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Stability of On-line Compensated Real-time Scheduled Control Tasks

Pau Martí, Ricard Villà, Josep M. Fuertes, Gerbard Fobler
2001 IFAC Proceedings Volumes  
Real-time scheduling methods introduce various types of jitter in task instance execution.  ...  The degradation of the system performance can be compensated on-line by updating the controller parameters at each controller task instance execution, in what we call the compensation approach.  ...  In section 4, we characterize which kind of jitter patterns real-time scheduling algorithms produce.  ... 
doi:10.1016/s1474-6670(17)32958-0 fatcat:iqhesq7gd5bgpkg7v6a7ugjrue

Control Performance Evaluation of Selected Methods of Feedback Scheduling of Real-time Control Tasks

Camilo Lozoya, Pau Martí, Manel Velasco, Josep M. Fuertes
2008 IFAC Proceedings Volumes  
Feedback scheduling (FS) often refers to the problem of sampling period selection for real-time control tasks that compete for limited computing resources such as processor, network, or battery power.  ...  of each FS method dramatically changes, and c) the relative benefit provided by each method depends on the type of perturbations affecting the plants.  ...  CONCLUSIONS Feedback scheduling of real-time control tasks has received increased attention in the real-time and control research communities in the last years.  ... 
doi:10.3182/20080706-5-kr-1001.01808 fatcat:3fxfhmdrhva53h6zacvgsv4oka

Architecture Modelling and Task Scheduling of an Integrated Parallel CNC System in Docker Containers Based on Colored Petri Nets

Hongyu Jin, Yang Wang, Qian Wang, Jiankang Liu, Shuhua Wang, Jun Zhang, Shanghua Hao, Hongya Fu
2019 IEEE Access  
Two strategies of task scheduling which based on task dependencies and data flow are presented to determine the priority of system function threads.  ...  According to the developed test platform, the real time of the virtual system environment, real-time system environment, and the communication module of integrated CNC are analyzed.  ...  ACKNOWLEDGMENT The authors would like to thank the anonymous reviewers for their careful, constructive and insightful comments to improve the quality of the present contribution.  ... 
doi:10.1109/access.2019.2909774 fatcat:lcprrsb76bepzephzlrbmn3una

Key Technology of Embedded System Implementation for Software-based CNC System

Jiafu WAN
2010 Chinese Journal of Mechanical Engineering  
The software-based computer numerical control(CNC) system includes three types of tasks, periodic real-time tasks, aperiodic real-time tasks, and non-real-time tasks.  ...  To address the technical difficulty of embedded system implementation, a novel fuzzy feedback scheduling algorithm based on output jitter of key real-time tasks for a software-based CNC system is proposed  ...  In addition, the control performance of a software-based CNC system depends on a control algorithm as well as latency and jitter related to the scheduling policy.  ... 
doi:10.3901/cjme.2010.02.217 fatcat:iulrco3l4fb5rggsnrxm446kte

The One-Shot Task Model for Robust Real-Time Embedded Control Systems

C. Lozoya, M. Velasco, P. Marti
2008 IEEE Transactions on Industrial Informatics  
Taking advantage of this property, the one-shot task model is shown to remove endemic problems for real-time control systems such as sampling and latency jitters.  ...  Depending on how input/ output (I/O) operations are performed within the hard real-time periodic task, different control task models can be distinguished.  ...  The exact ordering in terms of performance will vary depending on the number of tasks, plants under control, and scheduling policy.  ... 
doi:10.1109/tii.2008.2002702 fatcat:3prezncei5aavh2v6ypl2l4jlu

Real-time operating system timing jitter and its impact on motor control

Frederick M. Proctor, William P. Shackleford, Peter E. Orban
2001 Sensors and Controls for Intelligent Manufacturing II  
Naturally, the smaller the scheduling period required for a control task, the more significant is the impact of timing jitter.  ...  Jitter is typically on the order of a microsecond to a few tens of microseconds for hard real-time operating systems, and ranges from milliseconds to seconds in the worst case for soft real-time operating  ...  IMPACT OF JITTER ON MOTOR CONTROL Given that jitter is a fact of life with general-purpose microprocessors, it is reasonable to consider the magnitude of its effect on real-time control.  ... 
doi:10.1117/12.452653 fatcat:jprtg6izqfd3ritqwqkklm73tu

Compensating for Timing Jitter in Computing Systems with General-Purpose Operating Systems

Abhishek Dubey, Gabor Karsai, Sherif Abdelwahed
2009 2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing  
a feedback controller based approach that runs in the user space and actively compensates periodic schedule based on past jitter; This approach is platform-agnostic i.e. it can be used in different operating  ...  In this paper, we address the problem of jitter compensation for periodic tasks that cannot rely on modifying the operating system kernel. ; Towards that, (a) we present motivating examples; (b) we present  ...  Acknowledgments This work was supported in part by DoE SciDAC program under the contract No. DOE DE-FC02-06 ER41442.  ... 
doi:10.1109/isorc.2009.28 dblp:conf/isorc/DubeyKA09 fatcat:zgbfcjn565hixkvukxexmvqymm

Low jitter scheduling for Industrial Wireless Sensor and Actuator Networks

Kan Yu, Mikael Gidlund, Johan Akerbergy, Mats Bjorkman
2013 IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society  
jitter in scheduling for improving quality of control and system stability.  ...  In this paper, we clarify the dependence of TDMA scheduling for sensors and actuators and point out the low correlation between the scheduling delay and the overall quality of control, and focus on reducing  ...  Index Terms-Industrial Wireless Sensor Network, scheduling, TDMA, real-time, jitter, centralized control, PLC I.  ... 
doi:10.1109/iecon.2013.6700050 dblp:conf/iecon/YuGAB13 fatcat:nkhdloshkbdyfo6fdchb3h5dqm

Adaptive Real-Time Scheduling for Cooperative Cyber-Physical Systems [article]

Georg von Zengen, Jingjing Yu, Lars C. Wolf
2020 arXiv   pre-print
To enable such cooperation also in hard real-time applications we present a scheduling approach that is able to adapt real-time schedules to the changes that happen in mobile networks.  ...  One of the key challenges is that running applications must not be interrupted while the schedule is adapted.  ...  This is due to the fact, that jitter leads to a bigger error in timing of the control task and therefore to larger error in the controlled process.  ... 
arXiv:2002.07535v1 fatcat:uwolwmykgfcdpg37jyiu2r5iga

Feedback scheduling for resource-constrained real-time control systems

Pingfang Zhou, Jianying Xie
2005 The Fifth International Conference on Computer and Information Technology (CIT'05)  
Subject to limited computational resource, feedback scheduling aims to improve, or to optimize, the global control performance of real-time control systems.  ...  For the system that consists of simple control tasks, a feedback scheduling scheme is presented to shorten tasks' deadlines online as much as possible, so as to reduce jitter and to improve the performance  ...  Introduction In modern real-time control systems, multiple control tasks share processor time in a real-time kernel.  ... 
doi:10.1109/cit.2005.117 dblp:conf/IEEEcit/ZhouX05 fatcat:g4uljixj3vcbraidr47uifqzhm

A Jitter-Free Kernel for Hard Real-Time Systems [chapter]

Christo Angelov, Jesper Berthing
2005 Lecture Notes in Computer Science  
Hence, the execution time of system functions no longer depends on the number of tasks involved, resulting in predictable, jitter-free kernel operation.  ...  of hard real-time tasks.  ...  for jitter-free execution of hard real-time tasks [5] .  ... 
doi:10.1007/11535409_55 fatcat:scd3tw45trg2vjno5xiipp6lbe

Minimum Deadline Calculation for Periodic Real-Time Tasks in Dynamic Priority Systems

Patricia Balbastre, Ismael Ripoll, Alfons Crespo
2008 IEEE transactions on computers  
Sensitivity analysis in real-time systems has focused on changes in task computation times, using fixed priority analysis.  ...  The deadline minimisation proposed strongly reduces jitter and response time of control tasks, which can lead to a significant improvement of the system performance.  ...  The comparison is depicted in Figure 10 . 3) Control jitter reduction: The deadline minimisation method can be used to reduce the jitter of control tasks in real-time control applications.  ... 
doi:10.1109/tc.2007.70787 fatcat:nl7qo2cmrrfrvfvkxpsfnefw4m

Performance Optimization of Control Applications on Fog Computing Platforms Using Scheduling and Isolation

Mohammadreza Barzegaran, Anton Cervin, Paul Pop
2020 IEEE Access  
In this paper, we address mixed-criticality applications characterized by their safety criticality and time-dependent performance, which are virtualized on a Fog Computing Platform (FCP).  ...  the Quality-of-Control for the control tasks is maximized and we meet the timing requirements for all tasks, including tasks with lower-criticality levels.  ...  Regarding computation, we assume that the control tasks are running in an Real-Time Operating System using realtime scheduling policies (we consider static-cyclic scheduling in this paper), and the control  ... 
doi:10.1109/access.2020.2999322 fatcat:u55cvk47praijndatopucdnfm4

CONTROL AND EMBEDDED COMPUTING: SURVEY OF RESEARCH DIRECTIONS

Karl-Erik Årzén, Anton Cervin
2005 IFAC Proceedings Volumes  
The survey highlights recent research efforts and future research directions in the areas of codesign of computer-based control systems, implementation-aware embedded control systems, and control of real-time  ...  This paper provides a survey of the role of feedback control in embedded realtime systems, presented in the context of ARTIST2, the EU/IST network of excellence on design of embedded systems.  ...  The nature and the degree of difficulty of the codesign problem for a given system depend on a number of factors: ¯The real-time operating system. What scheduling algorithms are supported?  ... 
doi:10.3182/20050703-6-cz-1902.01073 fatcat:qgohhp5v4fcrbek4kuyiqqswrq

Anomalies in scheduling control applications and design complexity

Amir Aminifar, Enrico Bini
2017 Design, Automation & Test in Europe Conference & Exhibition (DATE), 2017  
Such resource sharing may lead to complex timing behaviors and, in turn, instability of control applications.  ...  Today, many control applications in cyberphysical systems are implemented on shared platforms.  ...  Bo Lincoln for providing us with the Jitter Margin toolbox.  ... 
doi:10.23919/date.2017.7927247 dblp:conf/date/AminifarB17 fatcat:l3k7rls7tnemxgwnvlmiuqdjey
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