You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at http://www.ieee.org/web/publications/rights/copyrightpolicy.html)
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at http://www.acm.org/pubs/copyright_policy/)
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact webmaster@ide.mdh.se

Towards Response-Time Analysis of Complex Real-Time Systems by using ParametricWorst-Case Execution-Time Estimate on Tasks – A Case Study for Robotic Control System

Fulltext:


Publication Type:

Conference/Workshop Paper

Venue:

The 21st Euromicro Conference on Real-Time Systems (ECRTS09) Work-In-Progress (WIP) session


Abstract

Avoiding timing-related errors in complex industrial real-time software systems becomes more and more important. In our target domain, such complex software systems are developed in C and realized with periodic tasks, executed on a single processor under fixed-priority preemptive scheduling. The tasks exhibit intrinsic dependencies with respect to execution times; often the execution time of a task is dependent from inter-process communication or globally shared variables. Thus, the execution time is highly variable and using a pessimistic, safe, upper bound on the execution time (worst-case execution time, WCET) in analysis of the system would give unacceptable pessimistic results. However, existing techniques for schedulability analysis, such as the well known Response-Time Analysis (RTA), typically use WCET as their input. In this paper, we illustrate the problem by using a timing model inspired by a robotic control system from ABB. We show how models of tasks whose execution time is dependent on asynchronous message-passing and globally shared state variables, and how we can model this execution time as a parametric WCET (PWCET). Further, we show how we, in this example can use TIMES to formally derive the parameters for the PWCET in order to obtain a concrete WCET to be used in the RTA.

Bibtex

@inproceedings{Lu1409,
author = {Yue Lu and Antonio Cicchetti and Mikael Sj{\"o}din and Jukka M{\"a}ki-Turja and Stefan Bygde and Christer Norstr{\"o}m},
title = {Towards Response-Time Analysis of Complex Real-Time Systems by using ParametricWorst-Case Execution-Time Estimate on Tasks – A Case Study for Robotic Control System},
pages = {5--8},
month = {July},
year = {2009},
booktitle = { The 21st Euromicro Conference on Real-Time Systems (ECRTS09) Work-In-Progress (WIP) session},
url = {http://www.es.mdh.se/publications/1409-}
}