DocumentCode :
2862660
Title :
Achieving Reliable and Timely Task Execution in Mobile Embedded Applications
Author :
Schemmer, Stefan ; Nett, Edgar
Author_Institution :
University of Magdeburg
fYear :
2003
fDate :
01-03 Oct. 2003
Firstpage :
61
Lastpage :
61
Abstract :
Tasks controlling a mobile system’s interactions with its environment must be performed reliably and in real-time. Motion control, for example, directs a system’s motions based on information about the environment. As such information is usually incomplete and inaccurate, we developed a solution in which mobile systems perform a distributed fusion of their sensor data. In this paper, we address the scheduling of the local processing tasks of the fusion. The particular problem of the real-time scheduling of these tasks lies in their unpredictable execution times, which do not allow using worst-case values. TAFT (time-aware fault-tolerant) scheduling allows working with expected-case execution times and still achieves a predictable timing behavior. It aborts task instances that would miss their deadline and ensures a timely exception handling. We exploit application-inherent redundancy to tolerate task abortions. We present measurements showing the dynamic nature of the execution times and the reliability of task execution.
Keywords :
Mobile communication; Real time systems; Redundancy; Robot sensing systems; Sensor fusion; Timing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Object-Oriented Real-Time Dependable Systems, 2003. WORDS 2003 Fall. The Ninth IEEE International Workshop on
Print_ISBN :
0-1795-2054-5
Type :
conf
DOI :
10.1109/WORDS.2003.1267491
Filename :
1410946
Link To Document :
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