Abstract
Traditional hard real-time scheduling algorithms require the use of the worst-case execution times to guarantee that deadlines will be met. Unfortunately, many algorithms with parameters derived from sensing the physical world suffer large variations in execution time, leading to pessimistic overall utilization, such as visual recognition tasks. In this article, we present ZS-QRAM, a scheduling approach that enables the use of flexible execution times and application-derived utility to tasks in order to maximize total system utility. In particular, we provide a detailed description of the algorithm, the formal proofs for its temporal protection, and a detailed, evaluation. Our evaluation uses the Utility Degradation Resilience (UDR) showing that ZS-QRAM is able to obtain 4× as much UDR as ZSRM, a previous overbooking approach, and almost 2× as much UDR as Rate-Monotonic with Period Transformation (RM/TP). We then evaluate a Linux kernel module implementation of our scheduler on an Unmanned Air Vehicle (UAV) platform. We show that, by using our approach, we are able to keep the tasks that render the most utility by degrading lower-utility ones even in the presence of highly dynamic execution times.
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