11 Search Results for "Di Natale, Marco"

Document
DOI: 10.4230/LITES.11.1.1
A Survey of Real-Time Support, Analysis, and Advancements in ROS 2

Authors: Daniel Casini, Jian-Jia Chen, Jing Li, Federico Reghenzani, and Harun Teper

Published in: LITES, Volume 11, Issue 1 (2026). Leibniz Transactions on Embedded Systems, Volume 11, Issue 1

Abstract
The Robot Operating System 2 (ROS 2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS 2 has drawn increasing attention from the real-time systems community and industry. This survey presents a comprehensive overview of research efforts that analyze, enhance, and extend ROS 2 to support real-time execution. We first provide a detailed description of the internal scheduling mechanisms of ROS 2 and its layered architecture, including the interaction with DDS-based communication and other communication middleware. We then review key contributions from the literature, covering timing analysis for both single- and multi-threaded executors, metrics such as response time, reaction time, and data age, and different communication modes. The survey also discusses community-driven enhancements to the ROS 2 runtime, including new executor algorithm designs, real-time GPU management, and microcontroller support via micro-ROS. Furthermore, we summarize techniques for bounding DDS communication delays, message filters, and profiling tools that have been developed to support analysis and experimentation. To help systematize this growing body of work, we introduce taxonomies that classify the surveyed contributions based on different criteria. This survey aims to guide both researchers and practitioners in understanding and improving the real-time capabilities of ROS 2.
Cite as

Daniel Casini, Jian-Jia Chen, Jing Li, Federico Reghenzani, and Harun Teper. A Survey of Real-Time Support, Analysis, and Advancements in ROS 2. In LITES, Volume 11, Issue 1 (2026). Leibniz Transactions on Embedded Systems, Volume 11, Issue 1, pp. 1:1-1:37, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@Article{casini_et_al:LITES.11.1.1,
  author =	{Casini, Daniel and Chen, Jian-Jia and Li, Jing and Reghenzani, Federico and Teper, Harun},
  title =	{{A Survey of Real-Time Support, Analysis, and Advancements in ROS 2}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{1:1--1:37},
  ISSN =	{2199-2002},
  year =	{2026},
  volume =	{11},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES.11.1.1},
  URN =		{urn:nbn:de:0030-drops-257914},
  doi =		{10.4230/LITES.11.1.1},
  annote =	{Keywords: ROS 2, middleware, real-time, timing predictability, publish-subscribe}
}
Document
DOI: 10.4230/LIPIcs.ITCS.2026.52
Diffie-Hellman Key Exchange from Commutativity to Group Laws

Authors: Dung Hoang Duong, Youming Qiao, and Chuanqi Zhang

Published in: LIPIcs, Volume 362, 17th Innovations in Theoretical Computer Science Conference (ITCS 2026)

Abstract
In Diffie-Hellman key exchange, the commutativity of power operations is instrumental in the agreement of keys. Viewing commutativity as a law in abelian groups, we propose Diffie-Hellman key exchange in the group action framework (Brassard-Yung, Crypto'90; Ji-Qiao-Song-Yun, TCC'19), for actions of non-abelian groups with laws. The security of this protocol is shown, following Fischlin, Günther, Schmidt, and Warinschi (IEEE S&P'16), based on a pseudorandom group action assumption. A concrete instantiation is proposed based on the monomial code equivalence problem.
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Dung Hoang Duong, Youming Qiao, and Chuanqi Zhang. Diffie-Hellman Key Exchange from Commutativity to Group Laws. In 17th Innovations in Theoretical Computer Science Conference (ITCS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 362, pp. 52:1-52:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{duong_et_al:LIPIcs.ITCS.2026.52,
  author =	{Duong, Dung Hoang and Qiao, Youming and Zhang, Chuanqi},
  title =	{{Diffie-Hellman Key Exchange from Commutativity to Group Laws}},
  booktitle =	{17th Innovations in Theoretical Computer Science Conference (ITCS 2026)},
  pages =	{52:1--52:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-410-9},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{362},
  editor =	{Saraf, Shubhangi},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITCS.2026.52},
  URN =		{urn:nbn:de:0030-drops-253396},
  doi =		{10.4230/LIPIcs.ITCS.2026.52},
  annote =	{Keywords: Diffie-Hellman, Key Exchange, Group Laws, Group Actions, Code Equivalence}
}
Document
DOI: 10.4230/LIPIcs.ECRTS.2025.1
A First Look at ROS 2 Applications Written in Asynchronous Rust

Authors: Martin Škoudlil, Michal Sojka, and Zdeněk Hanzálek

Published in: LIPIcs, Volume 335, 37th Euromicro Conference on Real-Time Systems (ECRTS 2025)

Abstract
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous programming. Existing real-time scheduling and response-time analysis techniques for ROS 2 focus on applications written in C++ and do not address the unique execution models and challenges presented by Rust’s asynchronous programming paradigm. In this paper, we analyze the execution model of R2R - an asynchronous Rust ROS 2 bindings and various asynchronous Rust runtimes, comparing them with the execution model of C++ ROS 2 applications. We propose a structured approach for R2R applications aimed at deterministic real-time operation involving thread prioritization and callback-to-thread mapping schemes. Our experimental evaluation based on measuring end-to-end latencies of a synthetic application shows that the proposed approach is effective and outperforms other evaluated configurations. A more complex autonomous driving case study demonstrates its practical applicability. Overall, the experimental results indicate that our proposed structure achieves bounded response times for time-critical tasks. This paves the way for future work to adapt existing or develop new response-time analysis techniques for R2R applications using our structure.
Cite as

Martin Škoudlil, Michal Sojka, and Zdeněk Hanzálek. A First Look at ROS 2 Applications Written in Asynchronous Rust. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 1:1-1:21, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{skoudlil_et_al:LIPIcs.ECRTS.2025.1,
  author =	{\v{S}koudlil, Martin and Sojka, Michal and Hanz\'{a}lek, Zden\v{e}k},
  title =	{{A First Look at ROS 2 Applications Written in Asynchronous Rust}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{1:1--1:21},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-377-5},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{335},
  editor =	{Mancuso, Renato},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.1},
  URN =		{urn:nbn:de:0030-drops-235794},
  doi =		{10.4230/LIPIcs.ECRTS.2025.1},
  annote =	{Keywords: ROS, Rust, Real-time, Response time}
}
Document
DOI: 10.4230/LIPIcs.ECRTS.2025.17
Theoretical Foundations of Utility Accrual for Real-Time Systems

Authors: Jian-Jia Chen, Junjie Shi, Mario Günzel, Georg von der Brüggen, Kuan-Hsun Chen, and Peter Bella

Published in: LIPIcs, Volume 335, 37th Euromicro Conference on Real-Time Systems (ECRTS 2025)

Abstract
Providing guaranteed quantification of properties of soft real-time systems is important in practice to ensure that a system performs correctly most of the time. We study utility accrual for real-time systems, in which the utility of a real-time job is defined as a time utility function with respect to its response time. Essentially, we answer the fundamental questions: Does the utility accrual of a periodic real-time task in the long run converge to a single value? If yes, to which value? We first show that concrete problem instances exist where evaluating the utility accrual by simulating the scheduling algorithm or conducting scheduling experiments in a long run is erroneous. Afterwards, we show how to construct a Markov chain to model the interactions between the scheduling policy, the probabilistic workload of a periodic real-time task, the service provided by the system to serve the task, and the effect on the utility accrual. For such a Markov chain, we also provide the theoretical fundamentals to determine whether the utility accrual converges in the long run and the derivation of the utility accrual if it converges.
Cite as

Jian-Jia Chen, Junjie Shi, Mario Günzel, Georg von der Brüggen, Kuan-Hsun Chen, and Peter Bella. Theoretical Foundations of Utility Accrual for Real-Time Systems. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 17:1-17:26, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{chen_et_al:LIPIcs.ECRTS.2025.17,
  author =	{Chen, Jian-Jia and Shi, Junjie and G\"{u}nzel, Mario and von der Br\"{u}ggen, Georg and Chen, Kuan-Hsun and Bella, Peter},
  title =	{{Theoretical Foundations of Utility Accrual for Real-Time Systems}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{17:1--17:26},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-377-5},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{335},
  editor =	{Mancuso, Renato},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.17},
  URN =		{urn:nbn:de:0030-drops-235950},
  doi =		{10.4230/LIPIcs.ECRTS.2025.17},
  annote =	{Keywords: Soft Real-Time Systems, Utility Accrual, Markov Chains, Dismiss Points}
}
Document
Survey
DOI: 10.4230/TGDK.1.1.11
How Does Knowledge Evolve in Open Knowledge Graphs?

Authors: Axel Polleres, Romana Pernisch, Angela Bonifati, Daniele Dell'Aglio, Daniil Dobriy, Stefania Dumbrava, Lorena Etcheverry, Nicolas Ferranti, Katja Hose, Ernesto Jiménez-Ruiz, Matteo Lissandrini, Ansgar Scherp, Riccardo Tommasini, and Johannes Wachs

Published in: TGDK, Volume 1, Issue 1 (2023): Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge, Volume 1, Issue 1

Abstract
Openly available, collaboratively edited Knowledge Graphs (KGs) are key platforms for the collective management of evolving knowledge. The present work aims t o provide an analysis of the obstacles related to investigating and processing specifically this central aspect of evolution in KGs. To this end, we discuss (i) the dimensions of evolution in KGs, (ii) the observability of evolution in existing, open, collaboratively constructed Knowledge Graphs over time, and (iii) possible metrics to analyse this evolution. We provide an overview of relevant state-of-the-art research, ranging from metrics developed for Knowledge Graphs specifically to potential methods from related fields such as network science. Additionally, we discuss technical approaches - and their current limitations - related to storing, analysing and processing large and evolving KGs in terms of handling typical KG downstream tasks.
Cite as

Axel Polleres, Romana Pernisch, Angela Bonifati, Daniele Dell'Aglio, Daniil Dobriy, Stefania Dumbrava, Lorena Etcheverry, Nicolas Ferranti, Katja Hose, Ernesto Jiménez-Ruiz, Matteo Lissandrini, Ansgar Scherp, Riccardo Tommasini, and Johannes Wachs. How Does Knowledge Evolve in Open Knowledge Graphs?. In Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge (TGDK), Volume 1, Issue 1, pp. 11:1-11:59, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@Article{polleres_et_al:TGDK.1.1.11,
  author =	{Polleres, Axel and Pernisch, Romana and Bonifati, Angela and Dell'Aglio, Daniele and Dobriy, Daniil and Dumbrava, Stefania and Etcheverry, Lorena and Ferranti, Nicolas and Hose, Katja and Jim\'{e}nez-Ruiz, Ernesto and Lissandrini, Matteo and Scherp, Ansgar and Tommasini, Riccardo and Wachs, Johannes},
  title =	{{How Does Knowledge Evolve in Open Knowledge Graphs?}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{11:1--11:59},
  year =	{2023},
  volume =	{1},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.1.1.11},
  URN =		{urn:nbn:de:0030-drops-194855},
  doi =		{10.4230/TGDK.1.1.11},
  annote =	{Keywords: KG evolution, temporal KG, versioned KG, dynamic KG}
}
Document
DOI: 10.4230/LIPIcs.ECRTS.2023.9
Bounding the Data-Delivery Latency of DDS Messages in Real-Time Applications

Authors: Gerlando Sciangula, Daniel Casini, Alessandro Biondi, Claudio Scordino, and Marco Di Natale

Published in: LIPIcs, Volume 262, 35th Euromicro Conference on Real-Time Systems (ECRTS 2023)

Abstract
Many modern applications need to run on massively interconnected sets of heterogeneous nodes, ranging from IoT devices to edge nodes up to the Cloud. In this scenario, communication is often implemented using the publish-subscribe paradigm. The Data Distribution Service (DDS) is a popular middleware specification adopting such a paradigm. The DDS is becoming a key enabler for massively distributed real-time applications, with popular frameworks such as ROS 2 and AUTOSAR Adaptive building on it. However, no formal modeling and analysis of the timing properties of DDS has been provided to date. This paper fills this gap by providing an abstract model for DDS systems that can be generalized to any implementation compliant with the specification. A concrete instance of the generic DDS model is provided for the case of eProsima’s FastDDS, which is eventually used to provide a real-time analysis that bounds the data-delivery latency of DDS messages. Finally, this paper reports on an evaluation based on a representative automotive application from the WATERS 2019 challenge by Bosch.
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Gerlando Sciangula, Daniel Casini, Alessandro Biondi, Claudio Scordino, and Marco Di Natale. Bounding the Data-Delivery Latency of DDS Messages in Real-Time Applications. In 35th Euromicro Conference on Real-Time Systems (ECRTS 2023). Leibniz International Proceedings in Informatics (LIPIcs), Volume 262, pp. 9:1-9:26, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@InProceedings{sciangula_et_al:LIPIcs.ECRTS.2023.9,
  author =	{Sciangula, Gerlando and Casini, Daniel and Biondi, Alessandro and Scordino, Claudio and Di Natale, Marco},
  title =	{{Bounding the Data-Delivery Latency of DDS Messages in Real-Time Applications}},
  booktitle =	{35th Euromicro Conference on Real-Time Systems (ECRTS 2023)},
  pages =	{9:1--9:26},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-280-8},
  ISSN =	{1868-8969},
  year =	{2023},
  volume =	{262},
  editor =	{Papadopoulos, Alessandro V.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2023.9},
  URN =		{urn:nbn:de:0030-drops-180381},
  doi =		{10.4230/LIPIcs.ECRTS.2023.9},
  annote =	{Keywords: DDS, real-time systems, response-time analysis, end-to-end latency, CPA}
}
Document
DOI: 10.4230/LIPIcs.ECRTS.2018.10
Beyond the Weakly Hard Model: Measuring the Performance Cost of Deadline Misses

Authors: Paolo Pazzaglia, Luigi Pannocchi, Alessandro Biondi, and Marco Di Natale

Published in: LIPIcs, Volume 106, 30th Euromicro Conference on Real-Time Systems (ECRTS 2018)

Abstract
Most works in schedulability analysis theory are based on the assumption that constraints on the performance of the application can be expressed by a very limited set of timing constraints (often simply hard deadlines) on a task model. This model is insufficient to represent a large number of systems in which deadlines can be missed, or in which late task responses affect the performance, but not the correctness of the application. For systems with a possible temporary overload, models like the m-K deadline have been proposed in the past. However, the m-K model has several limitations since it does not consider the state of the system and is largely unaware of the way in which the performance is affected by deadline misses (except for critical failures). In this paper, we present a state-based representation of the evolution of a system with respect to each deadline hit or miss event. Our representation is much more general (while hopefully concise enough) to represent the evolution in time of the performance of time-sensitive systems with possible time overloads. We provide the theoretical foundations for our model and also show an application to a simple system to give examples of the state representations and their use.
Cite as

Paolo Pazzaglia, Luigi Pannocchi, Alessandro Biondi, and Marco Di Natale. Beyond the Weakly Hard Model: Measuring the Performance Cost of Deadline Misses. In 30th Euromicro Conference on Real-Time Systems (ECRTS 2018). Leibniz International Proceedings in Informatics (LIPIcs), Volume 106, pp. 10:1-10:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2018)

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@InProceedings{pazzaglia_et_al:LIPIcs.ECRTS.2018.10,
  author =	{Pazzaglia, Paolo and Pannocchi, Luigi and Biondi, Alessandro and Di Natale, Marco},
  title =	{{Beyond the Weakly Hard Model: Measuring the Performance Cost of Deadline Misses}},
  booktitle =	{30th Euromicro Conference on Real-Time Systems (ECRTS 2018)},
  pages =	{10:1--10:22},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-075-0},
  ISSN =	{1868-8969},
  year =	{2018},
  volume =	{106},
  editor =	{Altmeyer, Sebastian},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2018.10},
  URN =		{urn:nbn:de:0030-drops-89930},
  doi =		{10.4230/LIPIcs.ECRTS.2018.10},
  annote =	{Keywords: control, real-time, cyber physical systems, weakly hard, deadline miss, performance}
}
Document
DOI: 10.4230/DARTS.4.2.4
Beyond the Weakly Hard Model: Measuring the Performance Cost of Deadline Misses (Artifact)

Authors: Paolo Pazzaglia, Luigi Pannocchi, Alessandro Biondi, and Marco Di Natale

Published in: DARTS, Volume 4, Issue 2, Special Issue of the 30th Euromicro Conference on Real-Time Systems (ECRTS 2018)

Abstract
This document provides a brief description of the artifact material related to the paper "Beyond the Weakly Hard Model: Measuring the Performance Cost of Deadline Misses". The code provided in the artifact implements the algorithms presented in the paper and all the experimental tests.
Cite as

Paolo Pazzaglia, Luigi Pannocchi, Alessandro Biondi, and Marco Di Natale. Beyond the Weakly Hard Model: Measuring the Performance Cost of Deadline Misses (Artifact). In Special Issue of the 30th Euromicro Conference on Real-Time Systems (ECRTS 2018). Dagstuhl Artifacts Series (DARTS), Volume 4, Issue 2, pp. 4:1-4:2, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2018)

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@Article{pazzaglia_et_al:DARTS.4.2.4,
  author =	{Pazzaglia, Paolo and Pannocchi, Luigi and Biondi, Alessandro and Di Natale, Marco},
  title =	{{Beyond the Weakly Hard Model: Measuring the Performance Cost of Deadline Misses (Artifact)}},
  pages =	{4:1--4:2},
  journal =	{Dagstuhl Artifacts Series},
  ISSN =	{2509-8195},
  year =	{2018},
  volume =	{4},
  number =	{2},
  editor =	{Pazzaglia, Paolo and Pannocchi, Luigi and Biondi, Alessandro and Di Natale, Marco},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DARTS.4.2.4},
  URN =		{urn:nbn:de:0030-drops-89728},
  doi =		{10.4230/DARTS.4.2.4},
  annote =	{Keywords: control, real-time, Cyber Physical Systems weakly hard, deadline miss, performance}
}
Document
DOI: 10.4230/LITES-v004-i002-a003
Per Processor Spin-Based Protocols for Multiprocessor Real-Time Systems

Authors: Sara Afshar, Moris Behnam, Reinder J. Bril, and Thomas Nolte

Published in: LITES, Volume 4, Issue 2 (2017). Leibniz Transactions on Embedded Systems, Volume 4, Issue 2

Abstract
This paper investigates preemptive spin-based global resource sharing protocols for resource-constrained real-time embedded multi-core systems based on partitioned fixed-priority preemptive scheduling. We present preemptive spin-based protocols that feature (i) an increased schedulability ratio of task sets and reduced response jitter of tasks compared to the classical non-preemptive spin-based protocol, (ii) similar memory requirements for the administration of waiting tasks as for the non-preemptive protocol whilst only causing (iii) a minimal increase of the minimal number of required stacks per core from one to at most two, and (iv) strong progress guarantees to tasks. We complement these protocols with a unified worst-case response time analysis that specializes to the classical analysis for the non-preemptive protocol. The paper includes a comparative evaluation of the preemptive protocols and the non-preemptive protocol based on synthetic data.
Cite as

Sara Afshar, Moris Behnam, Reinder J. Bril, and Thomas Nolte. Per Processor Spin-Based Protocols for Multiprocessor Real-Time Systems. In LITES, Volume 4, Issue 2 (2017). Leibniz Transactions on Embedded Systems, Volume 4, Issue 2, pp. 03:1-03:30, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2018)

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@Article{afshar_et_al:LITES-v004-i002-a003,
  author =	{Afshar, Sara and Behnam, Moris and Bril, Reinder J. and Nolte, Thomas},
  title =	{{Per Processor Spin-Based Protocols for Multiprocessor Real-Time Systems}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{03:1--03:30},
  ISSN =	{2199-2002},
  year =	{2018},
  volume =	{4},
  number =	{2},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES-v004-i002-a003},
  URN =		{urn:nbn:de:0030-drops-192708},
  doi =		{10.4230/LITES-v004-i002-a003},
  annote =	{Keywords: Resource sharing, Real-time systems, Multiprocessors, Spin-locks}
}
Document
DOI: 10.4230/LITES-v003-i001-a005
A Survey on Static Cache Analysis for Real-Time Systems

Authors: Mingsong Lv, Nan Guan, Jan Reineke, Reinhard Wilhelm, and Wang Yi

Published in: LITES, Volume 3, Issue 1 (2016). Leibniz Transactions on Embedded Systems, Volume 3, Issue 1

Abstract
Real-time systems are reactive computer systems that must produce their reaction to a stimulus within given time bounds. A vital verification requirement is to estimate the Worst-Case Execution Time (WCET) of programs. These estimates are then used to predict the timing behavior of the overall system. The execution time of a program heavily depends on the underlying hardware, among which cache has the biggest influence. Analyzing cache behavior is very challenging due to the versatile cache features and complex execution environment. This article provides a survey on static cache analysis for real-time systems. We first present the challenges and static analysis techniques for independent programs with respect to different cache features. Then, the discussion is extended to cache analysis in complex execution environment, followed by a survey of existing tools based on static techniques for cache analysis. An outlook for future research is provided at last.
Cite as

Mingsong Lv, Nan Guan, Jan Reineke, Reinhard Wilhelm, and Wang Yi. A Survey on Static Cache Analysis for Real-Time Systems. In LITES, Volume 3, Issue 1 (2016). Leibniz Transactions on Embedded Systems, Volume 3, Issue 1, pp. 05:1-05:48, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2016)

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@Article{lv_et_al:LITES-v003-i001-a005,
  author =	{Lv, Mingsong and Guan, Nan and Reineke, Jan and Wilhelm, Reinhard and Yi, Wang},
  title =	{{A Survey on Static Cache Analysis for Real-Time Systems}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{05:1--05:48},
  ISSN =	{2199-2002},
  year =	{2016},
  volume =	{3},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES-v003-i001-a005},
  URN =		{urn:nbn:de:0030-drops-192603},
  doi =		{10.4230/LITES-v003-i001-a005},
  annote =	{Keywords: Hard real-time, Cache analysis, Worst-case execution time}
}
Document
DOI: 10.4230/LITES-v001-i002-a001
Blocking Optimality in Distributed Real-Time Locking Protocols

Authors: Björn Bernhard Brandenburg

Published in: LITES, Volume 1, Issue 2 (2014). Leibniz Transactions on Embedded Systems, Volume 1, Issue 2

Abstract
Lower and upper bounds on the maximum priority inversion blocking (pi-blocking) that is generally unavoidable in distributed multiprocessor real-time locking protocols (where resources may be accessed only from specific synchronization processors) are established. Prior work on suspension-based shared-memory multiprocessor locking protocols (which require resources to be accessible from all processors) has established asymptotically tight bounds of Ω(m) and Ω(n) maximum pi-blocking under suspension-oblivious and suspension-aware analysis, respectively, where m denotes the total number of processors and n denotes the number of tasks. In this paper, it is shown that, in the case of distributed semaphore protocols, there exist two different task allocation scenarios that give rise to distinct lower bounds. In the case of co-hosted task allocation, where application tasks may also be assigned to synchronization processors (i.e., processors hosting critical sections), Ω(Φ · n) maximum pi-blocking is unavoidable for some tasks under any locking protocol under both suspension-aware and suspension-oblivious schedulability analysis, where Φ denotes the ratio of the maximum response time to the shortest period. In contrast, in the case of disjoint task allocation (i.e., if application tasks may not be assigned to synchronization processors), only Ω(m) and Ω(n) maximum pi-blocking is fundamentally unavoidable under suspension-oblivious and suspension-aware analysis, respectively, as in the shared-memory case. These bounds are shown to be asymptotically tight with the construction of two new distributed real-time locking protocols that ensure O(m) and O(n) maximum pi-blocking under suspension-oblivious and suspension-aware analysis, respectively.
Cite as

Björn Bernhard Brandenburg. Blocking Optimality in Distributed Real-Time Locking Protocols. In LITES, Volume 1, Issue 2 (2014). Leibniz Transactions on Embedded Systems, Volume 1, Issue 2, pp. 01:1-01:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2014)

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@Article{brandenburg:LITES-v001-i002-a001,
  author =	{Brandenburg, Bj\"{o}rn Bernhard},
  title =	{{Blocking Optimality in Distributed Real-Time Locking Protocols}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{01:1--01:22},
  ISSN =	{2199-2002},
  year =	{2014},
  volume =	{1},
  number =	{2},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES-v001-i002-a001},
  URN =		{urn:nbn:de:0030-drops-192479},
  doi =		{10.4230/LITES-v001-i002-a001},
  annote =	{Keywords: Distributed multiprocessor real-time systems, Real-time locking, Priority inversion, Blocking optimality}
}
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