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We have introduced an adaptive hierarchical scheduling framework as a solution for composing dynamic realtime systems, i.e., systems where the CPU demand of its tasks are subjected to unknown and potentially drastic changes during runtime. The framework consists of a controller which periodically adapts the system to the current load situation. In this paper, we unveil and explore the detailed behavior...
Processor partitioning and hierarchical scheduling have been widely used for composing hard real-time systems on a shared hardware platform while preserving the timing requirements of the systems. Due to the safety critical nature of hard real-time systems, a conservative analysis is often used for deriving a sufficient partition size. Applying the exact same analysis for deriving the partition sizes...
Cluster based multiprocessor scheduling can be seen as a hybrid approach combining benefits of both partitioned and global scheduling. Virtual clustering further enhances it by providing dynamic cluster resource allocation and applying hierarchical scheduling techniques. Over the years, the study of virtual cluster scheduling has been limited to theoretical analysis. In this paper, we present our...
In our previous work, we have introduced an adaptive hierarchical scheduling framework as a solution for composing dynamic real-time systems, i.e., systems where the CPU demand of their tasks are subjected to unknown and potentially drastic changes during run-time. The framework uses the PI controller which periodically adapts the system to the current load situation. The conventional PI controller...
Hierarchical scheduling provides a modular framework for integrating, scheduling and guaranteeing timing constraints of compositional real-time systems. In such a scheduling framework, all modules should receive a sufficient portion of the shared CPU to be able to guarantee timing constraints of their internal parts. In dynamic systems i.e., systems where the execution time of tasks are subjected...
In a hierarchical scheduling framework, a resource can be shared among modules with different criticality levels. In our recently introduced adaptive hierarchical scheduling framework, modules receive a dynamic portion of the CPU during run-time. While providing temporal isolation is one of the main advantages of hierarchical scheduling, in an adaptive framework, for example when the CPU is overloaded,...
FPGA-based solutions have become more common in embedded systems these days. These systems need to communicate with external world. Considering high-speed and popularity of Ethernet communication, a reliable real-time Ethernet component inside FPGA is of special value. To that end, this paper presents a new solution for 100 Mb/s FPGA-based Ethernet communications with timing analysis. The solution...
FPGA has been used in many robotics projects for real-time image processing. It provides reliable systems with low execution time and simplified timing analysis. Many of these systems take a lot of time in development and testing phases. In some cases, it is not possible to test the system in real environments very often, due to accessibility, availability or cost problems. This paper is the result...
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