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Online reconfiguration of regularity-based resource partitions in cyber-physical systems

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Abstract

We consider the problem of resource provisioning for real-time cyber-physical applications in an open system environment where there does not exist a global resource scheduler that has complete knowledge of the real-time performance requirements of each individual application that shares the resources with the other applications. Regularity-based Resource Partition (RRP) model is an effective strategy to hierarchically partition and assign various resource slices among the applications. However, RRP model does not consider changes in resource requests from the applications at run time. To allow for the run time adaptation to resource requirement changes, we consider in this paper the issues in online resource partition reconfiguration, including semantics issues that arise in configuration transitions that may cause application failures. Based on the reconfiguration semantics, we study the online resource reconfigurability problem under the RRP model where the availability factors of resource partitions may be reconfigured at run time. We formalize and solve the Dynamic Partition Reconfiguration (DPR) problem for uniform environment where the minimal intervals assigned to each task for execution on each resource are the same. Extensive experiments have been conducted to evaluate the performance of the proposed approaches in different scenarios. We also present a case study using the autonomous F1/10 model car; the controller of the F1/10 car requires resource adaptation to satisfy the computing needs of its PID controller and vision system under different operating conditions. Our implementation demonstrates the effectiveness and benefit of online resource partition reconfiguration using the proposed approach in a real-world cyber-physical system.

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Notes

  1. The application demo can be found in the following link: http://www.youtube.com/watch?v=8b-MMP3-cug.

  2. A demonstration video can be found on Youtube in the following link: http://www.youtube.com/watch?v=8b-MMP3-cug.

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Acknowledgements

The work reported herein is supported by the Office of Naval Research under ONR Award N00014-17-1-2216 and by the National Science Foundation under NSF Award CNS-2008463.

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Authors and Affiliations

  1. The University of Texas at Austin, Austin, TX, USA

    Wei-Ju Chen & Aloysius K. Mok

  2. The University of Connecticut, Storrs, CT, USA

    Peng Wu & Song Han

  3. The University of Nebraska at Omaha, Omaha, NE, USA

    Pei-Chi Huang

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  1. Wei-Ju Chen
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  2. Peng Wu
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  3. Pei-Chi Huang
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  4. Aloysius K. Mok
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  5. Song Han
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Correspondence to Wei-Ju Chen.

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Chen, WJ., Wu, P., Huang, PC. et al. Online reconfiguration of regularity-based resource partitions in cyber-physical systems. Real-Time Syst 57, 302–345 (2021). https://doi.org/10.1007/s11241-021-09364-5

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