Real-Time Systems

Dr. SOUMYA J
Department Of EEE

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 Plan of The Course
• Introduction
• Task Scheduling:
 Uniprocessors
 Multiprocessors
• Commercial Real-Time Operating
Systems
• Real-time communications
• Real-time databases
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 Text Book
Jane Liu W. S.: Real-Time Systems,
Pearson Education, India 2003

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 Reference Books
• Laplante Phillip A.: Real-Time System
Design and Analysis. Third Edition
PHI 2005.
• C. Krishna and K. Shin, Real-Time
Systems, McGraw-Hill, 2000

• R. Mall, Real-Time Systems, Pearson,

2008.
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 Grading
• Mid Exam : 20%: October 5
• Compre : 40%: December 13
• Assignments+Project+Paper
Presentations : 40%

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 Technology Advancements
Decade Technology
’60s Mainframes
’70s Mini Computers
’80s Personal Computers
’90s Internet and mobile phones
’00s Internet-enabled
Source: IDC Embedded appliances

• Embedded devices are now vastly

outnumbering the traditional computers.
 These are a type of real-time systems.
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 Introduction
• Embedded systems:
 Increasingly being used in newer
applications.
 Usually, real-time in nature.
• According to a recent estimate:
 The number of processors deployed in
real-time applications vastly
outnumber the total processors
manufactured world-wide.
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 Why Surge in Embedded
Applications?
• Trend of reducing cost of computers:
 Processors
 Memory
• Flexibility due to Internet
• Reducing power consumption
• Reducing size
• Increased:
 Processing power
 Hardware and software reliability
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Where Are the Embedded
Systems?

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 What is Real-Time?
• Real-time is a quantitative notion of
time measured using a physical clock.
 Example: After a certain event occurs
(temperature exceeds 500 degrees) the
corresponding action (coolant shower)
must complete within 100mSec.
• This is in contrast to the qualitative
notion of time:
 Expressed using notions such as before,
after, sometime, eventually, etc.
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Embedded System Applications
 Industrial
• Chemical Plant Control
• Automated Car Assembly Plant
• Supervisory Control And Data Acquisition(SCADA)‫‏‬
 Medical
• Robot Used in recovery of Displaced
Radioactive Material, Medical equipments
 Peripheral Equipments
• Laser Printer, digital cameras and
camcorders, sensors
 Transportation
• Multi-Point Fuel Injection (MPFI) System
• Automated car
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 Embedded System
Applications cont…

– Telecommunication Applications
• Cellular System
– Aerospace
• Computer On-board an Aircraft
– Internet
– Multimedia Applications
• Video Conferencing
– Consumer Electronics
• Cell Phones, digital cameras and camcorders
– Defence Applications
• Missile Guidance System
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 Example: Automotive Applications
• About 100 processors per
car
 Engine control, Break
system, Airbag deployment
system
 Windshield wiper, door locks,
entertainment systems
• Example: BMW 745i
 2,000,000 LOC
 Window CE OS
 Over 60 microprocessors
 53 8-bit, 11 32-bit, 7 16-bit
Multiple networks
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Source: Insup Lee, UPenn
ECUs (Engine Control Units)

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 Automotive Embedded Systems

• Fuel injection
• Cruise control
• Antilock brakes
• Air bags
• Keyless entry
• Climate control
• GPS
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 MPFI: Multi-Point Fuel
Injection
• Controls the timing
and amount of fuel
injected. :
 Receive signal from
various sensors,
 Process the signals
 Send control signals
to the actuators.
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 Cruise Control
• Function: Keep the speed of the
vehicle constant.
 Suppose 60kmph is as desired speed.
 The frequency in which the computer
checks the current speed of the vehicle
preset called control rate
 Compute deviation
 Take corrective action
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 Reactive System
• Every embedded system:
 Responds to inputs (events)
 Often occur due to changes to the
environment
 Responses are called actions
• We can describe an embedded
system as:
 Responses to events
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 Types of Events
• Periodic:
 Occur according to a timer
 Vast majority (all activities for small
systems) are periodic
• Sporadic:
 Occur statistically or randomly
• Aperiodic:
 Sporadic but multiple can occur together
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 How to Specify an Embedded
System?
• Model all events and actions
• Complex systems:
 Can have thousands of event and
action types
 Meaningfully modelled in terms of
subsystems.
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 Laser Printer
• Raster line.
 A horizontal strip of dots
across a page.
 Created by a raster
image processor
 laser beam neutralizes
the charge on the black
parts of the image
• leaving a static electric
negative image on the
photoreceptor surface
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 Mobile Phone
• Tasks for the processor:
 Convert input voice to digital
using DSP techniques
 Convert digital voice to CDMA
signals
 Convert incoming CDMA signals
to microphone signals
 Handle signals on the control
channel
 Handle user invoked functions
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 SCADA
• Supervisory Control and Data
Acquisition
 A computer system monitoring and
controlling an ongoing process
• Sensors store process data in a:
• Distributed real-time database.
• Supervisory system issues control
signal
• Example: Energy Management System
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 Computer On-board an
Aircraft
• Periodically sample:
 Velocity, acceleration, altitude
• Compute current position (X,Y,Z
position)‫‏‬
• Compute deviation from the trajectory
• Drive actuators to take corrective
actions.
• Task deadlines in few micro to
milliseconds.
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 Anti-Missile System
• Sense target and home onto it:
 Based on some thermal or electrical
characteristics.
 Carry out track corrections based
on target trajectory.
• Sampling and processing activities:
 Typically need to be completed in a
few micro or milliseconds.
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 Key Recent Trends
• Increasing computation demands
 e.g. video conferencing, MobileTV.
• Increasingly networked
 Remotely monitor/debug
 Embedded web browser
• e.g. Mercedes car with web browser
 Cameras, disks etc. that sit directly on
networks
• Increasing need for reducing time-to-
market under ever changing standards!
• 10-Aug-19
Need careful co-design of h/w & s/w! 26
 Basic Model of an
Embedded System
Environment
Input Input
Conditioning Interface
Unit
Real –Time Human
Computer Computer
Interface

Output Output
Conditioning Interface
Unit

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 Example: Radar
System
radar DSP
DSP
sampled DSP
digitized memory
data signal
track processors
records
track
records

data
control processor signal
status processing
parameters

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 Sensors
• A sensor converts some physical
characteristic of its environment:
– Into electrical signals.
• Example sensors:
– A photo-voltaic cell converts light energy into
electrical energy.
– A temperature sensor typically operates
based on the principle of a thermocouple.
– A pressure sensor typically operates based
on the piezoelectricity principle.
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 Low Cost Sensors

From left to right: IR proximity, shaft

encoder, GPS, Sonar, IR distance, Electronic
Compass, CMOS Camera
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 Actuators
• An actuator converts electrical signals from
a computer:
– Into some physical actions.
• The physical actions may be:
– Motion, change of thermal, electrical,
pneumatic, or physical characteristics of some
objects.
• Example actuators:
– Motors Stepper Motor
– Heaters
– Hydraulic and pneumatic actuators
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 Low Cost Servos

•A Servo is a small wireless device that has a shaft.

•The shaft can be positioned at specific angular
positions:
•By sending a coded signal.
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 Servo
• As long as a coded signal exists on the
input line,
 The servo will maintain the angular
position of the shaft.
• As the coded signal changes,
 The angular position of the shaft changes.
• Servos are used predominantly in
robots:
 Also used in radio controlled cars, and
puppets.
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 Signal Conditioning
• Analog signals are generated by a sensor:
 A photo-voltaic cell normally generates signals
in the millivolts range.
 Need to be conditioned before they can be
processed by a computer.
• Important types of conditioning:
 Voltage Amplification
 Voltage Level Shifting
 Frequency Range Shifting and Filtering
 Signal Mode Conversion
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 ADC and DAC
• Analog-to-digital converter (ADC):
 Converts continuous signals to discrete
digital numbers.
• The reverse operation:
 Performed by a digital-to-analog
converter (DAC).

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