Skip to main content
Log in

Applying time-triggered architectures in reliable embedded systems: challenges and solutions

Anwendung von zeitgesteuerten Architekturen in zuverlässigen eingebetteten Systemen: Herausforderungen und Lösungen

  • Originalarbeiten
  • Published:
e & i Elektrotechnik und Informationstechnik Aims and scope Submit manuscript

Zusammenfassung

Seit Mitte der 1990er Jahre haben Forscher im Embedded Systems Laboratory der Universität von Leicester eine Reihe von Techniken und Werkzeugen entwickelt, die den Entwurf und die Wartung von zuverlässigen eingebetteten Systemen unter gleichzeitiger Berücksichtigung von limitierten Systemressourcen unterstützen, wobei der zentrale Fokus auf zeitgesteuerten Architekturen liegt. Der vorliegende Beitrag zeigt in einer Zusammenfassung wesentliche Aspekte dieser Arbeit.

Summary

Since the mid 1990s, researchers in the Embedded Systems Laboratory at the University of Leicester have developed a range of techniques and tools which support the creation and maintenance of reliable, resource-constrained embedded systems. Central to this work has been a focus on systems with a time-triggered architecture. This paper provides a review of some of this work.

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

Access this article

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

Instant access to the full article PDF.

References

  • Alexander, C. (1979): The timeless way of building. Oxford University Press, NY

    Google Scholar 

  • Alexander, C., Ishikawa, S., Silverstein, M., Jacobson, M., Fisksdahl-King, I., Angel, S. (1977): A pattern language. Oxford University Press, NY

    Google Scholar 

  • Allworth, S. T. (1981): An Introduction to real-time software design. Macmillan, London

    Google Scholar 

  • Athaide, K. F., Pont, M. J., Ayavoo, D. (2008a): Deploying a time-triggered shared-clock architecture in a multiprocessor system-on-chip design. In: Proceedings of the 4th UK Embedded Forum (September 2008, Southampton, UK)

  • Athaide, K. F., Pont, M. J., Ayavoo, D. (2008b): Shared-clock methodology for time-triggered multi-cores. In: Stepney, S., Polack, F., McEwan, A., Welch, P., Ifill, W. (eds): Communicating Process Architectures 2008. IOS Press

  • Ayavoo, D., Pont, M. J., Short, M., Parker, S. (2007): Two novel shared-clock scheduling algorithms for use with CAN-based distributed systems. Microprocessors and Microsystems, 31 (5): 326–334

    Article  Google Scholar 

  • Baker, T. P., Shaw, A. (1989): The cyclic executive model and Ada. Real-Time Systems 1 (1): 7–25

    Article  Google Scholar 

  • Baruah, S. K. (2006): The non-preemptive scheduling of periodic tasks upon multiprocessors. Real-Time Systems 32 (1–2): 9–20

    Article  MATH  Google Scholar 

  • Bautista-Quintero, R., Pont, M. J. (2008): Implementation of H-infinity control algorithms for sensor-constrained mechatronic systems using low-cost microcontrollers. IEEE Transactions on Industrial Informatics 4 (3): 175–184

    Article  Google Scholar 

  • Becker, L. B., Gergeleit, M. (2001): Execution environment for dynamically scheduling real-time tasks. RTSS 2001, 22nd IEEE Real-Time Systems Symposium, London, 2001

  • Becker, L. B., Nett, E., Schemmer, S., Gergeleit, M. (2003): Robust scheduling in team-robotics. 11th Int. Workshop on Parallel and Distributed Real-Time Systems, Nice, France, 2003

  • Bennett, K., Gold, N., Mohan, A. (2005): Cut the biggest IT cost. The Computer Bulletin 47 (1): 20–21

    Article  Google Scholar 

  • Bosch, R. G. (1991): CAN specification version 2.0: Robert Bosch GmbH, Postfach 50, D-7000 Stuttgart 1, Germany

  • Brucker, P., Garey, M. R., Johnson, D. S. (1977) Scheduling equal-length tasks under treelike precedence constraints to minimize maximum lateness. Mathematics of Operations Research 2 (3): 275–284

    Article  MATH  MathSciNet  Google Scholar 

  • Buttazzo, G. C. (2005): Rate monotonic vs. EDF: Judgement day. Real-Time Systems 29 (1): 5–26

    Article  MATH  Google Scholar 

  • Cinneide, M. O. and Nixon, P. (2001): Automated software evolution towards design patterns. International Workshop on Principles of Software Evolution (IWPSE), Association for Computing Machinery, Vienna, Austria: 162–165

  • Cucu. L., Sorel, Y. (2004): Non-preemptive multiprocessor scheduling for strict periodic systems with precedence constraints. In Proc. 23rd Annual Workshop of the UK Planning and Scheduling Special Interest Group, PLANSIG'04, Cork, Ireland, Dec. 2004

  • Cunningham, W., Beck, K. (1987): Using pattern languages for object-oriented programs. Proc. of OOPSLA'87, Orlando, Florida

  • Domaratsky, Y., Perevozchikov, M. (2000): Highly dependable time-triggered operating system. Dedicated Systems Magazine, Oct.–Dec. 2000: 77–84

  • Ekelin, C., Jonsson, J. (2001): Evaluation of search heuristics for embedded system scheduling problems. In: Proc. Int. Conf. Principles and Practice of Constraint Programming, Paphos, Cyprus, 2001: 640–654

  • Engblom, J. A., Ermedahl, A., Sjoedin, M., Gubstafsson, J., Hansson, H., et al. (2001): Worst-case execution-time analysis for embedded real-time systems. Journal of Software Tools for Technology Transfer 4 (4): 437–455

    Article  Google Scholar 

  • Gamma, E., Helm, R., Johnson, R., Vlissides, J. (1995): Design patterns: Elements of reusable object-oriented software. Addison-Wesley, Reading, MA

    Google Scholar 

  • Ganssle, J. (2002): The Art of programming embedded systems, Academic Press, San Diego, USA

    Google Scholar 

  • Gendy, A. K., Pont, M. J. (2008a): Automatically configuring time-triggered schedulers for use with resource-constrained, single-processor embedded systems. IEEE Transactions on Industrial Informatics 4 (1): 37–46

    Article  Google Scholar 

  • Gendy, A., Pont, M. J. (2008b): Automating the processes of selecting an appropriate scheduling algorithm and configuring the scheduler implementation for time-triggered embedded systems. Proc. of The 27th Int. Conf. on Computer Safety, Reliability and Security (SAFECOMP08), 22–25 September 2008, Newcastle upon Tyne, UK

  • Gergeleit, M., Nett, E. (2002): Scheduling transient overload with the TAFT Scheduler. GI/ITG specialized group of operating systems, Berlin, 2002

  • Hanif, M., Pont, M. J., Ayavoo, D. (2008): Implementing a simple but flexible time-triggered architecture for practical deeply-embedded applications. In: Proc. of the 4th UK Embedded Forum (September 2008, Southampton, UK)

  • Huang, H., Zhang, S., Cao, J., Duan, Y. (2005): A practical pattern recovery approach based on both structural and behavioral analysis. Journal of Systems and Software 75 (1–2): 69–87

    Article  Google Scholar 

  • Hughes, Z. H., Pont, M. J. (2004): Design and test of a task guardian for use in TTCS embedded systems. In: Koelmans, A., Bystrov, A., Pont, M. J. (eds): Proc. of the 1st UK Embedded Forum (Birmingham, UK, October 2004): 16– 25. Publ. by Uni. of Newcastle upon Tyne [ISBN: 0-7017-0180-3]

  • Hughes, Z. M., Pont, M. J., Ong, H. L. R. (2005): The PH Processor: A soft embedded core for use in university research and teaching. In: Koelmans, A., Bystrov, A., Pont, M. J., Ong, R., Brown, A. (eds): Proc. of the 2nd UK Embedded Forum (Birmingham, UK, October 2005): 224–245. Published by University of Newcastle upon Tyne [ISBN: 0-7017-0191-9]

  • Hughes, Z. M., Pont, M. J. (in press): Reducing the impact of task overruns in resource-constrained embedded systems in which a time-triggered software architecture is employed. Trans Institute of Measurement and Control

  • Imran, S., Short, M., Pont, M. J. (2008): Hardware implementation of a shared-clock scheduling protocol for CAN: a pilot study. In: Proc. of the 4th UK Embedded Forum (September 2008, Southampton, UK)

  • Keller, R. K., Schauer, R., Robitaille, S., Page, P. (1999): Pattern-based reverse-engineering of design components, Proc. – Int. Conf. on Software Engineering: 226–235, IEEE, Los Angeles, CA, USA

  • Kirner, R., Puschner, P. (2003): Discussion of misconceptions about worst-case execution-time analysis. 3rd Euromicro Int. Workshop on WCET Analysis, 2003

  • Kopetz, H. (1997): Real-Time Systems, Design Principles for Distributed Embedded Applications, Kluwer Academic

  • Kurian, S., Pont, M. J. (2007): Maintenance and evolution of resource-constrained embedded systems created using design patterns. Journal of Systems and Software 80 (1): 32–41

    Article  Google Scholar 

  • Liu, C. L., Layland, J. W. (1973) Scheduling algorithms for multiprogramming in a hard real-time environment. Journal of the ACM 20 (1): 40–61

    Article  MathSciNet  Google Scholar 

  • Locke, C. D. (1992): Software architecture for hard real-time systems: Cyclic executives vs. Fixed priority executives. The Journal of Real-Time Systems 4: 37–53

    Article  Google Scholar 

  • Mearns, D. D. U., Pont, M. J., Ayavoo, D. (2008): Towards Ctt (a programming language for time-triggered embedded systems). In: Proc. of the 4th UK Embedded Forum (September 2008, Southampton, UK)

  • Muhammad, A., Pont, M. J. (2008): Synchronising tasks in wireless multi-processor environments using a shared-clock architecture: A pilot study. In: Proc. of the 4th UK Embedded Forum (September 2008, Southampton, UK)

  • Nett, E., Streich, H., Bizzarri, P., Bondavalli, A., Tarini, F. (1996): Adaptive Software Fault Tolerance Policies with Dynamic Real-Time Guarantees. WORDS 96, IEEE Second Int. Workshop on Object-oriented Real-time Dependable Systems, Laguna Beach, California, U.S.A, 1996

  • Noble, J., Weir, C. (2001): Small Memory Software. Addison Wesley.

  • Phatrapornnant, T., Pont, M. J. (2006) Reducing jitter in embedded systems employing a time-triggered software architecture and dynamic voltage scaling. IEEE Transactions on Computers 55 (2): 113–124

    Article  Google Scholar 

  • Pont, M. J. (1998): Control system design using real-time design patterns. Proc. of Control '98 (Swansea, UK), September 1998: 1078–1083

  • Pont, M. J. (2000): Designing and implementing reliable embedded systems using patterns. In: Dyson, P., Devos, M. (eds): EuroPLoP '99: Proc. of the 4th European Conf. on Pattern Languages of Programming and Computing, 1999. ISBN 3-87940-774-6, Universitätsverlag Konstanz

  • Pont, M. J. (2001): Patterns for Time-Triggered Embedded Systems: Building Reliable Applications with the 8051 Family of Microcontrollers. Addison-Wesley/ACM Press. ISBN: 0-201-331381. Available for download from: http://www.tte-systems.com/books/pttes/

  • Pont, M. J. (2003): Supporting the development of time-triggered co-operatively scheduled (TTCS) embedded software using design patterns. Informatica 27: 81–88

    MATH  Google Scholar 

  • Pont, M. J., Ong, R. H. L. (2002): Using watchdog timers to improve the reliability of single-processor embedded systems: Seven new patterns and a case study. In: Hruby, P, Soressen, K. E. (eds): Proc. of the First Nordic Conf. on Pattern Languages of Programs, 2002: pp. 159–200

  • Pont, M. J., Mwelwa, C. (2003): Developing reliable embedded systems using 8051 and ARM processors: Towards a new pattern language. Paper presented at the Second Nordic Conf. on Pattern Languages of Programs, (VikingPLoP "2003"), Bergen, Norway, September 2003

  • Pont, M. J., Banner, M. P. (2004) Designing embedded systems using patterns: A case study. Journal of Systems and Software 71 (3): 201–213

    Article  Google Scholar 

  • Pont, M. J., Li, Y., Parikh, C. R., Wong, C. P. (1999): The design of embedded systems using software patterns. Proc. of Condition Monitoring 1999 (Swansea, UK), April 12–15, 1999: 221–236

  • Pont, M. J., Norman, A. J., Mwelwa, C., Edwards, T. (2004): Prototyping time-triggered embedded systems using PC hardware. In: Henney, K., Schutz, D. (eds): Proc. of the Eighth European Conf. on Pattern Languages of Programs (EuroPLoP 8), Germany, June 2003: 691–716. Published by Universitätsverlag Konstanz. ISBN 3-87940-788-6

  • Pont, M. J., Kurian, S., Wang, H., Phatrapornnant, T. (2007): Selecting an appropriate scheduler for use with time-triggered embedded systems. Paper presented at the 12th European Conf. on Pattern Languages of Programs (EuroPLoP 2007)

  • Puschner, P. (2002): Is WCET analysis a non-problem? Towards new software and hardware architectures. 2nd Intl. Workshop on Worst Case Execution Time Analysis, Vienna, Austria, 2002

  • Sheikh, I., Short, M., Pont, M. J. (2008): Hardware implementation of a shared-clock scheduling protocol for CAN: A pilot study. In: Proc. of the 4th UK Embedded Forum (September 2008, Southampton, UK)

  • Short, M., Pont, M. J. (2008): Assessment of high-integrity embedded automotive control systems using Hardware-in-the-Loop simulation. Journal of Systems and Software 81 (7): 1163–1183

    Article  Google Scholar 

  • Tindell, K., Burns, A., Wellings, A. (1992): Allocating hard real-time tasks: An NP-hard problem made easy. Real-Time Systems 4 (2): 145–165

    Article  Google Scholar 

  • Vallerio, K. S., Jha, N. K. (2003): Task graph extraction for embedded system synthesis. Proc. 16th Int. Conf. on VLSI Design concurrently with the 2nd Int. Conf. on Embedded Systems Design, 2003: 480–486

  • Vidler, P. J., Pont, M. J. (2006): Computer assisted source-code parallelisation. In: Gavrilova, M., Gervasi, O., Kumar, V., Tan, C. J. K., Taniar, D., Laganà, A., Mun, Y., Choo, H. (eds): Proc. of the IEE Int. Conf. on Computational Science and its Applications (Glasgow, May 8–11, 2006), Part V. Lecture Notes in Computer Science (LNCS), 3984: 22–31

  • Wang, H., Pont, M. J. (2008): Design and implementation of a static pre-emptive scheduler with highly predictable behaviour. In: Proc. of the 4th UK Embedded Forum (September 2008, Southampton, UK)

  • Wang, H., Pont, M. J., Kurian, S. (2007): Patterns which help to avoid conflicts over shared resources in time-triggered embedded systems which employ a preemptive scheduler. Paper presented at the 12th European Conf. on Pattern Languages of Programs (EuroPLoP 2007)

  • Xu, J., Parnas, D. L. (1992): Pre-run time scheduling processes with exclusion relations on nested or overlapping critical sections. 11th IEEE Int. Phoenix Conf. Computers and Communications, Scottsdale, AZ, USA, 1992: 774–782

Download references

Author information

Authors and Affiliations

Authors

Rights and permissions

Reprints and permissions

About this article

Cite this article

Pont, M. Applying time-triggered architectures in reliable embedded systems: challenges and solutions. Elektrotech. Inftech. 125, 401–405 (2008). https://doi.org/10.1007/s00502-008-0587-z

Download citation

  • Received:

  • Accepted:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00502-008-0587-z

Schlüsselwörter

Keywords

Navigation