Skip to main content
Springer Nature Link
Log in

Mixed-criticality real-time scheduling of gang task systems

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

Abstract

Mixed-criticality (MC) scheduling of sequential tasks (with no intra-task parallelism) has been well-explored by the real-time systems community. However, till date, there has been little progress on MC scheduling of parallel tasks. MC scheduling of parallel tasks is highly challenging due to the requirement of various assurances under different criticality levels. In this work, we address the MC scheduling of parallel tasks of gang model that allows workloads to execute on multiple cores simultaneously, as well as the change to degree of parallelism of a task upon a mode switch. It represents an efficient mode-based parallel processing scheme with many potential applications. To schedule such task sets, we propose a new technique GEDF-VD, which integrates Global Earliest Deadline First (GEDF) and Earliest Deadline First with Virtual Deadline (EDF-VD). We prove the correctness of GEDF-VD and provide a detailed quantitative evaluation in terms of speedup bound in both the MC and the non-MC cases. Specifically, we show that GEDF provides a speedup bound of 2 for non-MC gang tasks, while the speedup for GEDF-VD considering MC gang tasks is \(\sqrt{5}+1\). Experiments on randomly generated gang task sets are conducted to validate our theoretical findings and to demonstrate the effectiveness of the proposed approach.

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

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

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. Note that hi-criticality mode exists for certification purposes. Such both directions of mode switch should be unlikely events during run time. Please also refer to the discussions about apriori verification and run-time robustness in Sect. 1.

References

  • Alahmad B, Gopalakrishnan S (2019) Isochronous execution models for high-assurance real-time systems. In: HASE. IEEE

  • Andersson B, de Niz D (2012) Analyzing global-EDF for multiprocessor scheduling of parallel tasks. In: OPODIS. Springer

  • Awan M, Bletsas K, Souto P, Tovar E (2017) Semi-partitioned mixed-criticality scheduling. In: ARCS. Springer

  • Baruah S (2016) The federated scheduling of systems of mixed-criticality sporadic DAG tasks. In: RTSS. IEEE

  • Baruah S (2018) Mixed-criticality scheduling theory: scope, promise, and limitations. IEEE Des Test 35(2):31–37

    Article  Google Scholar 

  • Baruah S, Bonifaci V, D’angelo G, Marchetti-Spaccamela A, Van Der Ster S, Stougie L (2011) Mixed-criticality scheduling of sporadic task systems. In: ESA. Springer

  • Baruah S, Bonifaci V, DAngelo G, Li H, Marchetti-Spaccamela A, Van Der Ster S, Stougie L (2012) The preemptive uniprocessor scheduling of mixed-criticality implicit-deadline sporadic task systems. In: ECRTS. IEEE

  • Baruah S, Bertogna M, Buttazzo G (2015a) Multiprocessor scheduling for real-time systems. Springer, New York

    Book  Google Scholar 

  • Baruah S, Eswaran A, Guo Z (2015b) MC-Fluid: simplified and optimally quantified. In: RTSS. IEEE

  • Bhuiyan A, Guo Z, Saifullah A, Guan N, Xiong H (2018) Energy-efficient real-time scheduling of DAG tasks. ACM Trans Embed Comput Syst 17(5):84

    Article  Google Scholar 

  • Bhuiyan A, Sruti S, Guo Z, Yang K (2019a) Precise scheduling of mixed-criticality tasks by varying processor speed. In: RTNS

  • Bhuiyan A, Yang K, Arefin S, Saifullah A, Guan N, Guo Z (2019b) Mixed-criticality multicore scheduling of real-time gang task systems. In: RTSS. IEEE

  • Bhuiyan A, Liu D, Khan A, Saifullah A, Guan N, Guo Z (2020a) Energy-efficient parallel real-time scheduling on clustered multi-core. IEEE Trans Parallel Distrib Syst 31(9):2097–2111

    Article  Google Scholar 

  • Bhuiyan A, Reghenzani F, Fornaciari W, Guo Z (2020b) Optimizing energy in non-preemptive mixed-criticality scheduling by exploiting probabilistic information. IEEE Trans Comput-Aided Des Integr Circ Syst 39(11):3906–3917

    Article  Google Scholar 

  • Bolado M, Posadas H, Castillo J, Huerta P, Sanchez P, Sánchez C, Fouren H, Blasco F (2004) Platform based on open-source cores for industrial applications. In: Design, automation and test in Europe conference and exhibition. Proceedings, vol. 2, pp. 1014–1019. IEEE

  • Bonifaci V, Marchetti-Spaccamela A, Stiller S, Wiese A (2013) Feasibility analysis in the sporadic DAG task model. In: ECRTS. IEEE

  • Burns A, Davis R (2013) Mixed criticality systems-a review. Department of Computer Science, University of York, Tech. Rep pp. 1–69

  • Burns A, Davis R (2018) A survey of research into mixed criticality systems. ACM Comput Surv 50(6):82

    Article  Google Scholar 

  • Capodieci N, Cavicchioli R, Bertogna M, Paramakuru A (2018) Deadline-based scheduling for GPU with preemption support. In: RTSS. IEEE

  • Döbel B, Härtig H, Engel M (2012) Operating system support for redundant multithreading. In: Proceedings of the tenth ACM international conference on Embedded software, pp 83–92

  • Dong Z, Liu C (2017) Analysis techniques for supporting hard real-time sporadic gang task systems. In: RTSS. IEEE

  • Easwaran A (2013) Demand-based scheduling of mixed-criticality sporadic tasks on one processor. In: RTSS. IEEE

  • Elliott GA, Ward BC, Anderson JH (2013) GPUSync: A framework for real-time GPU management. In: RTSS. IEEE

  • Engel M, Döbel B (2012) The reliable computing base-a paradigm for software-based reliability. INFORMATIK 2012

  • Ernst R, Di Natale M (2016) Mixed criticality systems-a history of misconceptions? IEEE Des Test 33(5):65–74

    Article  Google Scholar 

  • Esper A, Nelissen G, Nélis V, Tovar E (2015) How realistic is the mixed-criticality real-time system model? In: RTNS. ACM

  • Feitelson DG, Rudolph L (1992) Gang scheduling performance benefits for fine-grain synchronization. J Parallel Distrib Comput 16(4):306–318

    Article  Google Scholar 

  • Gehringer EF, Siewiorek DP, Segall Z (1987) Parallel processing: the Cm* experience. Digital Press, Bedford

    Google Scholar 

  • Goossens J, Berten V (2010) Gang FTP scheduling of periodic and parallel rigid real-time tasks. arXiv preprint arXiv:1006.2617

  • Goossens J, Richard P (2016) Optimal scheduling of periodic gang tasks. Leibniz Trans Embed Syst 3(1):04-1

    Google Scholar 

  • Guo Z, Bhuiyan A, Saifullah A, Guan N, Xiong H (2017) Energy-efficient multi-core scheduling for real-time DAG tasks

  • Guo Z, Bhuiyan A, Liu D, Khan A, Saifullah A, Guan N (2019) Energy-efficient real-time scheduling of DAGs on clustered multi-core platforms. In: RTAS. IEEE

  • Kato S, Ishikawa Y (2009) Gang EDF scheduling of parallel task systems. In: 30th IEEE real-time systems symposium, pp 459–468. IEEE

  • Lee J, Phan K, Gu X, Lee J, Easwaran A, Shin I, Lee I (2014) MC-Fluid: fluid model-based mixed-criticality scheduling on multiprocessors. In: RTSS. IEEE

  • Li H (2013) Scheduling mixed-criticality real-time systems. Ph.D. thesis, The University of North Carolina at Chapel Hill

  • Li H, Baruah S (2010) An algorithm for scheduling certifiable mixed-criticality sporadic task systems. In: RTSS. IEEE

  • Li J, Agrawal K, Lu C, Gill C (2013) Analysis of global EDF for parallel tasks. In: ECRTS. IEEE

  • Li J, Chen JJ, Agrawal K, Lu C, Gill C, Saifullah A (2014) Analysis of federated and global scheduling for parallel real-time tasks. In: ECRTS. IEEE

  • Li J, Ferry D, Ahuja S, Agrawal K, Gill C, Lu C (2017) Mixed-criticality federated scheduling for parallel real-time tasks. Real-Time Syst 53(5):760–811

    Article  Google Scholar 

  • Liu G, Lu Y, Wang S, Gu Z (2014) Partitioned multiprocessor scheduling of mixed-criticality parallel jobs. In: RTCSA. IEEE

  • Nvidia (2017) http://www.nvidia.com/page/home.html

  • Openacc (2017) https://www.openacc.org/

  • Ousterhout JK et al (1982) Scheduling techniques for concurrent systems. ICDCS 82:22–30

    Google Scholar 

  • Rambo EA, Ernst R (2017) Replica-aware co-scheduling for mixed-criticality. In: ECRTS 2017. Schloss Dagstuhl-Leibniz-Zentrum fuer Informatik

  • Spuri M, Buttazzo GC (1994) Efficient aperiodic service under earliest deadline scheduling. In: RTSS, pp. 2–11

  • Stavrinides GL, Karatza HD (2016) Scheduling real-time parallel applications in saas clouds in the presence of transient software failures. In: SPECTS. IEEE

  • Tobuschat S, Ernst R (2017) Efficient latency guarantees for mixed-criticality networks-on-chip. In: RTAS. IEEE

  • Trüb R, Giannopoulou G, Tretter A, Thiele L (2017) Implementation of partitioned mixed-criticality scheduling on a multi-core platform. ACM Trans Embed Comput Syst 16(5s):122

    Article  Google Scholar 

  • Vestal S (2007) Preemptive scheduling of multi-criticality systems with varying degrees of execution time assurance. In: RTSS. IEEE

  • Xiao S, Feng Wc (2010) Inter-block GPU communication via fast barrier synchronization. In: IPDPS. IEEE

  • Yang M, Amert T, Yang K, Otterness N, Anderson JH, Smith FD, Wang S (2018) Making OpenVX really“ real time”. In: RTSS. IEEE

Download references

Acknowledgements

We thank the reviewers for their constructive feedback to improve this paper. This work is partially supported by NSF Grant CNS-1850851.

Author information

Authors and Affiliations

  1. University of Central Florida, Orlando, USA

    Ashikahmed Bhuiyan & Zhishan Guo

  2. Texas State University, San Marcos, USA

    Kecheng Yang

  3. Microsoft New England Research and Development Center, Cambridge, USA

    Samsil Arefin

  4. Wayne State University, Detroit, USA

    Abusayeed Saifullah

  5. City University of Hong Kong, Kowloon, Hong Kong

    Nan Guan

Authors
  1. Ashikahmed Bhuiyan
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Kecheng Yang
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Samsil Arefin
    View author publications

    You can also search for this author inPubMed Google Scholar

  4. Abusayeed Saifullah
    View author publications

    You can also search for this author inPubMed Google Scholar

  5. Nan Guan
    View author publications

    You can also search for this author inPubMed Google Scholar

  6. Zhishan Guo
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Zhishan Guo.

Additional information

Publisher's Note

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

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Bhuiyan, A., Yang, K., Arefin, S. et al. Mixed-criticality real-time scheduling of gang task systems. Real-Time Syst 57, 268–301 (2021). https://doi.org/10.1007/s11241-021-09368-1

Download citation

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11241-021-09368-1

Keywords