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E-raamat: Handbook of Real-Time and Embedded Systems

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Edited by (University of Virginia, Charlottesville, USA), Edited by (New Jersey Institute of Technology, Newark, USA), Edited by (University of Pennsylvania, Philadelphia, USA)
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Real-time and embedded systems are essential to our lives, from controlling car engines and regulating traffic lights to monitoring plane takeoffs and landings to providing up-to-the-minute stock quotes. Bringing together researchers from both academia and industry, the Handbook of Real-Time and Embedded Systems provides comprehensive coverage of the most advanced and timely topics in the field.

The book focuses on several major areas of real-time and embedded systems. It examines real-time scheduling and resource management issues and explores the programming languages, paradigms, operating systems, and middleware for these systems. The handbook also presents challenges encountered in wireless sensor networks and offers ways to solve these problems. It addresses key matters associated with real-time data services and reviews the formalisms, methods, and tools used in real-time and embedded systems. In addition, the book considers how these systems are applied in various fields, including adaptive cruise control in the automobile industry.

With its essential material and integration of theory and practice, the Handbook of Real-Time and Embedded Systems facilitates advancements in this area so that the services we rely on can continue to operate successfully.

Arvustused

"The editors and contributors are all respected authorities in the field of real-time and embedded systems and many of them are affiliated to top-class universities and research institutes. this book would make an excellent study resource or reference book for people who are interested in academic research in this important and growing field." Sensor Review, Vol. 30, Issue 1, 2010

Preface xv
Editors xvii
Contributors xix
Introduction and Overview
1(1)
Insup Lee
Joseph Y-T. Leung
Sang Hyuk Son
Introduction
1(1)
Overview
2
I. Real-Time Scheduling and Resource Management
Real-Time Scheduling and Resource Management
1(1)
Giorgio C. Buttazzo
Introduction
1(2)
Periodic Task Handling
3(4)
Handling Aperiodic Tasks
7(2)
Handling Shared Resources
9(3)
Overload Management
12(2)
Conclusions
14
Schedulability Analysis of Multiprocessor Sporadic Task Systems
1(1)
Theodore P. Baker
Sanjoy K. Baruah
Introduction
1(1)
Definitions and Models
2(2)
Dynamic Priority Scheduling
4(1)
Fixed Job-Priority Scheduling
5(5)
Fixed Task-Priority Scheduling
10(3)
Relaxations of the Sporadic Model
13(2)
Conclusion
15
Rate-Based Resource Allocation Methods
1(1)
Kevin Jeffay
Introduction
1(2)
Traditional Static Priority Scheduling
3(1)
A Taxonomy of Rate-Based Allocation Models
4(5)
Using Rate-Based Scheduling
9(3)
Hybrid Rate-Based Scheduling
12(1)
Summary and Conclusions
13
Compositional Real-Time Schedulability Analysis
1(1)
Insik Shin
Insup Lee
Introduction
1(2)
Compositional Real-Time Scheduling Framework
3(3)
Workload Models
6(1)
Resource Models
7(2)
Schedulability Analysis
9(3)
Schedulable Workload Utilization Bounds
12(4)
Extension
16(2)
Conclusions
18
Power-Aware Resource Management Techniques for Low-Power Embedded Systems
1(1)
Jihong Kim
Tajana Simunic Rosing
Introduction
1(1)
Dynamic Voltage Scaling
2(6)
Dynamic Power Management
8(4)
Conclusions
12
Imprecise Computation Model: Total Weighted Error and Maximum Weighted Error
1(1)
Joseph Y-T. Leung
Introduction
1(2)
Total Weighted Error
3(6)
Maximum Weighted Error
9(4)
Concluding Remarks
13
Imprecise Computation Model: Bicriteria and Other Related Problems
1(1)
Joseph Y-T. Leung
Introduction
1(1)
Total w-Weighted Error with Constraints
2(1)
Maximum w'-Weighted Error with Constraints
3(3)
0/1-Constraints
6(4)
Conclusions
10
Stochastic Analysis of Priority-Driven Periodic Real-Time Systems
1(1)
Jose Luis Diaz
Kanghee Kim
Jose Maria Lopez
Lucia Lo Bello
Daniel F. Garcia
Chang-Gun Lee
Sang Lyul Min
Orazio Mirabella
Introduction
1(1)
Related Work
2(1)
System Model
3(1)
Stochastic Analysis Framework
4(8)
Steady-State Backlog Analysis
12(3)
Computational Complexity
15(2)
Experimental Results
17(5)
Conclusions and Future Work
22
II. Programming Languages, Paradigms, and Analysis for Real-Time and Embedded Systems
Temporal Control in Real-Time Systems: Languages and Systems
1(1)
Sebastian Fischmeister
Insup Lee
Introduction
1(2)
The Model
3(1)
The Example: A Stopwatch
4(2)
Implicit Temporal Control
6(1)
Programming with Temporal Control
7(11)
Comparison and Conclusions
18
The Evolution of Real-Time Programming
1(1)
Christoph M. Kirsch
Raja Sengupta
Introduction
1(2)
The Computing Abstractions of Control Engineering
3(3)
Physical-Execution-Time Programming
6(1)
Bounded-Execution-Time Programming
7(3)
Zero-Execution-Time Programming
10(2)
Logical-Execution-Time Programming
12(2)
Networked Real-Time Systems
14
Real-Time Java
1(1)
Andy Wellings
Alan Burns
Introduction
1(1)
Background on the RTSJ
2(1)
Scheduling Objects and Scheduling
3(6)
Resource Sharing and Synchronization
9(2)
Time Values and Clocks
11(2)
Memory Management
13(4)
Conclusions
17
Programming Execution-Time Servers and Supporting EDF Scheduling in Ada 2005
1(1)
Alan Burns
Andy Wellings
Introduction
1(2)
The Ada 95 Version of the Language
3(1)
New Ada 2005 Features
3(5)
Programming Execution-Time Servers
8(6)
Support for Deadlines
14(1)
Baker's Preemption Level Protocol for Protected Objects
15(1)
Supporting EDF Scheduling in Ada
15(4)
Mixed Dispatching Systems
19(1)
Conclusion
20(1)
Postscript---Ada and Java
20
Synchronous Programming
1(1)
Paul Caspi
Pascal Raymond
Stavros Tripakis
Introduction
1(1)
From Practice
2(1)
To Theory
3(2)
Some Languages and Compilers
5(9)
Back to Practice
14(5)
Conclusions and Perspectives
19
III. Operating Systems and Middleware for Real-Time and Embedded Systems
QoS-Enabled Component Middleware for Distributed Real-Time and Embedded Systems
1(1)
Gan Deng
Douglas C. Schmidt
Christopher D. Gill
Nanbor Wang
Introduction
1(1)
R&D Challenges for DRE Systems
2(1)
Comparison of Middleware Paradigms
2(3)
Achieving QoS-Enabled Component Middleware: CIAO, DAnCE, and CoSMIC
5(4)
Applications of CIAO, DAnCE, and CoSMIC
9(4)
Related Work
13(1)
Concluding Remarks
14
Safe and Structured Use of Interrupts in Real-Time and Embedded Software
1(1)
John Regehr
Introduction
1(1)
Interrupt Definitions and Semantics
2(2)
Problems in Interrupt-Driven Software
4(5)
Guidelines for Interrupt-Driven Embedded Software
9(3)
Conclusions
12
QoS Support and an Analytic Study for USB 1.x/2.0 Devices
1(1)
Chih-Yuan Huang
Shi-Wu Lo
Tei-Wei Kuo
Ai-Chun Pang
Introduction
1(5)
QoS Guarantees for USB Subsystems
6(12)
Summary
18
Reference Middleware Architecture for Real-Time and Embedded Systems: A Case for Networked Service Robots
1(1)
Saehwa Kim
Seongsoo Hong
Introduction
1(1)
Robot Middleware Requirements
2(2)
Reference Robot Middleware Architecture
4(6)
Future Challenges of Robot Middleware
10(2)
Conclusions
12
IV. Real-Time Communications/Sensor Networks
Online QoS Adaptation with the Flexible Time-Triggered (FTT) Communication Paradigm
1(1)
Luis Almeida
Paulo Pedreiras
Joaquim Ferreira
Mario Calha
Jose Alberto Fonseca
Ricardo Marau
Valter Silva
Ernesto Martins
Introduction
1(1)
Toward Operational Flexibility
2(3)
The Flexible Time-Triggered Paradigm
5(3)
The Synchronous Messaging System
8(6)
The Asynchronous Messaging System
14(3)
Case Study: A Mobile Robot Control System
17(2)
Conclusions
19
Wireless Sensor Networks
1(1)
John A. Stankovic
Introduction
1(1)
MAC
2(1)
Routing
2(2)
Node Localization
4(1)
Clock Synchronization
5(1)
Power Management
5(1)
Applications and Systems
6(3)
Conclusions
9
Messaging in Sensor Networks: Addressing Wireless Communications and Application Diversity
1(1)
Hongwei Zhang
Anish Arora
Prasun Sinha
Loren J. Rittle
Introduction
1(1)
SMA: An Architecture for Sensornet Messaging
2(4)
Data-Driven Link Estimation and Routing
6(11)
Related Work
17(1)
Concluding Remarks
18
Real-Time Communication for Embedded Wireless Networks
1(1)
Marco Caccamo
Tarek Abdelzaher
Introduction
1(1)
Basic Concepts for Predictable Wireless Communication
2(1)
Robust and Implicit Earliest Deadline First
3(6)
Higher-Level Real-Time Protocols for Sensor Networks
9(2)
Real-Time Capacity of Wireless Networks
11(2)
Concluding Remarks
13
Programming and Virtualization of Distributed Multitasking Sensor Networks
1(1)
Azer Bestavros
Michael J. Ocean
Introduction
1(3)
The SNAFU Programming Language
4(3)
Sensorium Task Execution Plan
7(2)
The Sensorium Service Dispatcher
9(3)
Sensorium Execution Environments
12(4)
Putting It All Together
16(2)
Related Work
18(1)
Conclusion
19
V. Real-Time Database/Data Services
Data-Intensive Services for Real-Time Systems
1(1)
Krithi Ramamritham
Lisa Cingiser DiPippo
Sang Hyuk Son
Introduction
1(3)
Data Freshness and Timing Properties
4(2)
Transaction Processing
6(6)
Quality of Service in Real-Time Data Services
12(5)
Data Services in Sensor Networks
17(1)
Mobile Real-Time Databases
18(2)
Dissemination of Dynamic Web Data
20(1)
Conclusion
21
Real-Time Data Distribution
1(1)
Angela Uvarov Frolov
Lisa Cingiser DiPippo
Victor Fay-Wolfe
Introduction to Real-Time Data Distribution
1(1)
Real-Time Data Distribution Problem Space
1(4)
Approaches to Real-Time Data Distribution
5(11)
Conclusion
16
Temporal Consistency Maintenance for Real-Time Update Transactions
1(1)
Ming Xiong
Krithi Ramamritham
Introduction
1(2)
More-Less Using EDF
3(4)
More-Less Using Deadline Monotonic
7(1)
Deferrable Scheduling
8(9)
Conclusions
17
Salvaging Resources by Discarding Irreconcilably Conflicting Transactions in Firm Real-Time Database Systems
1(1)
Victor C. S. Lee
Joseph Kee-Yin Ng
Ka Man Ho
Introduction
1(2)
Related Work
3(2)
A New Priority Cognizant CC Algorithm
5(1)
Experiments
6(2)
Results
8(4)
Conclusion
12
Application-Tailored Databases for Real-Time Systems
1(1)
Aleksandra Tesanovic
Jorgen Hansson
Introduction
1(1)
Dimensions of Tailorability
2(1)
Tailorable Real-Time and Embedded Database Systems
3(3)
The COMET Approach
6(10)
Summary
16
DeeDS NG: Architecture, Design, and Sample Application Scenario
1(1)
Sten F. Andler
Marcus Brohede
Sanny Gustavsson
Gunnar Mathiason
Introduction
1(3)
Active Research Problems
4(1)
DeeDS NG
5(11)
Related Work
16(1)
Summary
17
VI. Formalisms, Methods, and Tools
State Space Abstractions for Time Petri Nets
1(1)
Bernard Berthomieu
Francois Vernadat
Introduction
1(1)
Time Petri Nets and Their State Space
2(3)
State Space Abstractions Preserving Markings and Traces
5(3)
State Space Abstractions Preserving States and Traces
8(5)
Abstractions Preserving States and Branching Properties
13(2)
Computing Experiments
15(1)
Conclusion and Further Issues
16
Process-Algebraic Analysis of Timing and Schedulability Properties
1(1)
Anna Philippou
Oleg Sokolsky
Introduction
1(3)
Modeling of Time-Sensitive Systems
4(5)
Modeling of Resource-Sensitive Systems
9(10)
Conclusions
19
Modular Hierarchies of Models for Embedded Systems
1(1)
Manfred Broy
Motivation
1(2)
Comprehensive System Modeling Theory
3(7)
Structuring Interfaces
10(5)
Refinement
15(3)
Composition and Combination
18(2)
Modeling Time
20(3)
Perspective, Related Work, Summary, and Outlook
23
Metamodeling Languages and Metaprogrammable Tools
1(1)
Matthew Emerson
Sandeep Neema
Janos Sztipanovits
Introduction
1(2)
Modeling Tool Architectures and Metaprogrammability
3(6)
A Comparison of Metamodeling Languages
9(5)
Relating Metamodeling Languages and Metaprogrammable Tools
14(2)
Conclusion
16
Hardware/Software Codesign
1(1)
Wayne Wolf
Introduction
1(1)
Hardware/Software Partitioning Algorithms
2(2)
Cosynthesis Algorithms
4(1)
CPU Customization
5(1)
Codesign and System Design
6(1)
Summary
7
Execution Time Analysis for Embedded Real-Time Systems
1(1)
Andreas Ermedahl
Jakob Engblom
Introduction
1(3)
Software Behavior
4(1)
Hardware Timing
5(3)
Timing by Measurements
8(2)
Timing by Static Analysis
10(5)
Hybrid Analysis Techniques
15(1)
Tools for WCET Analysis
15(1)
Industrial Experience with WCET Analysis Tools
15(2)
Summary
17
VII. Experiences with Real-Time and Embedded Systems
Dynamic QoS Management in Distributed Real-Time Embedded Systems
1(1)
Joseph P. Loyall
Richard E. Schantz
Introduction
1(1)
Issues in Providing QoS Management in DRE Systems
2(3)
Solutions for Providing QoS Management in DRE Systems
5(7)
Case Studies of Providing QoS Management
12(18)
Conclusions
30
Embedding Mobility in Multimedia Systems and Applications
1(1)
Heonshik Shin
Introduction
1(1)
Challenges for Mobile Computing with Multimedia
2(2)
System-Layer Approaches
4(5)
Application-Layer Approaches
9(5)
Conclusions
14
Embedded Systems and Software Technology in the Automotive Domain
1(1)
Manfred Broy
Introduction
1(1)
The History
2(1)
State of Practice Today
2(1)
The Domain Profile
3(1)
The Future
4(2)
Practical Challenges
6(5)
Research Challenges
11(5)
Comprehensive Research Agenda
16(2)
Conclusion
18
Real-Time Data Services for Automotive Applications
1(1)
Gurulingesh Raravi
Krithi Ramamritham
Neera Sharma
Introduction
1(1)
Real-Time Data Issues in Automotive Applications
2(3)
Adaptive Cruise Control: An Overview
5(2)
Our Goals and Our Approach
7(1)
Specifics of the Dual Mode System
8(2)
Specifics of the Real-Time Data Repository
10(2)
Robotic Vehicle Control: Experimental Setup
12(1)
Results and Observations
13(4)
Related Work
17(1)
Conclusions and Further Work
18
Index 1


Insup Lee, Jospeh Y-T Leung, Sang H. Son
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