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- Work-In-Progress: WCRT Analysis for the 3-Phase Task Model in Partitioned SchedulingPublication . Arora, Jatin; Maia, Cláudio; Rashid, Syed Aftab; Nelissen, Geoffrey; Tovar, EduardoMulticore platforms are being increasingly adopted in Cyber-Physical Systems (CPS) due to their advantages over single-core processors, such as raw computing power and energy efficiency. Typically, multicore platforms use a shared system bus that connects the cores to the memory hierarchy (including caches and main memory). However, such hierarchy causes tasks running on different cores to compete for access to the shared system bus whenever data reads or writes need to be made. Such competition is problematic as it may cause large variations in the execution time of tasks in a non-deterministic way. This paper presents an analysis that allows one to derive bus contention-aware worst-case response-time of tasks that follow the 3-phase task model executing under partitioned scheduling.
- Improved Bus Contention Analysis for 3-Phase TasksPublication . Arora, Jatin; Rashid, Syed Aftab; Nelissen, Geoffrey; Maia, Cláudio; Tovar, EduardoThe 3-phase task execution model has shown to be a good candidate to tackle the memory bus contention problem. It divides the execution of tasks into computation and memory phases that enable a fine-grained memory bus contention analysis. However, existing works that focus on the bus contention analysis for 3-phase tasks, neglect the fact that memory bus contention strongly relates to the number of bus/memory requests generated by tasks, which, in turn, depends on the content of the cache memories during the execution of those tasks. These existing works assume that the worst-case number of bus/memory requests will be generated during all the memory phases of all tasks, irrespective of the already existing content in the cache memory. This overestimates the memory bus contention of tasks, leading to pessimistic worst-case response time (WCRT) bounds. This work proposes a holistic approach towards bus contention analysis for 3-phase tasks by (1) deriving an upper bound on the actual cache misses of tasks that lead to bus/memory requests; (2) improving State-of-the-Art (SoA) bus contention analysis of two bus arbitration schemes that dominate all existing works on the bus contention analysis for 3-phase tasks; and (3) performing an extensive experimental evaluation under different settings to compare the proposed analysis against the SoA. Results show that incorporating a tighter bound on the number of cache misses of tasks into the bus contention analysis can lead to a significant improvement in task set schedulability.
- Shared Resource Contention Aware Schedulability Analysis for Multiprocessor Real-Time SystemsPublication . Arora, Jatin; Tovar, Eduardo; Maia, CláudioMulticore platforms share the hardware resources such as caches, interconnects, and main memory among all the cores. Due to such sharing, tasks running on different cores compete to access these shared resources which can potentially result in shared resource contention. This shared resource contention can increase the execution times of tasks in a non-deterministic manner. Consequently, the shared resource contention is problematic for hard real-time systems, i.e., systems that run tasks with stringent timing requirements. To address this issue, this PhD dissertation builds novel solutions to model and analyze the shared resource contention that can be suffered by tasks executing on a multicore system. The shared resource contention aware schedulability analysis is then derived by integrating the maximum shared resource contention that can be suffered by the tasks.
- Improved memory contention analysis for the 3-Phase task modelPublication . Arora, Jatin; Rashid, Syed Aftab; Nelissen, Geoffrey; Maia, Cláudio; Tovar, EduardoIn multiprocessor-based real-time systems, main memory is identified as a major bottleneck in the worst-case timing analysis of tasks. Phased execution models such as the 3-phase task model, i.e., that divides the execution of tasks into distinct computation and memory phases, have shown to be a good candidate to tackle the memory contention problem. The 3-phase execution model in particular has gained much attention from both academia and industry as it limits when tasks can access main memory to pre-defined phases. Information on when those phases may happen and their length can then be leveraged to build a fine-grained memory contention analysis. However, the existing work that focus on the memory contention analysis for 3-phase tasks may overestimate the memory contention caused by interfering write requests. This yields pessimistic bounds on the total memory contention suffered by tasks which in turn leads to pessimistic worst-case execution time (WCET) and worst-case response time (WCRT) bounds. In this work, we improve the state-of-the-art memory contention analysis for 3-phase tasks by (i) tightly bounding the memory contention that can be suffered due to write requests; and (ii) providing a new memory contention-aware WCET analysis.
- Bus-Contention Aware WCRT Analysis for the 3-Phase Task Model Considering a Work- Conserving Bus Arbitration SchemePublication . Arora, Jatin; Maia, Cláudio; Rashid, Syed Aftab; Nelissen, Geoffrey; Tovar, EduardoToday multicore processors are used in most modern systems that require computational logic. However, their applicability in systems with stringent timing requirements is still an ongoing research. This is due to the difficulty of ensuring the timing correctness of tasks executing on a multicore platform that comprises a number of shared hardware resources, e.g., caches, memory bus and the main memory. Concurrent accesses to any of these shared resources can generate uncontrolled interference, which complicates the estimations of tasks' worst-case execution time (WCET) and the worst-case response time (WCRT). The use of the 3-phase task execution model helps in upper bounding the contention due to the sharing of bus/main memory in multicore systems. It divides the execution of tasks into distinct memory and execution phases, where tasks can only access the bus/main memory during their memory phases. This makes bus/memory access patterns of tasks more predictable, enabling a preciser computation of bus/memory contention. In this work, we show how the bus contention can be computed for the 3-phase task model considering a work-conserving, i.e., round-robin (RR) based, arbitration policy at the memory bus. This is different from existing works that analyze the time-division multiple access (TDMA) and first-come-first-serve (FCFS) based bus arbitration policies. First, we present a solution to model the bus contention that can be suffered/caused by tasks executing on the same/remote cores of a multicore system under an RR-based bus arbitration scheme. We then evaluate the impact of resulting bus contention on taskset schedulability. Experimental results show that our proposed RR-based bus contention analysis can improve taskset schedulability by up to 100 percentage points than the TDMA-based analysis and up to 40 percentage points than the FCFS-based bus contention analysis.
- Schedulability Analysis for 3-Phase Tasks with Partitioned Fixed-Priority SchedulingPublication . Arora, Jatin; Maia, Cláudio; Rashid, Syed Aftab; Nelissen, Geoffrey; Tovar, EduardoMulticore platforms are being increasingly adopted in Cyber-Physical Systems (CPS) due to their advantages over single-core processors, such as raw computing power and energy efficiency. Typically, multicore platforms use a shared memory bus that connects the cores to the off-chip main memory. This sharing of memory bus may cause tasks running on different cores to compete for access to the main memory whenever data/instructions are need to be read/written from/to the main memory. Such competition is problematic, as it may cause variations in the execution time of tasks in a non-deterministic way. To reduce the complexity of analysing this problem, the 3-phase task model was proposed that divides tasks' executions into distinct memory and execution phases. The distinctive memory phases are then scheduled to eliminate/minimize main memory contention between concurrently executing tasks. However, 3-phase tasks running on different cores may still compete to access the shared memory bus/main memory in order to execute memory phases. This paper presents a partitioned scheduling-based approach that allows one to derive memory bus contention-aware worst-case response time of tasks that follow the 3-phase task model. In particular, the bus-contention analysis is derived by considering two memory access models, i.e., (i) dedicated memory access model, where a core having allowed to access the main memory via memory bus is permitted to execute more than one memory phase, and (ii) fair memory access model, that restrict each core to execute only one memory phase in its allocated bus access. Both these models represent different system and application requirements, and the resulting bus contention of tasks may vary depending on the considered model. To evaluate the effectiveness of the proposed bus contention analysis, we compare its performance against an existing analysis in the state-of-the-art by performing (i) case-study experiments, using benchmarks from the Mälardalen Benchmark suite, and (ii) empirical evaluation using synthetic task sets. Results show that our proposed analysis can improve task set schedulability of 3-phase tasks by up to 88 percentage points.
- Analyzing Fixed Task Priority Based Memory Centric Scheduler for the 3-Phase Task ModelPublication . Arora, Jatin; Rashid, Syed Aftab; Maia, Cláudio; Tovar, EduardoThe sharing of main memory among concurrently executing tasks on a multicore platform results in increasing the execution times of those tasks in a non-deterministic manner. The use of phased execution models that divide the execution of tasks into distinct memory and execution phase(s), e.g., the PRedictable Execution Model (PREM) and the 3-Phase task model, along with Memory Centric Scheduling (MCS) present a promising solution to reduce main memory interference among tasks. Existing works in the state-of-the-art that focus on MCS have considered (i) a TDMA based memory scheduler, i.e., tasks' memory requests are served under a static TDMA schedule, and (ii) Processor-Priority (PP) based memory scheduler, i.e., tasks' memory requests are served depending on the priority of the processor/core on which the task is executing. This paper extends MCS by considering a Task-Priority (TP) based memory scheduler, i.e., tasks' memory requests are served under a global priority order depending on the priority of the task that issues the requests. We present an analysis to bound the total memory interference that can be suffered by the tasks under the TP-based MCS. In contrast to most existing works on MCS that consider non-preemptive tasks, our analysis considers limited preemptive scheduling. Additionally, we investigate the impact of different preemption points on the memory interference of tasks. Experimental results show that our proposed TP-based MCS can significantly reduce memory interference that can be suffered by the tasks in comparison to the PP-based MCS approach.
- Memory Contention Analysis for 3-Phase TasksPublication . Arora, Jatin; Rashid, Syed Aftab; Nelissen, Geoffrey; Maia, Cláudio; Tovar, EduardoIn multiprocessor-based real-time systems, the main memory is identified as the main source of shared resource contention. Phased execution models such as the 3-phase task execution model has shown to be a good candidate to tackle the memory contention problem. It divides the execution of tasks into computation and memory phases that enable a fine-grained memory contention analysis. However, the existing work that focuses on the memory contention analysis for 3-phase tasks can overestimate the memory contention that can be suffered by the task under analysis due to the write requests. This overestimation can yield pessimistic bounds on the memory access times and memory contention suffered by tasks which in turn lead to pessimistic worst-case response time (WCRT) bounds. Considering the limitation of the state-of-the-art, this work proposes an improved memory contention analysis for the 3-phase task model. Specifically, we propose a memory contention analysis for the 3-phase task model by tightly bounding the memory contention suffered by the task under analysis due to the write requests. The proposed memory contention analysis integrates memory address mapping of tasks to improve the bounds on the maximum memory contention suffered by tasks.