### Abstract

Real-time systems such as humanoid robots require low jitter and high Quality of Service (QoS). An imprecise computation is one of the solutions to improve QoS but dynamic-priority imprecise real-time scheduling has high jitter. Semi-fixed-priority scheduling was presented to achieve low jitter and high QoS. Unfortunately, a semi-fixed-priority scheduling algorithm, called Rate Monotonic with Wind-up Part (RMWP), has usually high jitter if the actual case execution time (ACET) of each task is shorter than its worst case execution time (WCET). We propose a new semi-fixedpriority scheduling algorithm, called Rate Monotonic with Wind-up Part++ (RMWP++), to achieve the zero-jitter of each task with harmonic periodic task sets. The zero-jitter technique adds the previous and post optional parts to the extended imprecise computation model that has a second mandatory (wind-up) part. We prove that the jitter of each task in RMWP++ is always zero and the least upper bound of RMWP++ is one with harmonic periodic task sets on uniprocessors. Simulation results show that RMWP++ achieves the zero-jitter and has the smaller number of context switches than RMWP, if the ACET of each task is shorter than its WCET.

Original language | English |
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Title of host publication | Proceedings of the 30th International Conference on Computers and Their Applications, CATA 2015 |

Publisher | The International Society for Computers and Their Applications (ISCA) |

Pages | 371-378 |

Number of pages | 8 |

ISBN (Print) | 9781880843987 |

Publication status | Published - 2015 |

Event | 30th International Conference on Computers and Their Applications, CATA 2015 - Honolulu, United States Duration: 2015 Mar 9 → 2015 Mar 11 |

### Other

Other | 30th International Conference on Computers and Their Applications, CATA 2015 |
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Country | United States |

City | Honolulu |

Period | 15/3/9 → 15/3/11 |

### Fingerprint

### Keywords

- Imprecise computation
- Jitter
- Schedulability
- Semi-fixed-priority scheduling

### ASJC Scopus subject areas

- Computer Science Applications

### Cite this

*Proceedings of the 30th International Conference on Computers and Their Applications, CATA 2015*(pp. 371-378). The International Society for Computers and Their Applications (ISCA).

**Zero-jitter technique for semi-fixed-priority scheduling with harmonic periodic task sets.** / Chishiro, Hiroyuki; Yamasaki, Nobuyuki.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Proceedings of the 30th International Conference on Computers and Their Applications, CATA 2015.*The International Society for Computers and Their Applications (ISCA), pp. 371-378, 30th International Conference on Computers and Their Applications, CATA 2015, Honolulu, United States, 15/3/9.

}

TY - GEN

T1 - Zero-jitter technique for semi-fixed-priority scheduling with harmonic periodic task sets

AU - Chishiro, Hiroyuki

AU - Yamasaki, Nobuyuki

PY - 2015

Y1 - 2015

N2 - Real-time systems such as humanoid robots require low jitter and high Quality of Service (QoS). An imprecise computation is one of the solutions to improve QoS but dynamic-priority imprecise real-time scheduling has high jitter. Semi-fixed-priority scheduling was presented to achieve low jitter and high QoS. Unfortunately, a semi-fixed-priority scheduling algorithm, called Rate Monotonic with Wind-up Part (RMWP), has usually high jitter if the actual case execution time (ACET) of each task is shorter than its worst case execution time (WCET). We propose a new semi-fixedpriority scheduling algorithm, called Rate Monotonic with Wind-up Part++ (RMWP++), to achieve the zero-jitter of each task with harmonic periodic task sets. The zero-jitter technique adds the previous and post optional parts to the extended imprecise computation model that has a second mandatory (wind-up) part. We prove that the jitter of each task in RMWP++ is always zero and the least upper bound of RMWP++ is one with harmonic periodic task sets on uniprocessors. Simulation results show that RMWP++ achieves the zero-jitter and has the smaller number of context switches than RMWP, if the ACET of each task is shorter than its WCET.

AB - Real-time systems such as humanoid robots require low jitter and high Quality of Service (QoS). An imprecise computation is one of the solutions to improve QoS but dynamic-priority imprecise real-time scheduling has high jitter. Semi-fixed-priority scheduling was presented to achieve low jitter and high QoS. Unfortunately, a semi-fixed-priority scheduling algorithm, called Rate Monotonic with Wind-up Part (RMWP), has usually high jitter if the actual case execution time (ACET) of each task is shorter than its worst case execution time (WCET). We propose a new semi-fixedpriority scheduling algorithm, called Rate Monotonic with Wind-up Part++ (RMWP++), to achieve the zero-jitter of each task with harmonic periodic task sets. The zero-jitter technique adds the previous and post optional parts to the extended imprecise computation model that has a second mandatory (wind-up) part. We prove that the jitter of each task in RMWP++ is always zero and the least upper bound of RMWP++ is one with harmonic periodic task sets on uniprocessors. Simulation results show that RMWP++ achieves the zero-jitter and has the smaller number of context switches than RMWP, if the ACET of each task is shorter than its WCET.

KW - Imprecise computation

KW - Jitter

KW - Schedulability

KW - Semi-fixed-priority scheduling

UR - http://www.scopus.com/inward/record.url?scp=84925938874&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84925938874&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84925938874

SN - 9781880843987

SP - 371

EP - 378

BT - Proceedings of the 30th International Conference on Computers and Their Applications, CATA 2015

PB - The International Society for Computers and Their Applications (ISCA)

ER -