Chapter One

Introduction to Real
Systems
Chapter One
Introduction to Real-Time
Systems
Course Content
Introduction
Modeling Timing constraints
Scheduling Real-Time Tasks: Types of
Schedulers, table-driven, Cyclic, EDF, RMA Schedulers, table-driven, Cyclic, EDF, RMA
Handling Resource sharing among real
Scheduling Real-Time Tasks in Multiprocessor
and Distributed systems
Course Content
Modeling Timing constraints
Time Tasks: Types of
driven, Cyclic, EDF, RMA driven, Cyclic, EDF, RMA
Handling Resource sharing among real-time tasks
Time Tasks in Multiprocessor
and Distributed systems
Course Content
Commercial Real-time operating systems:
General concepts, Unix and Windows as RTOS
Survey of commercial RTOS
Real-time Networks: Real
scheduling, Real-Time MAC protocols.
Real-Time Databases
Course Content
time operating systems:
General concepts, Unix and Windows as RTOS
Survey of commercial RTOS
time Networks: Real-time channel, Packet
Time MAC protocols.
References
Real time systems: Theory and Practice, Rajib
Mall, IIT Kharagapur
Real Time Systems Jane W. S. Liu, University of
Illinois at Urbana-Champaign Illinois at Urbana-Champaign
Real Time Systems, C. Mani Krishna, University
of Massachusetts, Amherst
References
Real time systems: Theory and Practice, Rajib
Real Time Systems Jane W. S. Liu, University of
Champaign Champaign
Real Time Systems, C. Mani Krishna, University
of Massachusetts, Amherst
Chapter One Outline
Introduction
Example Applications of Real
Basic Model of a Real
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Types of Real-Time Tasks
Timing Constraints
Model Timing Constraints
Chapter One Outline
Example Applications of Real-Time Systems
Basic Model of a Real-Time System
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Time Tasks
Model Timing Constraints
Brainstorming
An apple tree has three branches, and every
branch has three little branches, and every little
branch has three fruits, and every fruit has four
spots on it. How many pineapples are on that spots on it. How many pineapples are on that
tree?
How could you rearrange the letters in the words
"new door" to make one word? Note: There is
only one correct answer.
Brainstorming
An apple tree has three branches, and every
branch has three little branches, and every little
branch has three fruits, and every fruit has four
spots on it. How many pineapples are on that spots on it. How many pineapples are on that
How could you rearrange the letters in the words
"new door" to make one word? Note: There is
only one correct answer.
Introduction
Embedded Systems
Any device that includes a computer but is not
itself a general-purpose computer.
Is a hardware and software that is part of some Is a hardware and software that is part of some
larger systems and expected to function without
human intervention.
Should respond, monitor, control external
environment using sensors and actuators.
Real-time operations : RTSs
Introduction
Embedded Systems
Any device that includes a computer but is not
purpose computer.
Is a hardware and software that is part of some Is a hardware and software that is part of some
larger systems and expected to function without
Should respond, monitor, control external
environment using sensors and actuators.
time operations : RTSs
What is Real
Real-time is a quantitative notion of time
measured using a physical clock.
e.g after an event occurs (temperature exceeds
500 degrees) the corresponding action (coolant 500 degrees) the corresponding action (coolant
shower) must complete within 100ms.
This is in contrast to the qualitative notion of
time
Expressed using notions such as before, after,
sometime, eventually, etc.
What is Real-time?
time is a quantitative notion of time
measured using a physical clock.
e.g after an event occurs (temperature exceeds
500 degrees) the corresponding action (coolant 500 degrees) the corresponding action (coolant
shower) must complete within 100ms.
This is in contrast to the qualitative notion of
Expressed using notions such as before, after,
sometime, eventually, etc.
What is a Real-
A system is called real-time:
Whenever we need to quantitatively express
time in order to describe its behaviour.
The behaviour of a system is described by The behaviour of a system is described by
listing the inputs to the system and the
corresponding response of the systems.
RTSs must deliver services in a timely manner
not necessarily fast but must meet some
timing deadlines
-Time System?
time:
Whenever we need to quantitatively express
time in order to describe its behaviour.
The behaviour of a system is described by The behaviour of a system is described by
listing the inputs to the system and the
corresponding response of the systems.
RTSs must deliver services in a timely manner
not necessarily fast but must meet some
Introduction
Real-time systems are finding increasing
applications
According to a recent estimate,
The number of computers deployed in The number of computers deployed in
real-time applications vastly out number
those in ordinary applications.
Many of these computers are embedded.
Introduction
time systems are finding increasing
According to a recent estimate,
The number of computers deployed in The number of computers deployed in
time applications vastly out number
those in ordinary applications.
Many of these computers are embedded.
Introduction
Example Applications of Real
Systems
Basic Model of a Real
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Types of Real-Time Tasks
Timing Constraints
Model Timing Constraints
Example Applications of Real-Time
Basic Model of a Real-Time System
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Time Tasks
Model Timing Constraints
Example Applications of Real
Time Systems
Industrial applications
process control systems,
industrial automation systems, industrial automation systems,
Supervisory Control &DA applications,
test and measurement equipments, and
robotic equipments
Example Applications of Real-
Time Systems
Industrial applications
process control systems,
industrial automation systems, industrial automation systems,
Supervisory Control &DA applications,
test and measurement equipments, and
robotic equipments
Telecommunication Applications:
cellular systems,
video conferencing, and
Example Applications of Real
Time Systems [cont]
video conferencing, and
cable modems
Telecommunication Applications:
video conferencing, and
Example Applications of Real-
Time Systems [cont]
video conferencing, and
Aerospace:
avionics,
flight simulation,
Example Applications of Real
Time Systems [cont]
flight simulation,
Airline cabin management systems,
satellite tracking systems,
computer on-board an aircraft
flight simulation,
Example Applications of Real-
Time Systems [cont]
flight simulation,
Airline cabin management systems,
satellite tracking systems,
board an aircraft
Consumer electronics:
audio equipment,
Internet telephony,
Example Applications of Real
Time Systems [cont]
microwave ovens,
intelligent washing machines,
home security systems,
air conditioning and refrigeration,
toys, and cell phones
Consumer electronics:
audio equipment,
Internet telephony,
Example Applications of Real-
Time Systems [cont]
microwave ovens,
intelligent washing machines,
home security systems,
air conditioning and refrigeration,
toys, and cell phones
Other Applications
Medical
Robot Used in Recovery of Displaced
Radioactive Material
Peripheral Equipments Peripheral Equipments
Laser Printer
Transportation
Multi-Point Fuel Injection (MPFI)
System
Other Applications
Robot Used in Recovery of Displaced
Radioactive Material
Peripheral Equipments Peripheral Equipments
Point Fuel Injection (MPFI)
Computers and Internet
Multimedia Applications
Video Conferencing
Other Applications
Video Conferencing
Defence Applications
Missile Guidance System
Computers and Internet
Multimedia Applications
Video Conferencing
Other Applications
Video Conferencing
Defence Applications
Missile Guidance System
Introduction
Example Applications of Real
Basic Model of a Real
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Types of Real-Time Tasks
Timing Constraints
Model Timing Constraints
Example Applications of Real-Time Systems
Basic Model of a Real-Time System
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Time Tasks
Model Timing Constraints
Basic Model of a Real
System
Basic Model of a Real-Time
System
Sensors:
A sensor converts some physical characteristic
of its environment into electrical signals.
Example sensors:
a photo-voltaic cell converts light energy into
electrical energy. electrical energy.
A temperature sensor typically operates based
on the principle of a thermocouple
A pressure sensor typically operates based on
the piezoelectricity principle.
A sensor converts some physical characteristic
of its environment into electrical signals.
voltaic cell converts light energy into
A temperature sensor typically operates based
on the principle of a thermocouple
A pressure sensor typically operates based on
the piezoelectricity principle.
Actuators:
An actuator takes converts electrical signals from a
computer into some physical actions.
The physical actions may be
motion, change of thermal, electrical, pneumatic,
or physical characteristics of some objects. or physical characteristics of some objects.
Example actuators are:
Motors
Heaters
Hydraulic and pneumatic actuators
An actuator takes converts electrical signals from a
computer into some physical actions.
The physical actions may be
motion, change of thermal, electrical, pneumatic,
or physical characteristics of some objects. or physical characteristics of some objects.
Hydraulic and pneumatic actuators
Signal Conditioning:
Analog signals generated by a photo
normally in the milli volts range
need to be conditioned before they can be
processed by a computer
Important types of conditioning:
Voltage Amplification
Voltage Level Shifting
Frequency Range Shifting and Filtering
Signal Mode Conversion
Signal Conditioning:
Analog signals generated by a photo-voltaic cell are
normally in the milli volts range
need to be conditioned before they can be
processed by a computer
Important types of conditioning:
Voltage Amplification
Voltage Level Shifting
Frequency Range Shifting and Filtering
Signal Mode Conversion
Introduction
Example Applications of Real
Basic Model of a Real
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Types of Real-Time Tasks
Timing Constraints
Model Timing Constraints
Example Applications of Real-Time Systems
Basic Model of a Real-Time System
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Time Tasks
Model Timing Constraints
Characteristics of Real
Time Constraints
Every real-time task is associated with some
time constraints ex. deadline
Correctness Criterion
Correctness implies not only logical correctness Correctness implies not only logical correctness
of results but the time at which it is produced
Embedded
Large number of real
embedded in their environments and often
control it
Characteristics of Real-Time Systems
time task is associated with some
time constraints ex. deadline
Correctness implies not only logical correctness Correctness implies not only logical correctness
of results but the time at which it is produced
Large number of real-time systems are
embedded in their environments and often
Safety and Task Criticality
safety and reliability are bound together which
makes them safety-critical
Concurrency
Characteristics of Real
RT system needs to respond to several
independent events
Custom Hardware
A RT system is often implemented on custom
H/W that is specially designed and developed
for the purpose
Safety and Task Criticality
safety and reliability are bound together which
critical
Characteristics of Real-Time Systems
RT system needs to respond to several
A RT system is often implemented on custom
H/W that is specially designed and developed
Reactive
On-going interaction between computer and
environment
Stability
Characteristics of Real
Stability
Work under overload conditions for important
tasks
Exception Handling
Distributed and Feedback Structure
going interaction between computer and
Characteristics of Real-Time Systems
Work under overload conditions for important
Distributed and Feedback Structure
Characteristics of Real
Feedback structure of real
Characteristics of Real-Time Systems
Feedback structure of real-time systems
Introduction
Example Applications of Real
Basic Model of a Real
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Types of Real-Time Tasks
Timing Constraints
Model Timing Constraints
Example Applications of Real-Time Systems
Basic Model of a Real-Time System
Characteristics of RTSs Characteristics of RTSs
Safety and Reliability
Time Tasks
Model Timing Constraints
Safety and Reliability in RTSs
Independent concepts in traditional system
Interrelated in safety-
Safety critical system is one for which any
failure of the system would result in damage.
Safety can be ensured through increased Safety can be ensured through increased
reliability
Safety-critical system should be highly reliable
Example: A navigation system on
aircraft. Such system does not have fail
Safety and Reliability in RTSs
Independent concepts in traditional system
-critical systems
Safety critical system is one for which any
failure of the system would result in damage.
Safety can be ensured through increased Safety can be ensured through increased
critical system should be highly reliable
Example: A navigation system on-board an
aircraft. Such system does not have fail-safe states
Fail-safe State:
A fail-safe state of a system is one which if entered
when the system fails,
no damage would result
The fail-safe state of a word processing
program: program:
the document being processed has been saved onto
the disk
fail-safe states help separate the issues of safety and
reliability
even if a system is known to be unreliable, it can
always be made to fail in a fail
safe State:
safe state of a system is one which if entered
no damage would result
safe state of a word processing
the document being processed has been saved onto
safe states help separate the issues of safety and
even if a system is known to be unreliable, it can
always be made to fail in a fail-safe state,
Safety-Critical System:
A safety-critical system is one whose failure can
cause severe damages
A safety-critical system does not have any fail A safety-critical system does not have any fail
safe states:
safety can only be ensured through increased
reliability
Critical System:
critical system is one whose failure can
critical system does not have any fail- critical system does not have any fail-
safety can only be ensured through increased
Achieving High Reliability in RTSs
Error Avoidance
Error Detection and Removing Error Detection and Removing
Fault Tolerance
Achieving High Reliability in RTSs
Error Detection and Removing Error Detection and Removing
Fault Tolerance in RTSs
Hardware
Built in self test (BIST)
Triple modular redundancy
Software
N-Version programming
Recovery Blocks
Fault Tolerance in RTSs
Built in self test (BIST)
Triple modular redundancy
Version programming
Triple Modular Redundancy
C1, C2 and C3 are redundant copies of same component
Triple Modular Redundancy
C1, C2 and C3 are redundant copies of same component
Recovery Blocks
Software Fault Tolerance using recovery blocks
Recovery Blocks
Software Fault Tolerance using recovery blocks