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17619 Introduction to Real-Time Software and Systems

Version 1.3 (28 September 2009)

Overview

Real-time software controls everything from jet airplanes to airline reservations; deep-space communication tomobile phones. Any system that responds at the pace of relevant events has real-time requirements and constraintswhether the timescale is short like the flight controls for an aircraft or longer like the flight scheduling system for anairline. Thinking about time and timing are fundamental to software engineering practice because at some level,every software system has real-time requirements and development considerations. System response must be bothcorrect and timely.

Introduction to Real-Time Software and Systems presents an overview of time as it relates engineering complexsoftware systems. In this course basic concepts, terminology, and issues of real-time are examined. Initial emphasisis placed on real-time scheduling and priority to achieve desired system timing, reliability, and robustness.Understanding how timing is achieved and the potential problems that may arise provides the basis for applying

software engineering principles to real-time systems development. The software development lifecycle is examinedwith emphasis on addressing real-time issues during each phase. General software systems engineering processesare expanded by the added concerns of real-time response. Real-time requirements analysis, architecting real-timesystems, design and modeling of system timing, and implementation and testing strategies are examined. Languagesand operating systems for real-time computing, and real-time problems in distributed processing systems areexplored.

This course provides a comprehensive view of real-time systems with theory, techniques and methods for thepractitioner. After successfully completing this course, the student will be able to identify and understand timingissues in system development and propose approaches or solutions to address basic problems in real-timecomputing. It is the goal of this course to motivate and prepare students to pursue more in-depth study of specific

problems in real-time computing and systems development.

Objectives

This coursewill examine analysis, design, and systems issues for real-time systems. By the end of the course youshould be able to:

Define what it means to be a real-time system or application

Understand elements of hardware and software as they relate to system performance

Discuss timing and related attributes associated with real-time systems

Learn scheduling concepts and algorithms and their relative merits

Understand synchronization and resource management approaches

Identify possible timing problems including deadlock and priority inversion

Apply analysis techniques including rate monotonic analysis

Consider approaches to servicing periodic and aperiodic events

Recognize the systems development process and its relationship to real-time issues

Consider the critical requirements imposed by real-time applications

Apply real-time extensions to software requirements analysis including UML modeling

Understand the role of architecture in real-time systems engineering

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Decide the appropriate analysis and design methods for a real-time system

Apply techniques for modeling dynamic behavior in real-time systems

Consider real-time verification and validation issues and strategies.

Devise real-time testing strategies and plans to meet performance and quality requirements

Discuss characteristics of real-time operating systems and features of programming languages

Instructor

Office Telephone Email

David Wettergreen NSH 2113 412-268-5421 [email protected]

Course Meetings

Lectures: Tuesday and Thursday, 1:30-2:50pm

Office Hours: Immediately after class or by appointment

Course Materials

The required textbooks are:

Real-Time Systems Design and Analysis (3rd Edition), by Phillip Laplante, ISBN 0-471-22855-9, IEEE Press/Wiley-Interscience, 2004

Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications (2nd Edition), by GiorgioButtazzo, ISBN 0-387-23137-4, Springer, 2004

The syllabus, lectures and assignments will be available online under course F09-17619 at: http://blackboard.andrew.cmu.edu

Prerequisites

This course is designed with practicing developers and managers in mind. Prerequisites are established to ensure thatstudents have some software engineering experience from which this course can build.

Familiarity with the typical software development process either from practical experience or an introductorysoftware engineering course.

Proficiency with a high-level programming language such as C or Ada and basic concepts of computingsystems. Software will be considered to the level of device drivers rather than microcode.

Knowledge of basic operating systems concepts generally taught in an undergraduate operating systems

course, such as tasks and scheduling.

Any concerns about your background should be discussed with the instructor.

Carnegie Mellon Introduction to Real-time Software and Systems 2
http://blackboard.andrew.cmu.edu/http://blackboard.andrew.cmu.edu/http://blackboard.andrew.cmu.edu/http://blackboard.andrew.cmu.edu/http://blackboard.andrew.cmu.edu/http://blackboard.andrew.cmu.edu/

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Activities and Grading

Assignments

Individual homework assignments will apply lecture and reading material and require specific skills and knowledge.The 12 individual assignments will make up 55% of the final grade (5% for each assignment with the lowest one ofthirteen dropped).

Project

The course project will be executed individually (not in teams) and consists of analysis, design, and planning for thedevelopment of a real-time system. The particular problem will be chosen by the student in an area of interest. The

project will develop a real-time system from concept through to detailed design.

Evaluation for the project will be from written artifacts: a Requirements Specification, an Architecture and DetailDesign, and a Verification, Validation and Test Plan. A final presentation will describe the results of the real-timeanalysis and design and describe lessons-learned through the process.

The grade for the project will be based upon the artifacts and presentation and will contribute 35% of each studentsfinal grade (10% specification, 10% design, 10% test plan, 5% final presentation).

Essay

A final essay (approximately a take-home final exam) will apply all of the concepts and skills developed during the

course to analysis of a real-time system in all dimensions. It will contribute 10% to each student's final grade (10%for the single essay).

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Schedule

Date Unit Lecture Reading Assignment

1 8/25 Introduction Course Introduction and Overview A1 Out2 8/27 Real-Time Characteristics and

Definitions

[Lapante04]Ch.1

[Halang92]

[Stankovic88]

3 9/1 Systems Real-Time Hardware

Processors

Memory

Transducers

[Lapante04]Ch.2 A1 Due

A2 Out

4 9/3 Operating Systems and Tasks

Kernels

Tasks

Priorities

[Lapante04]Ch.3

[Buttazzo04]Ch.9

5 9/8 Scheduling Utilization and Response Time

Task Utilization Factor and Test

Completion Time Theorem Response Time Test

[Buttazzo04]Ch.2

[Lui73]

A2 Due

A3 Out

6 9/10 Periodic Task Scheduling

Utilization Bound

Rate Monotonic Scheduling

Earliest Deadline First

[Buttazzo04]Ch.4

[Sha91]

7 9/15 Synchronization and Blocking

Semaphones

Priority Inversion

Priority Ceiling Protocol

[Buttazzo04]Ch.7 A3 Due

A4 Out

Project Topic Out

8 9/17 Resource Access

Stack Resource Protocol

Other Resource Strategies

[Buttazzo04]Ch.7

[Johnson95]

9 9/22 Rate Monotonic Analysis

Sonar Case Study

[Fowler93]

[Klein93]

10 9/24 No Lecture - G-20 Summit

11 9/29 Aperiodic Task Scheduling

Asynchronous Interrupts

Scheduling Algorithms


A5 Out

12 10/1 Priority Servers

Fixed Priority Servers

Dynamic Priority Servers

[Buttazzo04]Ch.5

[88Sha]

Project Topic Due

13 10/6 Priority Servers

Dynamic Priority Servers

Lessons


A6 Out

14 10/8 Systems Development

Systems Perspective

Lifecycle Requirements, Architecture and

Design

[Kossiakoff03]Ch.3

Project Specification

Out

15 10/13 Development

Process

Software Attributes

Properties and Attributes

Principles

Requirements Elicitation

[Lapante04]Ch.4-5 A6 Due

A7 Out


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Date Unit Lecture Reading Assignment

16 10/15 Requirements Analysis

Structured Analysis

[Yourdon89]

17 10/20 Modeling

Use Cases

Sequence Diagrams

[Douglass04]Ch.3 A7 Due

A8 Out

18 10/22 Modeling Use Cases

Sequence Diagrams

[Douglass04]Ch.3

19 10/27 Modeling

Sequence Diagrams

Timing Diagrams

Statecharts

[Douglass04]Ch.5 A8 Due

A9 Out

Project Design Out

20 10/29 Design Architecture

Definitions and Views

Architectural Properties

Design Patterns

[Douglass03]Ch.2 &

Ch. 5-6

Project

Specification

Due

21 11/3 Patterns

Concurrency

Distribution

Safety and Reliability

[Douglass03]Ch.7-8 A9 Due

A10 Out

22 11/5 Patterns

Deployment

Case Study

[Gomaa00]Ch.18

23 11/10 Performance Analysis

Modeling Methods

[Laplante04]Ch.7

[Cooling03]Ch.14

A10 Due

A11 Out

Project V&V Out

24 11/12 Verification &

Validation

Verification and Validation

Process and Methods

Completeness and Stability

[Collofello88] Project Design Due

25 11/17 Test Procedures

Defect Detection

Complexity Analysis

Inspections and Procedures

[Laplante04]Ch.8

[Cooling03]Ch.11

A11 Due

26 11/19 Safety and Reliability

Fault Tolerance

Failure Modes and Effects Analysis

[Douglass03]Ch.9

[Laplante04]Ch.8.3

27 11/24 Real-Time Languages Project V&V Due

11/26 No Lecture - Thanksgiving

28 12/1 Real-Time Operating Systems

29 12/3 Course Review Final Essay Out


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Bibliography

[Cooling03] Cooling, J., Software Engineering for Real-Time Systems, Addison-Wesley, 2003.

[Collofello 88] Collofello, James S. Introduction to Software Verification and Validation (SEI-CM-13-1.1).Pittsburgh, PA: Software Engineering Institute, Carnegie Mellon University, 1988.

[Douglass99] Douglass, B.,Doing Hard Time: Developing Real-Time Systems with UML, Objects, Frameworks, and

Patterns, Addison-Wesley, 1999.

[Douglass03] Douglass, B.,Real-Time Design Patterns: Robust Scalable Architecture for Real-Time Systems ,Addison-Wesley, 2003.

[Douglass04] Douglass, B.,Real-Time UML: Advances in the UML for Real-Time Systems, Addison-Wesley, 2004.

[Fowler93] Priscilla Fowler, Linda Levine; Technology Transition Push: A Case Study of Rate Monotonic Analysis(Part 1); SEI Technical ReportCMU/SEI-93-TR-29, December 1993

[GAO92] GAO Report, IMTEC-92-26 - Patriot Missile Software Problem, February, 1992. http://www.fas.org/spp/starwars/gao/im92026.htm

[Garlan94] Garlan, D., Shaw, M, An Introduction to Software Architecture, CMU/SEI-94-TR-21, CarnegieMellon University, January 1994.

[Gomaa00] Gomaa, H.,Designing Concurrent, Distributed, and Real-Time Applications with UML, Addison-Wesley, 2000.

[Fowler93] Priscilla Fowler, Linda Levine; Technology Transition Push: A Case Study of Rate Monotonic Analysis(Part 1); SEI Technical ReportCMU/SEI-93-TR-29, December 1993

[Klein93] Mark Klein, Thomas Ralya, Bill Pollak, Ray Obenza, Michael Gonzlez Harbour; A PractionersHandbook for Real-Time Analysis: Guide to Rate Monotonic Analysis for Real-Time SystemsKluwer AcademicPublishers, 1993

[Halang92] Halang, W., Real-Time Systems: Another Perspective, Journal of Systems and Software, ElsevierScience Inc., April 1992, also published in Real-Time Systems: Abstractions, Languages and Design Methodologies,edited by K. Kavi, IEEE Computer Society Press, 1992

[Humphrey89] Humphrey, W.,Managing the Software Process. Reading, MA: Addison-Wesley, 1989.

[Johnson95] Johnson, Theodore. A Performance Comparison of Fast Distributed Mutual Exclusion Algorithms 9thInternational Parallel Processing Symposium (April 1995).

[Kossiakoff03] Kossiakoff, A., Sweet, W., Systems Engineering: Principles and Practice, Wiley-Interscience, 2003.

[Lapante03] Laplante, P.,Real-Time Systems Design and Analysis (3rd Edition), IEEE/Wiley Interscience, 2004.

[Leveson93] Leveson, N, Turner, C. Investigation of the Therac-25 Accidents. IEEE Computer, Vol. 26, No. 7(July 1993): 18-41. http://courses.cs.vt.edu/~cs3604/lib/Therac_25/Therac_1.html

[Lui73] Liu, C., Layland. J. Scheduling Algorithms for Multiprogramming in a Hard Real-Time Environment.Journal of the Assoc. for Computing Machinery, Vol. 20, No. 1 (1973): pp. 46-61.

[Shaw98] Shaw, M., Moving from Qualities to Architecture: Architectural Style Software Architecture in Practice,Chapter 5, Editors: Len Bass, Paul Clements, Rick Kazman, Addison-Wesley, 1998.

[Place93] Place, P., Kang, K., Safety-Critical Software: Status Report and Annotated Bibliography. SEI Technical

Report CMU/SEI-92-TR-5. Carnegie Mellon University, 1995.[Rakitin01] Rakitin, Steven, Software Verification and Validation for Practitioners and Managers, Boston, MA:Artech House 2001.

[Sha88] Sha, L., Rajkumar, R., Lehoczky, J., Ramamritham, K., Mode Change Protocols for Priority-DrivenPreemptive Scheduling, Software Engineering Institute Technical Report, CMU/SEI-88-TR-034, 1988.

[Sha91] Sha, Lui, Mark H. Klein and John B. Goodenough, Rate Monotonic Analysis for Real-Time Systems,Carnegie Mellon Introduction to Real-Time Software and Systems 6

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Software Engineering Institute Technical Report, CMU/SEI-91-TR-6, March 1991.

[SIAM96] Inquiry Board Traces Ariane 5 Failure to Overflow Error, SIAM News, Vol. 29, No. 8. (October 1996).http://www.math.ufl.edu/~cws/3114/ariane-siam.html

[Stankovic88] Stankovic, J., Misconceptions About Real-Time Computing: A Serious Problem for Next-GenerationSystems, IEEE Computer, Vol. 21, No. 10, October 1988.

[Suri92] Suri, D., Considerations for testing of real time spacecraft software, American Institute of Aeronauticsand Astronautics (AIAA 92- 0998), February 1992.

[OMG03] Object Modeling Group (OMG), Unified Modeling Language: Superstructure, Version 2.0. 2003.www.omg.org

[Yourdon89] Yourdon, E.,Modern Structured Analysis , Prentice Hall, 1989


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