Skip to main content
SpringerLink
Log in

Algorithms for implementing elastic tasks on multiprocessor platforms: a comparative evaluation

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

Abstract

The elastic task model enables the adaptation of systems of recurrent real-time tasks under uncertain or potentially overloaded conditions. A range of permissible periods is specified for each task in this model; during run-time a period is selected for each task from the specified range of permissible periods to ensure schedulability in a manner that maximizes the quality of provided service. This model was originally defined for sequential tasks executing upon a preemptive uniprocessor platform; here we consider the implementation of sequential tasks upon multiprocessor platforms. We define algorithms for scheduling sequential elastic tasks under the global and partitioned paradigms of multiprocessor scheduling for both dynamic and static-priority tasks, and we provide an extensive simulation-based comparison of the different approaches.

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
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19
Fig. 20
Fig. 21

Similar content being viewed by others

References

  • Audsley N, Burns A, Richardson M, Tindell K, Wellings A (1993) Applying new scheduling theory to static priority preemptive scheduling. Softw Eng J 8(5):285–292

    Article  Google Scholar 

  • Baruah S (2004) Optimal utilization bounds for the fixed-priority scheduling of periodic task systems on identical multiprocessors. IEEE Trans Comput 53(6):781–784

    Article  Google Scholar 

  • Baruah S, Cohen N, Plaxton G, Varvel D (1996) Proportionate progress: a notion of fairness in resource allocation. Algorithmica 15(6):600–625

    Article  MathSciNet  Google Scholar 

  • Bastoni A, Brandenburg B, Anderson J (2010) An empirical comparison of global, partitioned, and clustered multiprocessor real-time schedulers. In: Proceedings of the Real-Time Systems Symposium, pp. 14–24. IEEE Computer Society Press, San Diego

  • Bertogna M, Cirinei M, Lipari G (2005) New schedulability tests for real-time tasks sets scheduled by deadline monotonic on multiprocessors. In: Proceedings of the 9th International Conference on Principles of Distributed Systems. IEEE Computer Society Press, Pisa

  • Burns A, Davis RI (2017) A survey of research into mixed criticality systems. ACM Comput Surv 50(6):82:1–82:37. https://doi.org/10.1145/3131347

    Article  Google Scholar 

  • Buttazzo GC, Lipari G, Abeni L (1998) Elastic task model for adaptive rate control. In: IEEE real-time systems symposium (RTSS)

  • Buttazzo GC, Lipari G, Caccamo M, Abeni L (2002) Elastic scheduling for flexible workload management. IEEE Trans Comput 51(3):289–302. https://doi.org/10.1109/12.990127

    Article  Google Scholar 

  • Caccamo M, Buttazzo G, Sha L (2000) Elastic feedback control. In: Proceedings 12th Euromicro conference on real-time systems. Euromicro RTS 2000, pp. 121–128. https://doi.org/10.1109/EMRTS.2000.853999

  • Carpenter J, Funk S, Holman P, Srinivasan A, Anderson J, Baruah S (2003) A categorization of real-time multiprocessor scheduling problems and algorithms. In: JYT Leung (ed.) Handbook of scheduling: algorithms, models, and performance analysis. CRC Press LLC

  • Chantem T, Hu X, Lemmon M (2009) Generalized elastic scheduling for real-time tasks. IEEE Trans Comput 58(4):480–495. https://doi.org/10.1109/TC.2008.175

    Article  MathSciNet  MATH  Google Scholar 

  • Devi U, Anderson J (2005) Tardiness bounds for global EDF scheduling on a multiprocessor. In: Proceedings of the IEEE real-time systems symposium, pp. 330–341. IEEE Computer Society Press, Miami

  • Dhall S (1977) Scheduling periodic time-critical jobs on single processor and multiprocessor systems. PhD thesis, Department of Computer Science, The University of Illinois at Urbana-Champaign

  • Dhall SK, Liu CL (1978) On a real-time scheduling problem. Oper Res 26:127–140

    Article  MathSciNet  Google Scholar 

  • Emberson P, Stafford R, Davis R (2010) Techniques for the synthesis of multiprocessor tasksets. WATERS’10

  • Gill C, Orr J, Harris S (2018) Supporting graceful degradation through elasticity in mixed-criticality federated scheduling. In: Proceedings of the 6th international workshop on mixed criticality systems (WMC)

  • Goossens J, Funk S, Baruah S (2003) Priority-driven scheduling of periodic task systems on multiprocessors. Real Time Syst 25(2–3):187–205

    Article  Google Scholar 

  • Hamdaoui M, Ramanathan P (1995) A dynamic priority assignment technique for streams with (m, k)-firm deadlines. IEEE Trans Comput 44(12):1443–1451

    Article  Google Scholar 

  • Horn W (1974) Some simple scheduling algorithms. Naval Res Logist Q 21:177–185

    Article  MathSciNet  Google Scholar 

  • Johnson D (1974) Fast algorithms for bin packing. J Comput Syst Sci 8(3):272–314

    Article  MathSciNet  Google Scholar 

  • Johnson DS (1973) Near-optimal bin packing algorithms. PhD thesis, Department of Mathematics, Massachusetts Institute of Technology

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

    Article  MathSciNet  Google Scholar 

  • Lee J, Phan KM, Gu X, Lee J, Easwaran A, Shin I, Lee I (2014) MC-fluid: fluid model-based mixed-criticality scheduling on multiprocessors. In: Real-time systems symposium (RTSS), 2014 IEEE, pp. 41–52

  • Leontyev H, Anderson J (2010) Generalized tardiness bounds for global multiprocessor scheduling. Real Time Systems

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

    Article  MathSciNet  Google Scholar 

  • Lopez JM, Diaz JL, Garcia DF (2004) Utilization bounds for EDF scheduling on real-time multiprocessor systems. Real-Time Syst 28(1):39–68

    Article  Google Scholar 

  • McNaughton R (1959) Scheduling with deadlines and loss functions. Manage Sci 6:1–12

    Article  MathSciNet  Google Scholar 

  • Orr J, Baruah S (2019) Multiprocessor scheduling of elastic tasks. In: Proceedings of the 27th international conference on real-time networks and systems, RTNS ’19, pp 133–142. Association for Computing Machinery, New York. https://doi.org/10.1145/3356401.3356403

  • Orr J, Gill C, Agrawal K, Baruah S, Cianfarani C, Ang P, Wong C (2018) Elasticity of workloads and periods of parallel real-time tasks. In: Proceedings of the 26th international conference on real-time networks and systems, RTNS’18, pp 61–71. ACM, New York. https://doi.org/10.1145/3273905.3273915

  • Orr J, Gill C, Agrawal K, Li J, Baruah S (2019) Elastic scheduling for parallel real-time systems. Leibniz Trans Embedded Syst 6(1), 05–1–05:14. https://doi.org/10.4230/LITES-v006-i001-a005. https://ojs.dagstuhl.de/index.php/lites/article/view/LITES-v006-i001-a005

  • Vestal S (2007) Preemptive scheduling of multi-criticality systems with varying degrees of execution time assurance. In: Proceedings of the Real-Time Systems Symposium, pp. 239–243. IEEE Computer Society Press, Tucson

Download references

Author information

Authors and Affiliations

  1. Department of Computer Science and Engineering, Washington University in St. Louis, Campus Box 1045, One Brookings Drive, St. Louis, MO, 63130, USA

    James Orr & Sanjoy Baruah

Authors
  1. James Orr
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Sanjoy Baruah
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to James Orr.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This research was supported in part by NSF grants CSR-1911460 Medium “Resource Efficient Implementation of Mixed-Criticality Systems,” CSR-1814739 Small “Dynamically Customizable Safety Critical Embedded Systems,” and CPS-1932530 “Mitigation Strategies for Enhancing Performance while Maintaining Viability in Cyber-physical Systems.”

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Orr, J., Baruah, S. Algorithms for implementing elastic tasks on multiprocessor platforms: a comparative evaluation. Real-Time Syst 57, 227–264 (2021). https://doi.org/10.1007/s11241-020-09358-9

Download citation

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11241-020-09358-9

Keywords

Search

Navigation