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

Hiroyuki Chishiro, Nobuyuki Yamasaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationProceedings of the 30th International Conference on Computers and Their Applications, CATA 2015
EditorsLes Miller
PublisherThe International Society for Computers and Their Applications (ISCA)
Pages371-378
Number of pages8
ISBN (Electronic)9781880843987
Publication statusPublished - 2015 Jan 1
Event30th International Conference on Computers and Their Applications, CATA 2015 - Honolulu, United States
Duration: 2015 Mar 92015 Mar 11

Publication series

NameProceedings of the 30th International Conference on Computers and Their Applications, CATA 2015

Other

Other30th International Conference on Computers and Their Applications, CATA 2015
CountryUnited States
CityHonolulu
Period15/3/915/3/11

Keywords

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

ASJC Scopus subject areas

  • Computer Science Applications

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