一种用于硬实时Java处理器的类转换器设计及实现

通过分析Class文件处理过程及其中影响实时性的操作，提出一种用于硬实时Java处理器的类转换器，它读取标准Class文件，处理并生成适合Java处理器直接执行的内存映像文件．由于装载、连接过程中大量操作（如符号引用的解析）都由类转换器提前处理完毕，使得Java处理器操作大为简化．同时，由于所有影响Java处理器实时性的操作也由类转换器提前处理，Java处理器最坏情况执行时间（Worst Case Execution Time）完全可预测．     

一种基于简化任务模型的消息最大发送时间分析算法

分布式实时系统是实时系统的一个重要研究方向,有着广泛的应用背景。消息最大发送时间的定量分析是该研究方向中的一个关键问题。本文针对分布式实时系统中的一种简化任务模型,对原有分析算法进行了改进,提出了一种更加精确的消息最大发送时间分析算法。     

Threaded Prefetching: A New Instruction Memory Hierarchy for Real-Time Systems

Cache memories have been extensively used to bridge the speed gap between high speed processors and relatively slow main memory. However, they are not widely used in real-time systems due to their unpredictable performance. This paper proposes an instruction prefetching scheme called threaded prefetching as an alternative to instruction caching in real-time systems. In the proposed threaded prefetching, an instruction block pointer called a thread is assigned to each instruction memory block and is made to point to the next block on the worst case execution path that is determined by a compile-time analysis. Also, the thread is not updated throughout the entire program execution to guarantee predictability. This paper also compares the worst case performances of various previous instruction prefetching schemes with that of the proposed threaded prefetching. By analyzing several benchmark programs, we show that the worst case performance of the proposed scheme is significantly better than those of previous instruction prefetching schemes. The results also show that when the block size is large enough the worst case performance of the proposed threaded prefetching scheme is almost as good as that of an instruction cache with 100 % hit ratio.     

Efficient and Precise Cache Behavior Prediction for Real-Time Systems

Abstract interpretation is a technique for the static detection of dynamic properties of programs. It is semantics based, that is, it computes approximative properties of the semantics of programs. On this basis, it supports correctness proofs of analyses. It replaces commonly used ad hoc techniques by systematic, provable ones, and it allows for the automatic generation of analyzers from specifications by existing tools. In this work, abstract interpretation is applied to the problem of predicting the cache behavior of programs. Abstract semantics of machine programs are defined which determine the contents of caches. For interprocedural analysis, existing methods are examined and a new approach that is especially tailored for the cache analysis is presented. This allows for a static classification of the cache behavior of memory references of programs. The calculated information can be used to improve worst case execution time estimations. It is possible to analyze instruction, data, and combined instruction/data caches for common (re)placement and write strategies. Experimental results are presented that demonstrate the applicability of the analyses.     

程序执行时间的静态预估与可视化分析方法

软件时间性能分析与评估技术是实时软件开发中的一个重要课题.提出了一种基于控制流程图的程序执行时间的可视化分析框架,研究了中间代码段与源程序中语句的对应关系的自动分析、源程序语句行的CPU周期数的提取和计算方法、基于控制流程图的点到点最大时间分析算法和CPU周期的绝对时间估计方法.设计并实现了一个实用的基于控制流程图的程序执行时间静态分析与评估工具.最后,对研究工作进行了相关比较和总结.     

Worst‐case optimal control for an electrical drive system with time‐delay

This paper considers an optimal control developed for an electrical drive system with a DC motor. Since it is a linear control system with input time‐delay subject to unknown but bounded disturbances, we construct a worst‐case feedback control policy, which can guarantee that, for all admissible uncertain disturbances, the real system state should be in a prescribed neighborhood of a desired value at the given final time, and the cost functional takes the best guarantee value. The worst‐case feedback control policy is allowed to be corrected at a given set of correction points between the initial and the final time, which is equivalent to solving a (m‐1)‐level min‐max problem. Since the min‐max problem at each stage does not yield a simple analytical solution, construction of the optimal policy is computationally prohibitive. This is why we consider an approximate control policy which is more convenient for computation. The simulation results illustrate that this proposed approach is feasible. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Modeling Control Speculation for Timing Analysis

The schedulability analysis of real-time embedded systems requires worst case execution time (WCET) analysis for the individual tasks. Bounding WCET involves not only language-level program path analysis, but also modeling the performance impact of complex micro-architectural features present in modern processors. In this paper, we statically analyze the execution time of embedded software on processors with speculative execution. The speculation of conditional branch outcomes (branch prediction) significantly improves a program's execution time. Thus, accurate modeling of control speculation is important for calculating tight WCET estimates. We present a parameterized framework to model the different branch prediction schemes. We further consider the complex interaction between speculative execution and instruction cache performance, that is, the fact that speculatively executed blocks can generate additional cache hits/misses. We extend our modeling to capture this effect of branch prediction on cache performance. Starting with the control flow graph of a program, our technique uses integer linear programming to estimate the program's WCET. The accuracy of our method is demonstrated by tight estimates obtained on realistic benchmarks.     

一种精确程序最坏执行时间分析方法

Java语言的动态特性使程序的最坏执行时间分析较悲观和难以预测,提出一种精确最坏执行时间分析方法,在高层分析中,引入一种标记方法,对带有标记的Java类文件进行反编译提取控制流程,得到每一个基本块中的Java 字节码指令的最坏情况下的执行次数,在底层分析中,建立结合流水线和高级缓存影响的时间模型,得到每条指令所对应的执行时间,最后结合高层分析和底层分析的结果得到程序的最坏情况下的执行时间。实验表明,该方法可以使对实时Java 程序的最坏情况执行时间预测更加安全和精确。     

一种实时Java处理器''''区域''''内存实现模型

Java实时规范（RTSJ）提出的‘区域’内存（Scoped Memory）既避免了垃圾回收对系统实时性的影响，又能充分利用内存空间，引起了众多研究人员的重视．本文讨论了‘区域’内存的实现及影响最坏情况下执行时间（WCET）的因素，并提出一种针对嵌入式实时Java处理器的‘区域’内存实现模型．该模型中非实时处理在字节码被执行之前完成，消除了运行时管理‘区域’内存对WCET的影响，在简化处理器实现的同时保证了运行时WCET的可预测性．     

基于取指执行时序范畴的多核共享Cache干扰分析

在多核结构中,获得并行应用线程的安全、精确的最坏情况执行时间(worst case execution time, WCET)的最大挑战之一在于共享资源的竞争冲突检测.在共享Cache的多核处理器中,线程在共享Cache中的指令可能被其他并行线程的指令替换,从而导致了线程间在共享Cache上的干扰,因此多核结构下线程WCET需要考虑并行线程间在共享Cache上的干扰.在现有的简单地址映射干扰分析基础上,考虑了指令取指执行时序因素对干扰的影响,提出了非干扰状态的充分不必要条件,根据指令的取指执行时序范畴判断线程在共享Cache上的干扰状态.通过排除非干扰状态,可以进一步精确多核结构中线程的WCET估值.理论分析证明了该方法的有效性.实验结果表明,与当前现有的考虑执行周期和基于逻辑访问先后顺序的方法相比,基于时序方法下的WCET估值分别可以提高12%和7%的精确度.     

基于嵌入式Java处理器的高速图像处理

Java技术正越来越受到图像处理研究人员的关注,希望以此提升开发效率,增强可移植性。但软件方式的Java虚拟机运行速度慢、实时性差,无法满足图像处理复杂计算对性能的需求。为此,提出一种以硬件方式直接执行字节码的Java处理器结构,并实现了其模拟器及预处理器构成完整测试平台。从实验结果可看出:该平台的执行效率是虚拟机方式的860倍,表明将Java处理器用于嵌入式图像处理将是一种可行选择。     

一个基于面向对象技术的Java芯片模型系统

为了完成Ｊａｖａ芯片体系结构级验证和性能评测,本文提出一种Ｊａｖａ芯片流水线级模型和据此模型开发的基于面向对象技术的Ｊａｖａ芯片模型系统。     

几何变换的误差传播

采用最坏情况法研究几何变换中的误差传播问题．在给出基本几何元素误差域表示方法的基础上,讨论对称、旋转变换的误差传播规律;并利用Minkowski算子,给出计算几何变换后误差域的算法,从而为进一步研究几何误差的控制奠定基础．     

异构分布式实时仿真系统的容错调度算法

异构分布式实时仿真系统是一类特殊的实时系统,基于改进的SP(spare processor)容错模型(checkpoint-based spare processor,简称CSP)对其容错问题进行了研究.首先,根据仿真系统的特点提出了两个命题,这是后续工作的基础;而后,基于Markov链对仿真任务的最坏反应时间进行了分析,并提出了仿真任务的可调度性分析规则;最后,基于CSP容错模型和上述可调度分析规则提出了异构分布式实时仿真系统的容错调度算法CSP-RTFT.算法的仿真结果表明:该算法较之基于SP模型的算法SP-RTFT可获得更好的稳定性、更高的任务接收率;缺点是资源利用率比PB模型下的算法要低.     

基于网关互连的CAN网络最坏响应时间分析

CAN网络广泛应用于汽车电子系统,不同的CAN网络之间需要借助网关进行通信。针对现有的穷尽搜索算法和简化搜索算法,二者为简化分析在分析网关消息所造成的非周期性干扰时忽略了部分高优先级消息的影响,结合这一点,通过考虑被忽略的高优先级消息的干扰,并证明网关消息同时释放时所造成的非周期性干扰最大,改进了基于网关互连的CAN网络最坏响应时间分析的方法。使用Matlab工具进行了仿真实验,实验结果表明,改进后的算法具有较低的时间复杂度以及能够降低结果的悲观性。