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Researches in real-time scheduling often assume that the performance of a computing resource does not change overtime. However, as system softwares and system architectures become increasingly complex, resource performance degradation over time becomes more evident. In this paper, we study the schedulability of a hard real-time task set on a resource which has performance degradation over time with a known pattern and use both cold and warm periodic rejuvenations as countermeasures. Such resource model is referred to as P2D-resource model for performance degradation and periodic rejuvenation with dual-levels. In this paper, we study (1) the formal specification of the P2D-resource model, (2) P2D-resource supply analysis, and (3) task set utilization bounds of a P2D-resource under Earliest Deadline First (EDF) and Rate Monotonic (RM) scheduling policies.
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Reliability, longevity, availability, and deadline guarantees are the four most important metrics to measure the QoS of long-running safety-critical real-time applications. Software aging is one of the major factors that impact the safety of long-running real-time applications as the degraded performance and increased failure rate caused by software aging can lead to deadline missing and catastrophic consequences. Software rejuvenation is one of the most commonly used approaches to handle issues caused by software aging. In this paper, we study the optimal time when software rejuvenation shall take place so that the system's reliability, longevity, and availability are maximized, and application delays caused by software rejuvenation is minimized. In particular, we formally analyze the relationships between software rejuvenation frequency and system reliability, longevity, and availability. Based on the theoretic analysis, we develop approaches to maximizing system reliability, longevity, and availability, and use simulation to evaluate the developed approaches. In addition, we design the MIN-DELAY semi-priority-driven scheduling algorithm to minimize application delays caused by rejuvenation processes. The simulation experiments show that the developed semi-priority-driven scheduling algorithm reduces application delays by 9.01% and 14.24% over the earliest deadline first (EDF) and least release time (LRT) scheduling algorithms, respectively.
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The periodic task set assignment problem in the context of multiple processors has been studied for decades. Different heuristic approaches have been proposed, such as the Best-Fit (BF), the First-Fit (FF), and the Worst-Fit (WF) task assignment algorithms. However, when processors are not dedicated but only periodically available to the task set, whether existing approaches still provide good performance or if there is a better task assignment approach in the new context are research problems which, to our best knowledge, have not been studied by the real-time research community. In this paper, we present the Best-Harmonically-Fit (BHF) task assignment algorithm to assign periodic tasks on multiple periodic resources. By periodic resource we mean that for every fixed time interval, i.e., the period, the resource always provides the same amount of processing capacity to a given task set. Our formal analysis indicates that if a harmonic task set is also harmonic with a resource's period, the resource capacity can be fully utilized by the task set. Based on this analysis, we present the Best-Harmonically-Fit task assignment algorithm. The experimental results show that, on average, the BHF algorithm results in 53.26 , 42.54 , and 27.79 percent higher resource utilization rate than the Best-Fit Decreasing (BFD), the First-Fit Decreasing (FFD), and the Worst-Fit Decreasing (WFD) task assignment algorithms, respectively; but comparing to the optimal resource utilization rate found by exhaustive search, it is about 11.63 percent lower.
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Scheduling periodic real-time tasks on multiple periodic resources is an emerging research issue in the real-time scheduling community and has drawn increased attention over the last few years. This paper studies a sub-category of the scheduling problem which focuses on scheduling a periodic task on multiple periodic resources where none of these resources have sufficient capacity to support the task. Instead of splitting the task into sub-tasks, which is not always practical in real systems, we integrate resources together to jointly support the task. First, we develop a method to integrate two fixed but arbitrary pattern periodic resources into an equivalent periodic resource. Second, for two periodic resources with unknown but fixed resource occurrence patterns, we give the lower and upper bounds of the available time provided by an integrated periodic resource within a period. Third, we present theoretical and empirical analysis on the schedulability of a non-splittable periodic task on two periodic resources and their integrated periodic resource.
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