Static-priority scheduling on multiprocessors

The preemptive scheduling of systems of periodic tasks on a platform comprised of several identical processors is considered. A scheduling algorithm is proposed for static-priority scheduling of such systems; this algorithm is a simple extension of the uniprocessor rate-monotonic scheduling algorithm. It is proven that this algorithm successfully schedules any periodic task system with a worst-case utilization no more than a third the capacity of the multiprocessor platform. It is also shown that no static-priority multiprocessor scheduling algorithm (partitioned or global) can guarantee schedulability for a periodic task set with a utilization higher than one half the capacity of the multiprocessor platform.

[1]  Charles U. Martel,et al.  Scheduling Periodically Occurring Tasks on Multiple Processors , 1981, Inf. Process. Lett..

[2]  Sanjoy K. Baruah,et al.  Multiprocessor fixed-priority scheduling with restricted interprocessor migrations , 2003, 15th Euromicro Conference on Real-Time Systems, 2003. Proceedings..

[3]  Z. Deng,et al.  A scheme for scheduling hard real-time applications in open system environment , 1997, Proceedings Ninth Euromicro Workshop on Real Time Systems.

[4]  Kang G. Shin,et al.  QoS negotiation in real-time systems and its application to automated flight control , 1997, Proceedings Third IEEE Real-Time Technology and Applications Symposium.

[5]  Chenyang Lu,et al.  Schedulability analysis and utilization bounds for highly scalable real-time services , 2001, Proceedings Seventh IEEE Real-Time Technology and Applications Symposium.

[6]  Cynthia A. Phillips,et al.  Optimal Time-Critical Scheduling via Resource Augmentation , 1997, STOC '97.

[7]  Björn Andersson,et al.  Preemptive multiprocessor scheduling anomalies , 2002, Proceedings 16th International Parallel and Distributed Processing Symposium.

[8]  Herman H. Goldstine,et al.  Preliminary discussion of the logical design of an electronic computing instrument (1946) , 1989 .

[9]  Björn Andersson,et al.  Fixed-priority preemptive multiprocessor scheduling: to partition or not to partition , 2000, Proceedings Seventh International Conference on Real-Time Computing Systems and Applications.

[10]  Jane W.-S. Liu,et al.  Scheduling real-time applications in an open environment , 1997, Proceedings Real-Time Systems Symposium.

[11]  Thomas L. Casavant,et al.  A Taxonomy of Scheduling in General-Purpose Distributed Computing Systems , 1988, IEEE Trans. Software Eng..

[12]  Kang G. Shin,et al.  QoS negotiation in real-time systems and its application to automated flight control , 1997, Proceedings Third IEEE Real-Time Technology and Applications Symposium.

[13]  W. A. Horn.  Some simple scheduling algorithms , 1974 .

[14]  Sanjoy K. Baruah,et al.  Proportionate progress: a notion of fairness in resource allocation , 1993, STOC '93.

[15]  Jia Xu,et al.  Multiprocessor Scheduling of Processes with Release Times, Deadlines, Precedence, and Exclusion Relations , 1993, IEEE Trans. Software Eng..

[16]  Mark Moir,et al.  Static-priority periodic scheduling on multiprocessors , 2000, Proceedings 21st IEEE Real-Time Systems Symposium.

[17]  Krithi Ramamritham,et al.  Resource Reclaiming in Multiprocessor Real-Time Systems , 1993, IEEE Trans. Parallel Distributed Syst..

[18]  Sanjoy K. Baruah,et al.  On-line scheduling on uniform multiprocessors , 2001, Proceedings 22nd IEEE Real-Time Systems Symposium (RTSS 2001) (Cat. No.01PR1420).

[19]  Björn Andersson,et al.  The aperiodic multiprocessor utilization bound for liquid tasks , 2002, Proceedings. Eighth IEEE Real-Time and Embedded Technology and Applications Symposium.

[20]  Cynthia A. Phillips,et al.  Optimal Time-Critical Scheduling via Resource Augmentation (Extended Abstract) , 1997, Symposium on the Theory of Computing.

[21]  Lars Lundberg,et al.  Analyzing fixed-priority global multiprocessor scheduling , 2002, Proceedings. Eighth IEEE Real-Time and Embedded Technology and Applications Symposium.

[22]  Michael L. Dertouzos,et al.  Control Robotics: The Procedural Control of Physical Processes , 1974, IFIP Congress.

[23]  Yingfeng Oh,et al.  Fixed-Priority Scheduling of Periodic Tasks on Multiprocessor Systems , 1995 .

[24]  Bala Kalyanasundaram,et al.  Speed is as powerful as clairvoyance , 2000, JACM.

[25]  Alan Burns,et al.  Effective Analysis for Engineering Real-Time Fixed Priority Schedulers , 1995, IEEE Trans. Software Eng..

[26]  John P. Lehoczky,et al.  The rate monotonic scheduling algorithm: exact characterization and average case behavior , 1989, [1989] Proceedings. Real-Time Systems Symposium.

[27]  Jane W.-S. Liu,et al.  Greed in resource scheduling , 1989, [1989] Proceedings. Real-Time Systems Symposium.

[28]  Daniel F. García,et al.  Minimum and maximum utilization bounds for multiprocessor RM scheduling , 2001, Proceedings 13th Euromicro Conference on Real-Time Systems.

[29]  Daniel F. García,et al.  Worst-case utilization bound for EDF scheduling on real-time multiprocessor systems , 2000, Proceedings 12th Euromicro Conference on Real-Time Systems. Euromicro RTS 2000.

[30]  Ronald L. Graham,et al.  Bounds on Multiprocessing Timing Anomalies , 1969, SIAM Journal of Applied Mathematics.

[31]  Aloysius K. Mok.  Tracking Real-Time Systems Requirements , 2000, RTCSA.

[32]  Jane W.-S. Liu,et al.  Validating timing constraints in multiprocessor and distributed real-time systems , 1994, 14th International Conference on Distributed Computing Systems.

[33]  Sanjoy K. Baruah,et al.  On-line scheduling in the presence of overload , 1991, [1991] Proceedings 32nd Annual Symposium of Foundations of Computer Science.

[34]  T. Kuhn,et al.  The Structure of Scientific Revolutions. , 1964 .

[35]  Aloysius K. Mok,et al.  Multiprocessor On-Line Scheduling of Hard-Real-Time Tasks , 1989, IEEE Trans. Software Eng..

[36]  Björn Andersson,et al.  The utilization bounds of partitioned and pfair static-priority scheduling on multiprocessors are 50% , 2003, 15th Euromicro Conference on Real-Time Systems, 2003. Proceedings..

[37]  Sanjoy K. Baruah,et al.  On-line scheduling to maximize task completions , 1994, 1994 Proceedings Real-Time Systems Symposium.

[38]  Sang Hyuk Son,et al.  New Strategies for Assigning Real-Time Tasks to Multiprocessor Systems , 1995, IEEE Trans. Computers.

[39]  Aloysius Ka-Lau Mok,et al.  Fundamental design problems of distributed systems for the hard-real-time environment , 1983 .

[40]  Tarek F. Abdelzaher,et al.  A synthetic utilization bound for aperiodic tasks with resource requirements , 2003, 15th Euromicro Conference on Real-Time Systems, 2003. Proceedings..

[41]  Mathai Joseph,et al.  Finding Response Times in a Real-Time System , 1986, Comput. J..

[42]  Gerhard Fohler,et al.  Improving quality-of-control using flexible timing constraints: metric and scheduling , 2002, 23rd IEEE Real-Time Systems Symposium, 2002. RTSS 2002..

[43]  Lars Lundberg,et al.  Multiprocessor scheduling of age constraint processes , 1998, Proceedings Fifth International Conference on Real-Time Computing Systems and Applications (Cat. No.98EX236).

[44]  Marco Spuri,et al.  Efficient aperiodic service under earliest deadline scheduling , 1994, 1994 Proceedings Real-Time Systems Symposium.

[45]  Rami G. Melhem,et al.  Comparison of global and partitioning schemes for scheduling rate monotonic tasks on a multiprocessor , 1998, Proceeding. 10th EUROMICRO Workshop on Real-Time Systems (Cat. No.98EX168).

[46]  Dennis Shasha,et al.  MOCA: A multiprocessor on-line competitive algorithm for real-time system scheduling , 1993, 1993 Proceedings Real-Time Systems Symposium.

[47]  James H. Anderson,et al.  Early-release fair scheduling , 2000, Proceedings 12th Euromicro Conference on Real-Time Systems. Euromicro RTS 2000.

[48]  Giorgio C. Buttazzo,et al.  Integrating multimedia applications in hard real-time systems , 1998, Proceedings 19th IEEE Real-Time Systems Symposium (Cat. No.98CB36279).

[49]  Krithi Ramamritham,et al.  Where Do Time Constraints Come From? Where Do They Go? , 1996 .

[50]  Sudarshan K. Dhall,et al.  On a Real-Time Scheduling Problem , 1978, Oper. Res..

[51]  G.E. Moore,et al.  Cramming More Components Onto Integrated Circuits , 1998, Proceedings of the IEEE.

[52]  Chung Laung Liu,et al.  Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment , 1989, JACM.

[53]  D. L. Parnas,et al.  On the criteria to be used in decomposing systems into modules , 1972, Software Pioneers.

[54]  Joan Vila i Carbó,et al.  Using exact feasibility tests for allocating real-time tasks in multiprocessor systems , 1998, Proceeding. 10th EUROMICRO Workshop on Real-Time Systems (Cat. No.98EX168).

[55]  Dean A. Pomerleau,et al.  PANS: a portable navigation platform , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[56]  Jay K. Strosnider,et al.  Engineering and Analysis of Fixed Priority Schedulers , 1993, IEEE Trans. Software Eng..

[57]  David Lorge Parnas,et al.  Scheduling Processes with Release Times, Deadlines, Precedence, and Exclusion Relations , 1990, IEEE Trans. Software Eng..

[58]  Per Stenström,et al.  Timing anomalies in dynamically scheduled microprocessors , 1999, Proceedings 20th IEEE Real-Time Systems Symposium (Cat. No.99CB37054).

[59]  Jan Åke Jönsson,et al.  Some Insights on Fixed-Priority Preemptive Non-Partitioned Multiprocessor Scheduling , 2000, RTSS 2000.

[60]  Sudarshan Kumar Dhall,et al.  Scheduling periodic-time - critical jobs on single processor and multiprocessor computing systems. , 1977 .

[61]  Sanjoy K. Baruah,et al.  Fairness in periodic real-time scheduling , 1995, Proceedings 16th IEEE Real-Time Systems Symposium.

[62]  Omri Serlin,et al.  Scheduling of time critical processes , 1899, AFIPS '72 (Spring).

[63]  Sanjoy K. Baruah,et al.  Deadline-based scheduling of periodic task systems on multiprocessors , 2002, Inf. Process. Lett..

[64]  Kevin Skadron,et al.  Power-aware QoS management in Web servers , 2003, RTSS 2003. 24th IEEE Real-Time Systems Symposium, 2003.

[65]  Sudarshan K. Dhall,et al.  An On Line Algorithm for Real-Time Tasks Allocation , 1986, IEEE Real-Time Systems Symposium.

[66]  Cecilia Ekelin,et al.  Real-Time System Constraints: Where do They Come From and Where do They Go? , 1999 .

[67]  Joseph Y.-T. Leung,et al.  On the complexity of fixed-priority scheduling of periodic, real-time tasks , 1982, Perform. Evaluation.

[68]  Edward G. Coffman,et al.  Dynamic Bin Packing , 1983, SIAM J. Comput..

[69]  Alan Burns,et al.  The End Of The Line For Static Cyclic Scheduling? , 1993, Fifth Euromicro Workshop on Real-Time Systems.

[70]  Anton Cervin,et al.  Integrated Control and Real-Time Scheduling , 2003 .

[71]  Charles U. Martel,et al.  On non-preemptive scheduling of period and sporadic tasks , 1991, [1991] Proceedings Twelfth Real-Time Systems Symposium.

[72]  Frank D. Murgolo.  Anomalous behavior in bin packing algorithms , 1988, Discret. Appl. Math..

[73]  Sanjoy K. Baruah,et al.  Pfair Scheduling of Generalized Pinwheel Task Systems , 1998, IEEE Trans. Computers.

[74]  Srikanth Ramamurthy,et al.  Scheduling periodic hard real-time tasks with arbitrary deadlines on multiprocessors , 2002, 23rd IEEE Real-Time Systems Symposium, 2002. RTSS 2002..

[75]  Rami G. Melhem,et al.  An efficient RMS admission control and its application to multiprocessor scheduling , 1998, Proceedings of the First Merged International Parallel Processing Symposium and Symposium on Parallel and Distributed Processing.