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Giorgio Buttazzo
Keynote at the 35th IEEE Real-Time Systems Symposium, Rome, 2014
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Outline 1. A quick look into my
past 2. Major achievements in
the RT community
3. A look into the future
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Back to 1987 Ø I started my PhD working on robotics Ø Active perception and sensory-motor coordination
RS232
UnimationController
camera
Alter (T = 28 ms)
PC 386
half frame every 20 ms
Force sensor
a frame every 10 ms PUMA robot
delay 60 ms
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Need for RT support Very soon, I realized a strong need for RT support: § Scheduling: periodic & aperiodic tasks § Mixed criticality: hard & soft deadlines § Data sharing: async. comm. among periodic tasks § Analysis: effects of delay and jitter on performance
Ø J. Stankovic, "Misconceptions about real-time computing: a serious problem for next-generation systems", IEEE Computer, 21 (10), 1988.
Ø J. Stankovic & K. Ramamritham, Hard Real-Time Systems: Tutorial, 1988. (collection of 47 papers on RT computing)
Ø Special Issue on Real-Time Kernels, ACM Operating Sys. Review, 1989.
Crucial references
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The change: 1993 Ø I heard Jack Stankovic was looking around for sabbatical,
so I invited him in Pisa.
RTSS 1993 (Raleigh-Durham, NC, USA) was my first RT conference
Ø At that time there were not PDF files, so he brought a lot of RT papers to read ... very useful … thanks Jack!
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RT Conferences
RTSS
ECRTS
RTAS
ETFA
RTCSA
80 82 84 86 88 90 92 94 96 98 00 02 04 06 08 10 12 14
DATE
EMSOFT
RTNS
SIES
year
ICCPS
no RT track
workshop
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Groups on RTS in Italy Trento (Palopoli, Abeni)
Pisa (ReTiS lab)
Catania (Lo Bello)
Rome (Spaccamela
Bonifaci)
Padova (Vardanega)
Florence (Vicario) Siena (Giorgi)
Modena (Bertogna)
Bologna (Caselli)
Ancona (Dragoni)
Pavia (Facchinetti)
Milan (Leva)
7
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Groups on RTS in Europe Austria: Vienna
Czech Rep: Prague
France: Paris, Grenoble, Renne, Nantes, Nancy, Toulouse, Lille
Germany: Munich, Kaiserslautern, Dresden, Karlsrue, Saarland
Ireland: Dublin, Cork
Italy: Pisa, Pavia, Catania, Siena, Florence, Bologna, Trento, Padova, Modena, Ancona, Rome
Portugal: Porto, Aveiro, Lisbon
Spain: Madrid, Cantabria,Valencia, Barcelona,, Palma de Mallorca
Sweden: Stockholm, Lund, Vasteras, Uppsala, Halmstad, Linkoping
Switzerland: Zurich, Lausanne,
UK: York
York
Cantabria
Madrid Lisbon
Pisa
Vienna
Vasteras
8
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Solved problems
Constraints
Platform
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Execution Model
§ Precedence § Resources § Self-suspensions § Mode changes § Fully Preemptive § Fully Non preemptive § Limited preemptive - Preemption thresholds
Floating regions - Deferred preemptions - Fixed preemption points
Constraints
§ Skip model (m,k) § Mixed criticality § Elastic § Imprecise computation § Variable Rate
§ Aperiodic § Sporadic § Periodic § Strictly periodic § Multiframe § DAGs § Digraf
Task models
Recurring Non recurring (single jobs)
10
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Platforms
Uniprocessor § Fixed speed § Variable speed (DVFS) - continuous - discrete
§ Low power states (DMP) § With cache
Multiprocessor § Identical § Uniform § Heterogeneous § Hybrid
Distributed § Wired - crossbar - mesh - star - tree - bus
§ Wireless - single-hop - multi-hop
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Optimization criteria
§ Feasibility § Response time § Maximum lateness § Utilization bandwidth § Energy consumption § Temperature § Number of processors
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Results on RTS
Task model
Constraints
Platform
single job periodic
per + server skip
elastic recurring
mix critical imprecise
uni DVS
DVS+DMP
MP-ident
MP-unif MP-hetero
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What is really being used?
Task model
Constraints
Platform
single job periodic
per + server skip
elastic recurring
mix critical imprecise
uni DVS
DVS+DMP
MP-ident
MP-unif MP-hetero
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55 73 86 95 98 year
model complexity (realism)
90
single job
EDD EDL
EDF
RM EDF
periodic
RTA PDC
Exact Analysis
SRP
PIP PCP Resource
sharing
2000 07 11 04 14
DAGs Digraf
BROE BWI SIRAP
Overrun Elas8c
Skip Imprecise flexible
CBS PS DS
SS TBS Slack Stealer
Resource Reservation
DPM DVFS
Some major achievements
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Concrete impact Ø Rate Monotonic is used in most industrial settings Ø Priority Inheritance is in most RT kernels Ø Sporadic Server is specified in POSIX Ø CBS is implemented in LINUX Ø EDF is now supported by a few kernels - Erika Enterprise (by Evidence): certified OSEK and adopted
by Magneti Marelli in next generation ECUs - Ada 2005 runtime support - Linux (SCHED_DEADLINE in mainline since June 2014)
Ø Lots of RT tools are now available for - WCET estimation, schedulability analysis, scheduling
simulation, formal verification, etc. 16
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From RTS to CPS
80 82 84 86 88 90 92 94 96 98 00 02 04 06 08 10 12 14 year
Embedded Real-Time Systems
Real-Time Systems
Cyber-Physical Systems
In 2002 RTAS changed name from Real-Time Technology and
Applications Symposium
to Real-Time and Embedded Technology and Applications Symposium
Are they just buzzwords?
In 2010 ICCPS appeared International Conference on Cyber-Physical Systems
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Definitions
Real-Time System Computing system able to provide bounded response times to tasks with bounded execution, in all possible scenarios.
Embedded System Computing system embedded into a larger device, dedicated to control its functions, manage the available resources, and simplify the interaction with the user.
Cyber-Physical System System where software is tightly coupled with the physical characteristics of the plant to be controlled.
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Cyber-Physical Systems
Design Analysis
Programming
Sensing
Control
Communication
Computation
Embedded Computer
Controlled System
system dynamics
software
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CPS
One (wrong) view
ES RTS
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ES
My view
CPS
RTS
Light control system
optimizing car shape TV remote
control
engine control inverted
pendulum
flight control
robot control
RTOS
USB pen
digital TV
energy / thermal management 21
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The truth is that…
formal verification
task scheduling
constraints derivation
resource management
system modeling
control design source
coding
Real-time theory Physics
Control Theory Optimization
Programming RTOS
Formal methods
Complex systems require interdisciplinary knowledge
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An instructive example
Dashboard Controls BRAKES human DistribuNon
Unit
condiNon checker
sensors emergency stop
obstacle v
D sensor visibility
PROBLEM: Find the sampling periods of the sensors that guarantee the feasibility of the goal
GOAL: If an obstacle is detected, stop the train without hitting the obstacle.
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Assumptions Ø Tasks are scheduled by Rate Monotonic (implicit deadlines)
Ø Let τs(Cs ,Ts) be the periodic task devoted to sampling
Ø Assume τs has the shortest period (highest priority).
Ø Let Uother be the load of the other tasks
Ts max
obstacle not detected in time
Ts min
overload performance
Ts
load
1
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Minimum period
The system is schedulable if RMother
s
s UUTC
lub≤+
otherRM
ss UU
CT−
≥lub
that is
The minimum period can be computed imposing the system schedulability by the Liu & Layland test:
otherRM
ss UU
CT−
=lub
min
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Maximum period
Ts τs
obstacle in the field
Ts
obstacle detected
brake pressed
Δ
train stopped
Tb speed
Worst-case reasoning
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Safety condition
obstacle in the field
Ts
obstacle detected
brake pressed
Δ
train stopped
Tb
speed
The space covered by the train in (Ts+Δ+Tb) should not exceed D
v gvTb µ
=
space
gvXb µ
=2
2
v(Ts+Δ)
Xb
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Safety condition
v(Ts + Δ) + Xb < D gvXb µ
=2
2
DgvTv s <+Δ+µ2
)(2
Δ−−<gv
vDTs µ2
maxsT
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Safety condition
v
Ts
Ts
max Δ−−=gv
vDTs µ2
max
Ts min
vmax v0
Ts max (v0)
NOTE: if v0 > vmax no solution exists, no matter how fast the CPU is!
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How can we increase impact? Producing and publishing results is not enough…
Ø Teach people how to use the results
Ø Show concrete benefits
Ø Convince industrial people (not easy)
Ø Simplify the use of results
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Showing the benefits Ø What do we gain using a specific result?
Ø Can you quantify in terms of money? In mass productions every dollar you save can be worth a million $.
§ performance § reliability § safety § predictability § efficiency § faster design
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Convincing people
Ø Show that your method is able to deal with critical situations, so it's worth paying extra overhead.
First of all convince yourself.
Ø Build working systems around critical scenarios
Ø Identify critical scenarios (may be rare, but dangerous)
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A working demo is not enough
"Look! It's working using a RT kernel"
What it is missing is falsifica8on
"A spoon in the bottle keeps Champagne bubbly"
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What you have to show
"But it perfectly works under Erika Enterprise"
"Look! It's NOT working under Windows"
Identify at least a critical situation in which this happens.
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Simplify
Ø However, achieving simplicity is very difficult, because it implies – deep understanding – distilling ideas – beauty & elegance
Ø Hence, it takes 8me, effort, and skill
If you want to have a big impact in the society, then
seek for simplicity
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Teach EDF
EDF
I know
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Read the literature Ø To know the most recent results
Ø Lots of results produced in the last 30 years
repository of seminal papers
Ø To avoid re-‐discovering the wheel
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How about the future of RTS?
Will RTS become obsolete and reach a dead end?
38 Giorgio Bu*azzo -‐ Keynote speech RTSS 2014, Rome, Italy, Dec. 3, 2014
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How about the future of RTS?
Constraints
Platform
New technologies will provide new platforms
Just keep your models realistic and up-to-date
New applications will require new models
TIME will always be a constraint
39 Giorgio Bu*azzo -‐ Keynote speech RTSS 2014, Rome, Italy, Dec. 3, 2014
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How about the future of RTS?
RTSS should keep its own iden8ty and name
For the same reason
Including new topics is good and necessary, but following the wind and buzzwords is dangerous.
This year RTSS celebrates the 35th anniversary.
40 Giorgio Bu*azzo -‐ Keynote speech RTSS 2014, Rome, Italy, Dec. 3, 2014
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RTSS 35
Happy Birthday and Long Life