有特定要求的情况下，给出使得任务响应时间最小时应满足的条件，并根据该条件得到了任务最小响应时间的计算公式。该公式的一个重要应用是用于精确估计在分布式系统中后继子任务的最大释放抖动，从而精确计算出端到端任务的最大响应时间，以正确判断任务的可调度性。     

改进的基于抢占阈值调度的任务响应时间分析方法

基于抢占阈值调度的任务响应时间分析方法是一种新型实时系统任务可调度性判定技术。然而已有的研究工作,有时对以前的任务请求检查过少,可能导致对响应时间估计过低。同时对任务响应时间的分析忽略了任务释放抖动和时钟嘀嗒调度对任务响应时间的影响,造成任务错过期限的现象,系统任务可调度性判定存在潜在的不精确因素。针对上述缺点不足,本文提出改进的基于抢占阈值调度的任务响应时间分析方法,在修正已有方法缺陷的同时,考虑任务释放抖动和时钟嘀嗒调度的影响,引入额外的时间需求,使用改进的任务参数计算系统任务时间需求函数。仿真对比结果表明,改进后的方法较单纯固定优先级抢占阈值调度下的任务响应时间分析方法得到更加精确可调度性分析结果。     

改进的抢占阈值调度任务响应时间分析方法

现有的基于抢占阈值调度的任务响应时间分析方法对实时任务系统进行可调度性判定时，对任务响应时间估计过低，造成任务错过期限的现象。针对上述缺点不足，该文提出改进的基于抢占阈值调度的任务响应时间分析方法，考虑了任务释放抖动和时钟嘀嗒调度的影响，使用改进的任务参数计算系统任务时间需求函数。仿真对比结果表明，改进后的方法较单纯固定优先级抢占阈值调度下的任务响应时间分析方法得到更加精确可调度性分析结果。     

基于抢占阈值调度的周期任务请求的响应时间计算*

在实时系统中计算任务请求的响应时间具有重要意义,针对抢占阈值调度,给出了一个计算任务请求响应时间的公式。试验结果表明所给公式与采用模拟运行的方法相比具有计算量小、运行时间短的优点。     

基于分布式射频MEMS移相器电容开关的分析与设计

通过分析MEMS电容开关的工作原理,设计出一种适合分布式射频MEMS移相器电路的新型电容开关.采用Intel lisuiteTM软件优化电容开关的驱动电压、响应时间、释放时间和机械振动模式.结果表明,开关驱动电压为2.5 V、响应时间小于30μs,释放时间大于60 μs和所有振动模式固有频率都大于15 KHz.与普通开关结构比较,该新型电容开关结构具有优越射频机电性能和响应时间,同时也对电容开关的制备工艺进行分析.     

考虑中断和上下文切换开销的响应时间分析

实时嵌入式系统多采用中断和上下文切换实现多任务间调度,在对此类系统进行可调度性分析时,在任务的最差响应时间计算中必须包含中断和上下文切换开销.现有包含这些开销的方法是将中断作为高优先级任务同时将上下文切换开销加入到任务最差执行时间中进行分析,然而这些方法过于粗略,缺乏对实际系统细节的考虑,计算得到的最差响应时间并不精确.本文首先对中断和上下文切换的机制和时间流程进行详细的阐述,进而分析中断和上下文切换对任务关键性时刻的影响,接着给出包含上述开销的更加精确的响应时间计算方法,最后进行仿真验证.本文扩展了包含系统调度开销的响应时间计算方法,可用于资源受限的硬实时系统中需要精确计算响应时间的场合.     

带有线性恶化工件和释放时间的两个代理单机调度问题

研究了带有简单线性恶化工件和释放时间的两个代理单机调度问题. 所有工件在一台机器上加工, 每个代理有各自依赖于自己工件的优化目标. 针对工件释放时间相同与不同两种情况, 研究了有约束的优化模型, 即找到调度最小化一个代理的目标函数而使得另一个代理的目标函数不超过一个给定的上界. 当工件具有相同的释放时间, 我们主要考虑的目标函数有: 总加权完工时间和总加权拖期工件数. 当工件具有不同释放时间, 我们考虑的目标函数有: 最大完工时间、总完工时间以及拖期工件数. 对于每一个问题, 我们分析了问题的计算复杂性. 此外, 对于NP难问题的一些特殊情况本文分析了最优解性质, 基于这些性质给出了最优算法.     

EDF统一调度硬实时周期任务和偶发任务的可调度性判定算法

现有的硬实时周期任务和非周期任务的混合调度方法都没有保证非周期任务的实时性,所以不适合调度具有强实时要求的偶发任务.通过分析和计算EDF算法调度偶发任务所占用的空闲时间和挪用时间,以及调度后对空闲时间和最大可挪用时间的影响,提出一种采用EDF算法统一调度硬实时周期任务和偶发任务时的可调度性充分判定算法.最后用仿真实验得出了该算法在不同系统负载下的判定准确率和偶发任务的平均响应时间.     

阿霉素纳米粒体外释放模型的拟合研究

目的:研究阿霉素溶液和阿霉素纳米粒体外释放行为的不同.方法:采用零级动力学方程、一级动力学方程、Higuchi方程和双相动力学方程拟合药物在体外的释放行为,根据拟合优度来判定曲线拟合情况,探讨方程所反应的释放机理.结果:阿霉素溶液在生理盐水中的体外释药用零级动力学方程、Higuchi方程和双相动力学方程拟合,拟合优度均不很好,而一级动力学方程则比较好.阿霉素溶液在体外的释放较快;阿霉素纳米粒在生理盐水中的释药情况用零级动力学方程、一级动力学方程和Higuchi方程描述时,拟合优度均不很好,而双相动力学方程则较好.阿霉素纳米粒在体外的释放较为缓慢.结论:阿霉素溶液体外释放速度较快,符合一级动力学方程:阿霉素纳米粒在体外的释放符合双相动力学方程.纳米粒在释药前由于纳米粒表面吸附有阿霉素,所以释药快,后来因为载体材料的溶解逐渐将阿霉素释放出来,这种释药规律符合抗癌药物的用药原则.     

Best-Case Response Times and Jitter Analysis of Real-Time Tasks

In this paper, we present a simple recursive equation and an iterative procedure to determine the best-case response times of periodic tasks under fixed-priority preemptive scheduling and arbitrary phasings. The approach is of a similar nature as the one used to determine worst-case response times (Joseph and Pandya, 1986) in the sense that where a critical instant is considered to determine the latter, we base our analysis on an optimal instant. Such an optimal instant occurs when all higher priority tasks have a simultaneous release that coincides with the completion of an execution of the task under consideration. The resulting recursive equation closely resembles the one for worst-case response times. The iterative procedure is illustrated by means of a small example. Next, we apply the best-case response times to analyze jitter in distributed multiprocessor systems. To this end, we discuss the effect of the best-case response times on completion jitter, as well as the effect of release jitter on the best-case response times. The newly derived best-case response times generally result in tighter bounds on jitter, in turn leading to tighter worst-case response time bounds.     

An extendible approach for analyzing fixed priority hard real-time tasks

As the real-time computing industry moves away from static cyclic executive-based scheduling towards more flexible process-based scheduling, so it is important for current scheduling analysis techniques to advance and to address more realistic application areas. This paper extends the current analysis associated with static priority pre-emptive based scheduling; in particular it derives analysis for tasks with arbitrary deadlines that may suffer release jitter due to being dispatched by a tick driven scheduler. We also consider bursty sporadic activities, where tasks arrive sporadically but then execute periodically for some bounded time. The paper illustrates how a window-based analysis technique can be used to find the worst-case response time of a task set, and shows that the technique can be easily extended to cope with realistic and complex task characteristics.     

基于改进型统一调度算法改善任务集的可调度性

实时系统要求任务在最差情况下能在其截止时间前获得结果,若超过了其截止时间,也会认为是错误的行为,所以改进任务可调度性分析、提高任务集可调度性尤其重要。统一调度能结合固定优先级调度的优点,防止不必要的抢占,降低资源额外销耗,能够提高任务集合的可调度性;但其任务的可调度性分析方法过于粗糙,影响任务最差响应时间分析的结果,降低了任务集的可调度性。针对存在的问题,基于统一调度,增加任务运行阶段数,重新建立任务模型,并提出通过分配任务抢占阈值、调整运行阶段的抢占阈值与长度,优化任务可容忍阻塞,改善任务集可调度性的算法。最后,实验表明,与统一调度算法及其他算法相比,所提出的调度算法能够有效改善任务集的可调度性。     

Converging to periodic schedules for cyclic scheduling problems with resources and deadlines

Cyclic scheduling has been widely studied because of the importance of applications in manufacturing systems and in computer science. For this class of problems, a finite set of tasks with precedence relations and resource constraints must be executed repetitively while maximizing the throughput. Many applications also require that execution schedules be periodic i.e. the execution of each task is repeated with a fixed global period w.The present paper develops a new method to build periodic schedules with cumulative resource constraints, periodic release dates and deadlines. The main idea is to fix the period w, to unwind the cyclic scheduling problem for some number of iterations, and to add precedence relations so that the minimum time lag between two successive executions of any task equals w. Then, using any usual (not cyclic) scheduling algorithm to compute task starting times for the unwound problem, we prove that either the method converges to a periodic schedule of period w or it fails to compute a schedule. A non-polynomial upper bound on the number of iterations to unwind in order to guarantee that cyclic precedence relations and resource constraints are fulfilled is also provided. This method is successfully applied to a real-life problem, namely the software pipelining of inner loops on an embedded VLIW processor core by using a Graham list scheduling algorithm.     

On the convergence of the holistic analysis for EDF distributed systems

Dynamic scheduling techniques, and EDF (Earliest Deadline First) in particular, have demonstrated their ability to increase the schedulability of real time systems compared to fixed-priority scheduling. In distributed systems, the scheduling policies of the processing nodes tend to be the same as in stand-alone systems and, although few EDF networks exist, it is foreseen that dynamic scheduling will gradually develop into real-time networks. There are some response time analysis techniques for EDF scheduled distributed systems, mostly derived from the holistic analysis developed by Spuri. A major factor influencing the response time is the release jitter of each task, which is the maximum variation suffered by the release time of the task jobs. The convergence of the holistic analysis in the context of EDF distributed systems with shared resources had not been studied until now. There is a circular dependency between the task release jitter values, response times and the preemption level ceilings of shared resources. In this paper we present an extension of Spuri’s algorithm and we demonstrate that its iterative formulas are non-decreasing, even in the presence of shared resources. This result enables us to assert that the new algorithm converges towards a solution for the response times of the tasks and messages in a distributed system.¹     

Fixed priority scheduling of tasks with arbitrary precedence constraints in distributed hard real-time systems

This paper considers the schedulability analysis of real-time distributed applications where tasks may present arbitrary precedence relations. It is assumed that tasks are periodic or sporadic and dynamically released. They have fixed priorities and hard end-to-end deadlines that are equal to or less than the respective period. We develop a method to transform arbitrary precedence relations into release jitter. By eliminating all precedence relations in the task set one can apply any available schedulability test that is valid for independent task sets.     

Improving the Accuracy of Scheduling Analysis Applied to Distributed Systems Computing Minimal Response Times and Reducing Jitter

A well-established approachto the verification of end-to-end response times for distributed,hard real-time systems is an integrated scheduling analysis ofboth task processing and message communication. Hitherto, publishedanalyses have been confined to the computation of worst-casebounds only and best-case response times have been ignored, assumedto be zero or treated approximately. However, there are compellingreasons for computing both upper and lower bounds on responsetimes, not only to allow the verification of best-case performancebut also to improve the accuracy of the overall analysis. Thispaper describes a precise best-case execution time analysis whichreduces jitter and extends distributed scheduling analysis toyield more accurate upper and lower bounds on system responsetimes. The analysis is combined with existing results for worst-caseresponses in a single scheduling algorithm to compute both upperand lower bounds on end-to-end response in distributed systems.A design tool has been developed to automatethe analysis and support the performance verification of diversereal-time systems composed of tasks executing on multiple processorswhich communicate using the Controller Area Network (CAN) fieldbus.