Fault-Tolerant Scheduling in Hierarchical Real-Time Scheduling Framework

As real-time systems become complex and require high-performance, Hierarchical Real-Time Scheduling Framework (HRTSF) has been investigated to schedule real-time tasks to meet their deadlines by sharing resources hierarchically under various scheduling algorithms. In this paper, we focus on fault-tolerant scheduling in the hierarchical real-time scheduling framework. Thus, we introduce a new component interface model which provides abstract information about a component´s fault-tolerant real-time requirement. The upper-layer component can use the interface model to share its resource with consideration of both real-time and fault-tolerance. We also provide the schedulability analysis of Rate Monotonic (RM) algorithm under the proposed framework and apply it to a case study of designing avionics software as an example of Cyber Physical Systems (CPS).