EECS 571: Principles of Real-Time Embedded Systems

Fall 2010

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Lecture Notes | Homeworks | Interesting Links

Lecture notes are available in PDF format. It is best to print and read them, and also bring
them to class as some slides are not complete and should be filled in during class.

Lectures 1 and 2 (Wed Sep 8 and Fri Sep 10, 2010): PDF

Course introduction and organization. General Concepts of Real-Time Embedded Systems.

Lecture 3 (Mon, Sep 13, 2010):PDF

Definition of cyber-physical systems (CPSs), examples, their distinct characteristics, and research issues

Lectures 4, 6-8 (Wed Sep 15, Mon Sep 20, Fri Sep 24, and Mon Sep 27, 2010): PDF

Characterization of real-time systems; (1) real-time performance metrics and (2) estimation of execution time of single and concurrent tasks.
Lecture 5 on term projects (Fri Sep 17): which project to work on and how to approach it?

Lectures 8-10 (Mon Sep 27, Wed Sep 29, Mon Oct 4, 2010): PDF

Introduction to task scheduling: task models, classification of scheduling algorithms
Clock-driven scheduling, preemptive vs. non-preemptive, online vs. offline scheduling
Weighted round-robin scheduling
Sporadic and aperiodic task scheduling

Lectures 11-13 (Wed Oct 6, Mon Oct 11, Wed Oct 13, 2010): PDF

Schedulable utilization, critical instant
Priority-driven scheduling: EDF, MLF, RM and DM

Lectures 14-16 (Mon Oct 18, Wed Oct 20, Fri Oct 22, 2010): PDF

Priority inversion problem associated with task synchronization
Mars Path Finder example
Priority inversion solutions: non-preemption, basic priority inheritance, priority ceiling, stack sharing, highest locker's priority.

Lectures 17-18 (Mon Oct 25, Wed Oct 27, 2010): PDF

Shceduling with precedence and exclusion constraints
Primary and alternative versions of a real-time task, and their scheduling
Task scheduling with imprecise computation model
Introduction of multiprocessor scheduling (PDF)

Lectures 19-21 (Mon Nov 1, Wed Nov 3, Fri Nov 52010): PDF

Separate task assignment and scheduling:

utilization balancing
next-fit for RM scheduling
bin-packing assignment for EDF

Combined periodic task assignment and scheduling:

Metric: system hazard
Branch & bound (B&B) heuristics for task assignment with another B&B for scheduling of assigned tasks

Online assignment and scheduling of aperiodic tasks (PDF)

Decentralized load sharing: location and transfer policies
bidding algorithms
buddy set algorithm

Lectures 21-23 (Mon Nov 8, Mon Nov 15, Wed Nov 17, 2010):

Mode changes, fault-tolerant scheduling (PDF)
Introduction of real-time operating systems

Proprietary kernels: QNX, pSOS, VxWorks, ...
Extensions of general-purpose OSes: Real-time LINUX, real-time UNIX, POSIX-compliant OSes
Research kernels: EMERALDS (PDF)

Efficient task synchronization
Combined static-dynamic priority assignment scheduling
Memory-efficient IPC

Lectures 24-26 (Fri Nov 19, Mon Nov 22, Wed Nov 24, 2010): Energy-efficient real-time OS

Real-time dynamic voltage & frequency scaling (PDF)
Android platform (PDF)

Lectures 27-28 (Mon Nov 29, Wed Dec 1, 2010): Enery-efficient memory, exam review, and exam

Power-aware memory (PDF)
Exam review (PDF)
Exam in class, December 1, 2010

Lectures 29-32 (Mon Dec 6, Wed Dec 8, Fri Dec 10, Mon Dec 13, 2010): Real-time extension of general-purpose OSes; real-time communications

RT extension of Windows and Linux (PDF)
Real-time communications

Shared medium: real-time ethernet (PDF), wireless LAN (PDF), and CAN (PDF)
Point-to-point networks (PDF)

Home | Announcements | Course Outline | Reading list

Lecture Notes | Homeworks | Interesting Links