Skip to main content

Advertisement

SpringerLink
Log in

Response time analysis for fixed priority real-time systems with energy-harvesting

  • Published:
Real-Time Systems Aims and scope Submit manuscript

Abstract

This paper introduces sufficient schedulability tests for fixed-priority pre-emptive scheduling of a real-time system under energy constraints. In this problem, energy is harvested from the ambient environment and used to replenish a storage unit or battery. The set of real-time tasks is decomposed into two different types of task depending on whether their rate of energy consumption is (i) more than or (ii) no more than the storage unit replenishment rate. We show that for this task model, where execution may only take place when there is sufficient energy available, the worst-case scenario does not necessarily correspond to the synchronous release of all tasks. We derive sufficient schedulability tests based on the computation of worst-case response time upper and lower bounds. We show that these tests are sustainable with respect to decreases in the energy consumption of tasks, and increases in the storage unit replenishment rate. Further, we show that Deadline Monotonic priority assignment is optimal with respect to the derived tests. We examine both the effectiveness and the tightness of the bounds, via an empirical investigation.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

Notes

  1. Periodic tasks are said to be non-concrete when their initial release times are unknown, and may therefore be either synchronous or asynchronous.

  2. An active task is one that has a job that has been released but not yet completed.

  3. This may occur for example when an execution unit of a consuming task requires more energy than is produced per unit of time, plus that currently available.

  4. The first case in (12) includes execution units of the first job, hence the \(-1\).

References

  • Abdeddaïm Y, Chandarli Y, Masson D (2013) The optimality of PFPasap algorithm for fixed-priority energy-harvesting real-time systems. In: Proceedings of the 25th Euromicro conference on real-time systems (ECRTS13), Paris, France, pp 47–56

  • Abdeddaïm Y, Chandarli Y, Davis RI, Masson D (2014) Schedulability analysis for fixed priority real-time systems with energy-harvesting. In: Proceedings of the 22nd internationalconference on real-time networks and systems (RTNS14), Versailles, France, pp 311–320

  • Ahmed-Seddik B, Despesse G, Boisseau S, Defay E (2013) Self-powered resonant frequency tuning for Piezoelectric Vibration Energy Harvesters. J Phys Conf Ser 476(1)

  • Allavena A, Mossé D (2001) Scheduling of frame-based embedded systems with rechargeable batteries. In: Workshop on power management for real-time and embedded systems (in conjunction with RTAS01), Taipei, Taiwan

  • Audsley N, Burns A, Richardson M, Tindell K, Wellings AJ (1993) Applying new scheduling theory to static priority pre-emptive scheduling. Softw Eng J 8:284–292

    Article  Google Scholar 

  • Baruah S, Burns A (2006) Sustainable scheduling analysis. In: Proceedings of the 27th IEEE international real-time systems symposium (RTSS06). Rio de Janeiro, Brazil, pp 159–168

  • Bastoni A, Brandenburg BB, Anderson JH (2010) Cache-related preemption and migration delays: empirical approximation and impact on schedulability. In: Proceedings of the 6th international workshop on operating systems platforms for embedded real-time applications (OSPERT10). Brussels, Belgium, pp 33–44

  • Bini E, Buttazzo GC (2005) Measuring the performance of schedulability tests. Real-Time Syst 30(1–2):129–154

    Article  MATH  Google Scholar 

  • Chetto M (2014) Optimal scheduling for real-time jobs in energy harvesting computing systems. IEEE Trans Emerg Top Comput 2(2):122–133

    Article  Google Scholar 

  • Davis RI (1995) On exploiting spare capacity in hard real-time systems. PhD thesis, University of York, UK

  • Davis RI, Tindell KW, Burns A (1993) Scheduling slack time in fixed priority pre-emptive systems. In: Proceedings of the 14th IEEE international real-time systems symposium (RTSS93), Raleigh-Durham, NC, USA, pp 222–231

  • Davis RI, Zabos A, Burns A (2008) Efficient exact schedulability tests for fixed priority real-time systems. IEEE Trans Comput 57(9):1261–1276

    Article  MathSciNet  Google Scholar 

  • EL Ghor H, Chetto M, Chehade RH (2011) A real-time scheduling framework for embedded systems with environmental energy harvesting. Comput Electr Eng 37:498–510

    Article  Google Scholar 

  • Goossens J, Macq C (2001) Limitation of the hyper-period in real-time periodic task set generation. In: Proceedings of the RTS embedded system (RTS01), pp 133–147

  • Joseph M, Pandya PK (1986) Finding response times in a real-time system. Comput J 29(5):390–395

    Article  MathSciNet  Google Scholar 

  • Lehoczky JP, Ramos-Thuel S (1992) An optimal algorithm for scheduling soft-aperiodic tasks in fixed-priority preemptive systems. In: Proceedings of the 13th IEEE international real-time systems symposium (RTSS92), Phoenix, Arizona, USA, pp 110–123

  • Leung JYT, Whitehead J (1982) On the complexity of fixed-priority scheduling of periodic real-time tasks. Perform Eval 2(4):237–250

    Article  MathSciNet  MATH  Google Scholar 

  • Liu CL, Layland JW (1973) Scheduling algorithms for multiprogramming in a hard-real-time environment. ACM 20(1):46–61

    Article  MathSciNet  MATH  Google Scholar 

  • Moser C, Brunelli D, Thiele L, Benini L (2006) Real-time scheduling with regenerative energy. In: Proceedings of the 18th Euromicro conference on real-time systems (ECRTS06), Dresden, Germany, pp 270–280

  • Rakhmatov D, Vrudhula S (2003) Energy management for battery-powered embedded systems. ACM Trans Embed Comput Syst 2(3):277–324

    Article  Google Scholar 

  • Yildiz F (2009) Potential ambient energy-harvesting sources and techniques. J Technol Stud 35(1)

  • Zhu D, Aydin H (2006) Energy management for real-time embedded systems with reliability requirements. In: Proceedings of the 25th IEEE/ACM international conference on computer-aided design (ICCAD06), San Jose, CA, USA, pp 528–534

  • Zhu D, Qi X, Aydin H (2007) Priority-monotonic energy management for real-time systems with reliability requirements. In: Proceedings of the 26th IEEE/ACM international conference on computer-aided design (ICCAD07), San Jose, CA, USA, pp 629–635

Download references

Author information

Authors and Affiliations

  1. Université Paris-Est, LIGM UMR CNRS 8049, UPEM, ESIEE Paris, ENPC, Paris, France

    Yasmina Abdeddaïm, Younès Chandarli & Damien Masson

  2. Real-Time Systems Research Group, University of York, York, UK

    Robert I. Davis

Authors
  1. Yasmina Abdeddaïm
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Younès Chandarli
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Robert I. Davis
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Damien Masson
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yasmina Abdeddaïm.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Abdeddaïm, Y., Chandarli, Y., Davis, R.I. et al. Response time analysis for fixed priority real-time systems with energy-harvesting. Real-Time Syst 52, 125–160 (2016). https://doi.org/10.1007/s11241-015-9239-7

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11241-015-9239-7

Keywords

Search

Navigation