A fault-tolerant time-triggered scheduling algorithm of mixed-criticality systems
Real-time and safety-critical systems are an integration of multiple functionalities onto a single computing platform. Some of the functionalities are safety-critical and subject to certification while the rest of the functionalities are nonsafety-critical and do not need the certification. Various...
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| Published in | Computing Vol. 104; no. 3; pp. 577 - 599 |
|---|---|
| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
Vienna
Springer Vienna
01.03.2022
Springer Nature B.V |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0010-485X 1436-5057 |
| DOI | 10.1007/s00607-021-01026-5 |
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| Abstract | Real-time and safety-critical systems are an integration of multiple functionalities onto a single computing platform. Some of the functionalities are safety-critical and subject to certification while the rest of the functionalities are nonsafety-critical and do not need the certification. Various researches have been done for the scheduling theory of mixed-criticality systems. But the time-triggered scheduling of mixed-criticality systems is very popular and used in industry. Since the schedule is prepared offline in a time-triggered mixed-criticality system, we need to prepare the schedule in such a way that the schedule must tolerate fault online. Hence the problem of fault-tolerance in the time-triggered system is important. This work proposes a new and novel time-triggered fault-tolerant algorithm for mixed-criticality systems. Then we show that the proposed algorithm is correct and tolerate at most one fault over the hyperperiod. Finally, we compare the proposed algorithm with the existing time-triggered scheduling algorithms for mixed-criticality systems. |
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| AbstractList | Real-time and safety-critical systems are an integration of multiple functionalities onto a single computing platform. Some of the functionalities are safety-critical and subject to certification while the rest of the functionalities are nonsafety-critical and do not need the certification. Various researches have been done for the scheduling theory of mixed-criticality systems. But the time-triggered scheduling of mixed-criticality systems is very popular and used in industry. Since the schedule is prepared offline in a time-triggered mixed-criticality system, we need to prepare the schedule in such a way that the schedule must tolerate fault online. Hence the problem of fault-tolerance in the time-triggered system is important. This work proposes a new and novel time-triggered fault-tolerant algorithm for mixed-criticality systems. Then we show that the proposed algorithm is correct and tolerate at most one fault over the hyperperiod. Finally, we compare the proposed algorithm with the existing time-triggered scheduling algorithms for mixed-criticality systems. |
| Author | Behera, Lalatendu |
| Author_xml | – sequence: 1 givenname: Lalatendu surname: Behera fullname: Behera, Lalatendu email: beheral@nitj.ac.in organization: Department of Computer science and Engineering, Dr B R Ambedkar National Institute of Technology Jalandhar |
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| Cites_doi | 10.1109/TPDS.2021.3052236 10.1109/EmbeddedSys.2014.6953097 10.1109/ACCESS.2020.3031039 10.1109/40.16792 10.1109/DAC.2014.6881458 10.1007/s11241-014-9202-z 10.1007/978-3-319-72344-0_10 10.1007/978-1-4419-8237-7 10.1007/s10617-019-09232-3 10.1145/2968455.2968515 10.1016/j.procs.2015.01.027 10.1109/2.248873 10.1109/TCAD.2020.2977063 10.1109/TSC.2020.3013600 10.1109/DFT.2016.7684070 10.1109/RTSS.2011.9 10.1007/978-90-481-9707-1 10.1145/321738.321743 10.1109/ECRTS.2013.20 10.4018/IJERTCS.2015040104 10.1145/3131347 10.1109/ICWS49710.2020.00058 10.1007/978-1-4614-0676-1 10.3850/9783981537079_0312 10.1109/TC.2011.142 10.1142/S0218126617500165 10.1007/978-3-319-55944-5_2 10.1109/RTSS.2007.47 10.1007/s11241-005-0507-9 |
| ContentType | Journal Article |
| Copyright | The Author(s), under exclusive licence to Springer-Verlag GmbH Austria, part of Springer Nature 2021 The Author(s), under exclusive licence to Springer-Verlag GmbH Austria, part of Springer Nature 2021. |
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| DOI | 10.1007/s00607-021-01026-5 |
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| Keywords | Time-triggered schedule TT-Merge algorithm 68W40 Fault-tolerant Real-time systems 68M20 68M15 MCEDF OCBP algorithm Mixed-criticality systems 68M01 |
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| References | BeheraLBhaduriPTime-triggered scheduling of mixed-criticality systemsACM Trans Des Autom Electron Syst (TODAES)201722474 Zhao H, Deng S, Liu Z, Yin J, Dustdar S (2020) Distributed redundancy scheduling for microservice-based applications at the edge. IEEE Trans Serv Comput 1–14 ValavanisKPVachtsevanosGJHandbook of unmanned aerial vehicles2015BerlinSpringer10.1007/978-90-481-9707-1 PathanRMFault-tolerant and real-time scheduling for mixed-criticality systemsReal-Time Syst201450450954710.1007/s11241-014-9202-z PolednaSFault-tolerant real-time systems: the problem of replica determinism2007BerlinSpringer0864.68007 BaruahSBonifaciVD’AngeloGLiHMarchetti-SpaccamelaAMegowNStougieLScheduling real-time mixed-criticality jobsIEEE Trans Comput201261811401152294673410.1109/TC.2011.142 DavisRIZabosABurnsAEfficient exact schedulability tests for fixed priority real-time systemsIEEE Trans20085791261127625264521390.68122 Xu X, Karney B (2017) An overview of transient fault detection techniques. Model Monit Pipelines Netw 7:13–37 Thekkilakattil A, Dobrin R, Punnekkat S (2014) Mixed criticality scheduling in fault-tolerant distributed real-time systems. In: 2014 International conference on embedded systems (ICES), pp. 92–97. IEEE Lin J, Cheng AM, Steel D, Wu MYC (2014) Scheduling mixed-criticality real-time tasks with fault tolerance. In: Workshop on mixed criticality systems Baruah S, Fohler G (2011) Certification-cognizant time-triggered scheduling of mixed-criticality systems. In: 32nd IEEE real-time systems symposium (RTSS), pp. 3–12. IEEE DengSZhangCLiCYinJDustdarSZomayaAYBurst load evacuation based on dispatching and scheduling in distributed edge networksIEEE Trans Parallel Distrib Syst20213281918193210.1109/TPDS.2021.3052236 ThekkilakattilADobrinRPunnekkatSFault tolerant scheduling of mixed criticality real-time tasks under error burstsProcedia Comput Sci2015461148115510.1016/j.procs.2015.01.027 Zeng L, Huang P, Thiele L (2016) Towards the design of fault-tolerant mixed-criticality systems on multicores. In: Proceedings of the international conference on compilers, architectures and synthesis for embedded systems, pp 1–10 LiuCLLaylandJWScheduling algorithms for multiprogramming in a hard-real-time environmentJ ACM (JACM)1973201466134389810.1145/321738.321743 Vestal S (2007) Preemptive scheduling of multi-criticality systems with varying degrees of execution time assurance. In: 28th IEEE international real-time systems symposium, 2007. RTSS 2007, pp 239–243 Huang P, Yang H, Thiele L (2014) On the scheduling of fault-tolerant mixed-criticality systems. In: 2014 51st ACM/EDAC/IEEE design automation conference (DAC), pp. 1–6. IEEE Socci D, Poplavko P, Bensalem S, Bozga M (2013) Mixed critical earliest deadline first. In: 2013 25th Euromicro conference on real-time systems, pp 93–102 Behera L, Bhaduri P (2019) An energy-efficient time-triggered scheduling algorithm for mixed-criticality systems. Des Autom Embed Syst 24:79–109 BurnsABaruahSTiming faults and mixed criticality systems20116875Berlin, HeidelbergSpringer LiuJWSWReal-Time Systems20001Upper Saddle River, NJ, USAPrentice Hall PTR Al-bayati Z, Caplan J, Meyerand B.H, Zeng H (2016) A four-mode model for efficient fault-tolerant mixed-criticality systems. In: 2016 Design, automation & test in Europe conference & exhibition (DATE), pp. 97–102. IEEE Kopetz H, Grunsteidl G (1993) TTP-a time-triggered protocol for fault-tolerant real-time systems. In: FTCS-23 The twenty-third international symposium on fault-tolerant computing, pp. 524–533. IEEE BurnsADavisRIA survey of research into mixed criticality systemsACM Comput. Surv.201710.1145/3131347 RanjbarBSafaeiBEjlaliAKumarAFantom: fault tolerant task-drop aware scheduling for mixed-criticality systemsIEEE Access2020818723218724810.1109/ACCESS.2020.3031039 BiniEButtazzoGMeasuring the performance of schedulability testsReal-Time Syst2005301–212915410.1007/s11241-005-0507-9 KopetzHDammAKozaCMulazzaniMSchwablWSenftCZainlingerRDistributed fault-tolerant real-time systems: the mars approachIEEE Micro198991254010.1109/40.16792 Xiang Z, Deng S, Jiang F, Gao H, Tehari J, Yin J (2020) Computing power allocation and traffic scheduling for edge service provisioning. In: 2020 IEEE international conference on web services (ICWS), pp 394–403. IEEE Al-bayati Z, Meyer BH, Zeng H (2016) Fault-tolerant scheduling of multicore mixed-criticality systems under permanent failures. In: 2016 IEEE international symposium on defect and fault tolerance in VLSI and nanotechnology systems (DFT), pp. 57–62. IEEE ButtazzoGCHard real-time computing systems: predictable scheduling algorithms and applications2011BerlinSpringer10.1007/978-1-4614-0676-1 KopetzHReal-time systems: design principles for distributed embedded applications2011BerlinSpringer10.1007/978-1-4419-8237-7 ZhouJYinMLiZCaoKYanJWeiTChenMFuXFault-tolerant task scheduling for mixed-criticality real-time systemsJ Circuits Syst Comput20172601175001610.1142/S0218126617500165 Behera L, Bhaduri P (2018) Time-triggered scheduling for multiprocessor mixed-criticality systems. In: International conference on distributed computing and internet technology, pp. 135–151. Springer Thekkilakattil A, Burns A, Dobrin R, Punnekkat S (2015) Mixed criticality systems: beyond transient faults. In: Proc. 3rd workshop on mixed criticality systems (WMC), RTSS, pp 18–23 SafariSHessabiSErshadiGLess-mics: a low energy standby-sparing scheme for mixed-criticality systemsIEEE Trans Comput-Aided Des Integr Circuits Syst202039124601461010.1109/TCAD.2020.2977063 L Behera (1026_CR5) 2017; 22 1026_CR26 1026_CR25 S Safari (1026_CR24) 2020; 39 S Poledna (1026_CR22) 2007 E Bini (1026_CR8) 2005; 30 JWSW Liu (1026_CR20) 2000 H Kopetz (1026_CR16) 1989; 9 J Zhou (1026_CR35) 2017; 26 RI Davis (1026_CR12) 2008; 57 KP Valavanis (1026_CR29) 2015 GC Buttazzo (1026_CR11) 2011 1026_CR27 B Ranjbar (1026_CR23) 2020; 8 S Deng (1026_CR13) 2021; 32 1026_CR31 1026_CR30 1026_CR33 1026_CR32 1026_CR34 A Thekkilakattil (1026_CR28) 2015; 46 1026_CR14 H Kopetz (1026_CR15) 2011 1026_CR7 S Baruah (1026_CR3) 2012; 61 RM Pathan (1026_CR21) 2014; 50 1026_CR4 A Burns (1026_CR10) 2017 1026_CR6 1026_CR17 1026_CR1 A Burns (1026_CR9) 2011 CL Liu (1026_CR19) 1973; 20 1026_CR2 1026_CR18 |
| References_xml | – reference: BeheraLBhaduriPTime-triggered scheduling of mixed-criticality systemsACM Trans Des Autom Electron Syst (TODAES)201722474 – reference: BiniEButtazzoGMeasuring the performance of schedulability testsReal-Time Syst2005301–212915410.1007/s11241-005-0507-9 – reference: PathanRMFault-tolerant and real-time scheduling for mixed-criticality systemsReal-Time Syst201450450954710.1007/s11241-014-9202-z – reference: DengSZhangCLiCYinJDustdarSZomayaAYBurst load evacuation based on dispatching and scheduling in distributed edge networksIEEE Trans Parallel Distrib Syst20213281918193210.1109/TPDS.2021.3052236 – reference: Behera L, Bhaduri P (2019) An energy-efficient time-triggered scheduling algorithm for mixed-criticality systems. Des Autom Embed Syst 24:79–109 – reference: PolednaSFault-tolerant real-time systems: the problem of replica determinism2007BerlinSpringer0864.68007 – reference: DavisRIZabosABurnsAEfficient exact schedulability tests for fixed priority real-time systemsIEEE Trans20085791261127625264521390.68122 – reference: Huang P, Yang H, Thiele L (2014) On the scheduling of fault-tolerant mixed-criticality systems. In: 2014 51st ACM/EDAC/IEEE design automation conference (DAC), pp. 1–6. IEEE – reference: SafariSHessabiSErshadiGLess-mics: a low energy standby-sparing scheme for mixed-criticality systemsIEEE Trans Comput-Aided Des Integr Circuits Syst202039124601461010.1109/TCAD.2020.2977063 – reference: Zeng L, Huang P, Thiele L (2016) Towards the design of fault-tolerant mixed-criticality systems on multicores. In: Proceedings of the international conference on compilers, architectures and synthesis for embedded systems, pp 1–10 – reference: Thekkilakattil A, Burns A, Dobrin R, Punnekkat S (2015) Mixed criticality systems: beyond transient faults. In: Proc. 3rd workshop on mixed criticality systems (WMC), RTSS, pp 18–23 – reference: BaruahSBonifaciVD’AngeloGLiHMarchetti-SpaccamelaAMegowNStougieLScheduling real-time mixed-criticality jobsIEEE Trans Comput201261811401152294673410.1109/TC.2011.142 – reference: BurnsABaruahSTiming faults and mixed criticality systems20116875Berlin, HeidelbergSpringer – reference: KopetzHDammAKozaCMulazzaniMSchwablWSenftCZainlingerRDistributed fault-tolerant real-time systems: the mars approachIEEE Micro198991254010.1109/40.16792 – reference: Behera L, Bhaduri P (2018) Time-triggered scheduling for multiprocessor mixed-criticality systems. In: International conference on distributed computing and internet technology, pp. 135–151. Springer – reference: Lin J, Cheng AM, Steel D, Wu MYC (2014) Scheduling mixed-criticality real-time tasks with fault tolerance. In: Workshop on mixed criticality systems – reference: LiuCLLaylandJWScheduling algorithms for multiprogramming in a hard-real-time environmentJ ACM (JACM)1973201466134389810.1145/321738.321743 – reference: Socci D, Poplavko P, Bensalem S, Bozga M (2013) Mixed critical earliest deadline first. In: 2013 25th Euromicro conference on real-time systems, pp 93–102 – reference: Thekkilakattil A, Dobrin R, Punnekkat S (2014) Mixed criticality scheduling in fault-tolerant distributed real-time systems. In: 2014 International conference on embedded systems (ICES), pp. 92–97. IEEE – reference: Baruah S, Fohler G (2011) Certification-cognizant time-triggered scheduling of mixed-criticality systems. In: 32nd IEEE real-time systems symposium (RTSS), pp. 3–12. IEEE – reference: Al-bayati Z, Caplan J, Meyerand B.H, Zeng H (2016) A four-mode model for efficient fault-tolerant mixed-criticality systems. In: 2016 Design, automation & test in Europe conference & exhibition (DATE), pp. 97–102. IEEE – reference: ButtazzoGCHard real-time computing systems: predictable scheduling algorithms and applications2011BerlinSpringer10.1007/978-1-4614-0676-1 – reference: Xiang Z, Deng S, Jiang F, Gao H, Tehari J, Yin J (2020) Computing power allocation and traffic scheduling for edge service provisioning. In: 2020 IEEE international conference on web services (ICWS), pp 394–403. IEEE – reference: Vestal S (2007) Preemptive scheduling of multi-criticality systems with varying degrees of execution time assurance. In: 28th IEEE international real-time systems symposium, 2007. RTSS 2007, pp 239–243 – reference: ZhouJYinMLiZCaoKYanJWeiTChenMFuXFault-tolerant task scheduling for mixed-criticality real-time systemsJ Circuits Syst Comput20172601175001610.1142/S0218126617500165 – reference: Xu X, Karney B (2017) An overview of transient fault detection techniques. Model Monit Pipelines Netw 7:13–37 – reference: Zhao H, Deng S, Liu Z, Yin J, Dustdar S (2020) Distributed redundancy scheduling for microservice-based applications at the edge. IEEE Trans Serv Comput 1–14 – reference: ThekkilakattilADobrinRPunnekkatSFault tolerant scheduling of mixed criticality real-time tasks under error burstsProcedia Comput Sci2015461148115510.1016/j.procs.2015.01.027 – reference: LiuJWSWReal-Time Systems20001Upper Saddle River, NJ, USAPrentice Hall PTR – reference: RanjbarBSafaeiBEjlaliAKumarAFantom: fault tolerant task-drop aware scheduling for mixed-criticality systemsIEEE Access2020818723218724810.1109/ACCESS.2020.3031039 – reference: KopetzHReal-time systems: design principles for distributed embedded applications2011BerlinSpringer10.1007/978-1-4419-8237-7 – reference: BurnsADavisRIA survey of research into mixed criticality systemsACM Comput. Surv.201710.1145/3131347 – reference: Al-bayati Z, Meyer BH, Zeng H (2016) Fault-tolerant scheduling of multicore mixed-criticality systems under permanent failures. In: 2016 IEEE international symposium on defect and fault tolerance in VLSI and nanotechnology systems (DFT), pp. 57–62. IEEE – reference: Kopetz H, Grunsteidl G (1993) TTP-a time-triggered protocol for fault-tolerant real-time systems. In: FTCS-23 The twenty-third international symposium on fault-tolerant computing, pp. 524–533. 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