Dynamic Voltage and Frequency Scaling (DVFS) is a key technology for enhancing power efficiency in computing devices. However, conventional DVFS methods struggle with the unique demands of mobile devices. Recent reinforcement learning (RL)-based approaches address this by tailoring to mobile-specific thermal and workload characteristics. Yet, these solutions make frequency adjustments that ignore device-specific configurations calibrated by vendors, neglect the impact of ambient and non-processor components—such as battery, display, and integrated circuits—that significantly affect processor thermal management, and rely on fixed environment-dependent parameters, limiting adaptability across different environments. To address these limitations, we propose EarDVFS, an environment-adaptable RL-based solution that employs proactive throttling to combine the strengths of traditional and RL-based methods, considers the temperatures of ambient and non-processor components for better thermal management, and features an environment-robust RL parameter design. Extensive experiments across varying ambient temperatures, devices, and workloads demonstrate that EarDVFS consistently enhances power efficiency by an average of 21.6% and up to 49.6% compared to default DVFS while maintaining performance. Furthermore, we conduct comprehensive ablation studies on the action, state, and reward elements of our RL model, confirming that each element significantly contributes to EarDVFS’s adaptability and effectiveness across diverse thermal environments.

Large Foundation Models (LFMs) have unlocked new possibilities in human-computer interaction, particularly with the rise of mobile Graphical User Interface (GUI) Agents capable of interacting with mobile GUIs. These agents allow users to automate complex mobile tasks through simple natural language instructions. However, the inherent probabilistic nature of LFMs, coupled with the ambiguity and context-dependence of mobile tasks, makes LFM-based automation unreliable and prone to errors. To address this critical challenge, we introduce VeriSafe Agent (VSA)1: a formal verification system that serves as a logically grounded safeguard for Mobile GUI Agents. VSA deterministically ensures that an agent's actions strictly align with user intent before executing the action. At its core, VSA introduces a novel autoformalization technique that translates natural language user instructions into a formally verifiable specification. This enables runtime, rule-based verification of agent's actions, detecting erroneous actions even before they take effect. To the best of our knowledge, VSA is the first attempt to bring the rigor of formal verification to GUI agents, bridging the gap between LFM-driven actions and formal software verification. We implement VSA using off-the-shelf LFM services (GPT-4o) and evaluate its performance on 300 user instructions across 18 widely used mobile apps. The results demonstrate that VSA achieves 94.33%–98.33% accuracy in verifying agent actions, outperforming existing LFM-based verification methods by 30.00%–16.33%, and increases the GUI agent's task completion rate by 90%–130%.

Even with advances in single-cell batteries, mobile users still experience low battery anxiety. By analyzing 19,855 hours of user behavior, we proposeMixMax, a heterogeneous battery system consisting of three complementary battery types tailored to minimizing low battery time. While the heterogeneous battery system offers an opportunity to simultaneously improve capacity and charging speed, one must face non-trivial challenges to design charge/discharge policies during runtime and determine the ratio of enclosed batteries. They are highly dependent on each other, which entails almost infinite candidates for the choice.MixMaxsimplifies this by reformulating the problem as an optimization problem, breaking it down into manageable sub-problems. However,MixMaxstill faces the challenge of catering to all users due to their diverse battery usage patterns. To address this, we introduce a customizedMixMaxthat groups users based on their usage patterns and provides tailored battery solutions. In evaluatingMixMax, we fabricate coin-cell batteries, develop a precise battery emulator using the fabricated batteries, and prototypeMixMaxon a real-world smartphone. Our evaluation shows thatMixMaxreduces low battery time by up to 24.6% without compromising capacity, volume, weight, or user behavior, and its customized version can further reduce it by up to 46.2%.

The rapid growth of the Internet of Things (IoT) in shared spaces has led to an increasing demand for sharing IoT devices among multiple users. Yet, existing IoT platforms often fall short by offering an all-or-nothing approach to access control, not only posing security risks but also inhibiting the growth of the shared IoT ecosystem. This paper introduces FLUID-IoT, a framework that enables flexible and granular multi-user access control, even down to the User Interface (UI) component level. Leveraging a multi-user UI distribution technique, FLUID-IoT transforms existing IoT apps into centralized hubs that selectively distribute UI components to users based on their permission levels. Our performance evaluation, encompassing coverage, latency, and memory consumption, affirm that FLUID-IoT can be seamlessly integrated with existing IoT platforms and offers adequate performance for daily IoT scenarios. An in-lab user study further supports that the framework is intuitive and user-friendly, requiring minimal training for efficient utilization.

The advent of large language models (LLMs) has opened up new opportunities in the field of mobile task automation. Their superior language understanding and reasoning capabilities allow users to automate complex and repetitive tasks. However, due to the inherent unreliability and high operational cost of LLMs, their practical applicability is quite limited. To address these issues, this paper introduces MobileGPT1, an innovative LLM-based mobile task automator equipped with a human-like app memory. MobileGPT emulates the cognitive process of humans interacting with a mobile app---explore, select, derive, and recall. This approach allows for a more precise and efficient learning of a task's procedure by breaking it down into smaller, modular sub-tasks that can be re-used, re-arranged, and adapted for various objectives. We implement MobileGPT using online LLMs services (GPT-3.5 and GPT-4) and evaluate its performance on a dataset of 185 tasks across 18 mobile apps. The results indicate that MobileGPT can automate and learn new tasks with 82.7% accuracy, and is able to adapt them to different contexts with near perfect (98.75%) accuracy while reducing both latency and cost by 62.5% and 68.8%, respectively, compared to the GPT-4 powered baseline.

Kernel concurrency bugs are notoriously difficult to identify, while their consequences severely threaten the reliability and security of the entire system. Especially in the kernel, developers should consider not only locks but also memory barriers to prevent out-of-order execution from breaking the correctness of concurrent execution. Incorrect use of memory barriers may cause non-intuitive concurrency bugs that manifest due to out-of-order execution, which we refer to as OoO bugs. This paper aims to identify OoO bugs in the kernel. We devise a mechanism to emulate out-of-order execution while kernel code is executed, called OEMU. Inspired by how a processor reorders memory accesses, OEMU makes the subtle and non-deterministic behavior of out-of-order execution systematically controllable. Based on OEMU, we propose Ozz , a new testing tool designed to effectively identify kernel OoO bugs. The key feature of Ozz is its ability to deterministically control both out-of-order execution and concurrent execution caused by thread interleavings, enabling comprehensive testing of their combined effects. Our evaluation shows that OEMU is effective in reproducing previously-reported kernel OoO bugs, demonstrating its strong capability of controlling out-of-order execution. Furthermore, with Ozz , we identify 11 new OoO bugs in the latest version of the Linux kernel, subsequently confirmed and patched by kernel developers.

Low-battery anxiety has emerged as a result of growing dependence on mobile devices, where the anxiety arises when the battery level runs low. While battery life can be extended through power-efficient hardware and software optimization techniques, low-battery anxiety will still remain a phenomenon as long as mobile devices rely on batteries. In this paper, we investigate how an accurate real-time energy consumption prediction at the application-level can improve the user experience in low-battery situations. We present Serenus, a mobile system framework specifically tailored to predict the energy consumption of each mobile application and present the prediction in a user-friendly manner. We conducted user studies using Serenus to verify that highly accurate energy consumption predictions can effectively alleviate low-battery anxiety by assisting users in planning their application usage based on the remaining battery life. We summarize requirements to mitigate users’ anxiety, guiding the design of future mobile system frameworks.

The growing trend of multi-device ownerships creates opportunities to use applications across devices. However, the current methods of app development/usage remain in the single-device paradigm, which is far below user expectations. For example, it is currently impossible for users to dynamically partition an existing app across different devices to utilize multiple surfaces. We introduce FLUID, a novel multi-device platform that supports simultaneous operation of multiple devices. FLUID aims toi)distribute the user interfaces (UIs) of a single app across multiple devices,ii)support unmodified legacy apps without extra engineering, andiii)support numerous apps with customized UIs. Previous approaches, like screen mirroring and app migration, do not satisfy those goals altogether. However, FLUID is designed to satisfy the goals. It can efficiently deploy UI objects to different devices by identifying only UI states necessary for accurate rendering. And FLUID can execute the distributed UI objects by supporting cross-device method invocations transparently and synchronizing the replicated UIs across devices. Furthermore, FLUID automatically handles unexpected events that may degrade its usability by efficiently maintaining the distributed UIs up to date. Our evaluation using 20 legacy apps shows that FLUID can transparently support numerous apps and is fast enough for interactive use.

The vast amounts of spatio-temporal data generated by a variety of devices are best utilized in conjunction with relational, tabular data rather than being referenced separately. To enhance the efficiency of data analysis, learned models are frequently used to approximate query results by increasing responsiveness at the cost of some accuracy. Machine learning techniques exist for spatio-temporal data and tabular data separately, but it is not straightforward to represent the combined data in a unified learned model. This paper explores the challenge of learning from heterogeneous data, particularly trajectory and tabular data, and proposes approaches for representation learning using probabilistic circuits and deep neural networks.

Online meetings are indispensable in collaborative remote work environments, but they are vulnerable to distractions due to their distributed and location-agnostic nature. While distraction often leads to a decrease in online meeting quality due to loss of engagement and context, natural multitasking has positive tradeoff effects, such as increased productivity within a given time unit. In this study, we investigate the impact of real-time transcriptions (i.e., full-transcripts, summaries, and keywords) as a solution to help facilitate online meetings during distracting moments while still preserving multitasking behaviors. Through two rounds of controlled user studies, we qualitatively and quantitatively show that people can better catch up with the meeting flow and feel less interfered with when using real-time transcriptions. The benefits of real-time transcriptions were more pronounced after distracting activities. Furthermore, we reveal additional impacts of real-time transcriptions (e.g., supporting recalling contents) and suggest design implications for future online meeting platforms where these could be adaptively provided to users with different purposes.

Kernel concurrency failures are notoriously difficult to identify and diagnose their fundamental reason, the root cause. Kernel concurrency bugs frequently involve challenging patterns such as multi-variable races, data races with asynchronous kernel threads, and pervasive benign races. We perform an in-depth study of real-world kernel concurrency bugs and elicit three requirements: comprehensiveness, pattern-agnostic, and conciseness.

Despite the physical advance of an existing single-cell battery system, mobile users are still suffering from low battery anxiety. With a careful analysis of users' battery usage behavior collected for 19,855 hours, we propose a heterogeneous battery system, MixMax, consisting of three complementary battery types tailored to minimizing the low battery time. While composing a heterogeneous battery system opens up a chance to simultaneously improve the capacity and the charging speed, one must face non-trivial challenges to determine the ratio of enclosed batteries and charge/discharge policies during the run-time. They are highly dependent on each other, which entails almost infinite candidates for the choice. MixMax gracefully unwinds the dependencies as it formulates the decision-making problem into an optimization problem and decomposes it into multiple sub-problems instead. To evaluate MixMax, we fabricate coin-cell batteries and experiment with them to model an accurate battery emulator which sophisticatedly reproduces the dynamics of battery systems. Our experimental results demonstrate that MixMax can reduce the low battery time by up to 24.6% without compromising capacity, volume, weight, and more importantly, users' battery usage behavior. In addition, we prototype MixMax on a smartphone, presenting the practicality of MixMax on mobile systems.

On behalf of the IEEE Technical Committee on Real-Time Systems (TCRTS), it is our pleasure to welcome you to the 44th IEEE Real-Time Systems Symposium (RTSS 2023) during December 5 - 8, 2023 in Taipei. Over the past 44 years, RTSS has established itself as the primary forum for research in the broad field of real-time and embedded systems.

Discovering kernel concurrency bugs through fuzzing is challenging. Identifying kernel concurrency bugs, as opposed to non-concurrency bugs, necessitates an analysis of possible interleavings between two or more threads. However, because the search space of thread interleaving is vast, it is impractical to investigate all conceivable thread interleavings. To explore the vast search space, most previous approaches perform random or simple heuristic searches without having coverage for thread interleaving or with an insufficient form of coverage. As a result, they either conduct wasteful searches with redundant executions or overlook concurrent bugs that their coverage cannot address.To overcome such limitations, we propose SegFuzz, a fuzzing framework for kernel concurrency bugs. When exploring the search space of thread interleavings, SegFuzz decomposes an entire thread interleaving into a set of segments, each of which represents an interleaving of the small number of instructions, and utilizes individual segments as interleaving coverage, called interleaving segment coverage. When searching for thread interleavings, SegFuzz mutates interleavings in explored interleaving segments to construct new thread interleavings that have not yet been explored. With SegFuzz, we discover new 21 concurrency bugs in Linux kernels, and demonstrate the efficiency of SegFuzz by showing that SegFuzz can identify known bugs on average 4.1 times quickly than the state-of-the-art approaches.

As various computing devices, such as smartphones, IoT devices, smart speakers etc, becomes omnipresent in our daily lives, interest in ubiquitous computing interfaces is increasing. In response to this, various studies have introduced on-surface input techniques that leverage the surface of surrounding objects as touch interfaces. However, most of them struggle to support ubiquitous interaction due to their dependency on specific hardware or environments. In this work, we propose${{\sf S \text{-}UbiTap}}$, an input method that turns any flat solid surface into a touch input space by listening to sound (i.e., with microphones already present in the commodity devices). More specifically, we develop a novel touch localization technique that leverages the physical phenomenon, calleddispersion, which is the characteristic of sound as it travels through solid surfaces, and address the challenges that limit existing acoustic-based solutions in terms of portability, accuracy, usability, robustness, scalability, and responsiveness. Our extensive experiments with a prototype of${{\sf S \text{-}UbiTap}}$show that we can support sub-centimeter accuracy on various types of surfaces with minor user calibration effort. In addition, the accuracy is maintained even when the size of the touch input space increases. In our experience with real-world users,${{\sf S \text{-}UbiTap}}$significantly improves usability and robustness, thus enabling the emergence of more exciting applications.

Huge amounts of data are ceaselessly being generated by a variety of devices, and the processing efforts for their collection and analysis grows exponentially as well. Storing them in one place and getting exact answers is almost impractical. Furthermore, computing aggregation and statistics that most exploratory data analysis would require imposes a heavy burden on networking and computing infrastructures. By adopting the edge/fog computing paradigm that has recently been developing can reduce such overheads by offloading jobs from central clouds to edge devices. We try to go one step further in this direction by approximating aggregate values and statistics for data analysis using tractable probabilistic models and optimizing network performance. This paper evaluates our preliminary result of our on-going project that was gained by fast-prototyping using Sum-Product Networks.

Recurrent models are frequently being used in online tasks such as autonomous driving, and a comprehensive study of their vulnerability is called for. Existing research is limited in generality only addressing application-specific vulnerability or making implausible assumptions such as the knowledge of future input. In this paper, we present a general attack framework for online tasks incorporating the unique constraints of the online setting different from offline tasks. Our framework is versatile in that it covers time-varying adversarial objectives and various optimization constraints, allowing for a comprehensive study of robustness. Using the framework, we also present a novel white-box attack called Predictive Attack that `hallucinates' the future. The attack achieves 98 percent of the performance of the ideal but infeasible clairvoyant attack on average. We validate the effectiveness of the proposed framework and attacks through various experiments.

Mobile apps offer a variety of features that greatly enhance user experience. However, users still often find it difficult to use mobile apps in the way they want. For example, it is not easy to use multiple apps simultaneously on a small screen of a smartphone. In this paper, we present A-Mash, a mobile platform that aims to simplify the way of interacting with multiple apps concurrently to the level of using a single app only. A key feature of A-Mash is that users can mash up the UIs of different existing mobile apps on a single screen according to their preferences. To this end, A-Mash 1) extracts UIs from unmodified existing apps (dynamic UI extraction) and 2) embeds extracted UIs from different apps into a single wrapper app (cross-process UI embedding), while 3) making all these processes hidden from the users (transparent execution environment). To the best of our knowledge, A-Mash is the first work to enable UIs of different unmodified legacy apps to seamlessly integrate and synchronize on a single screen, providing an illusion as if they were developed as a single app. A-Mash offers great potential for a number of useful usage scenarios. For instance, a user can mashup UIs of different IoT administration apps to create an all-in-one IoT device controller or one can mashup today's headlines from different news and magazine apps to craft one's own news headline collection. In addition, A-Mash can be extended to an AR space, in which users can map UI elements of different mobile apps to physical objects inside their AR scenes. Our evaluation of the A-Mash prototype implemented in Android OS demonstrates that A-Mash successfully supports the mashup of various existing mobile apps with little or no performance bottleneck. We also conducted in-depth user studies to assess the effectiveness of the A-Mash in real-world use cases.

Being able to use a single app across multiple devices can bring novel experiences to the users in various domains including entertainment and productivity. For instance, a user of a video editing app would be able to use a smart pad as a canvas and a smartphone as a remote toolbox so that the toolbox does not occlude the canvas during editing. However, existing approaches do not properly support the single-app multi-device execution due to several limitations, including high development cost, device heterogeneity, and high performance requirement. In this paper, we introduce FLUID-XP, a novel cross-platform multi-device system that enables UIs of a single app to be executed across heterogeneous platforms, while overcoming the limitations of previous approaches. FLUID-XP provides flexible, efficient, and seamless interactions by addressing three main challenges: i) how to transparently enable a single-display app to use multiple displays, ii) how to distribute UIs across heterogeneous devices with minimal network traffic, and iii) how to optimize the UI distribution process when multiple UIs have different distribution requirements. Our experiments with a working prototype of FLUID-XP on Android confirm that FLUID-XP successfully supports a variety of unmodified real-world apps across heterogeneous platforms (Android, iOS, and Linux). We also conduct a lab study with 25 participants to demonstrate the effectiveness of FLUID-XP with real users.

Deep neural networks (DNNs) have shown remarkable success in various machine-learning (ML) tasks useful for many safety-critical, real-time embedded systems. The foremost design goal for enabling DNN execution on real-time embedded systems is to provide worst-case timing guarantees with limited computing resources. Yet, the state-of-the-art ML frameworks hardly leverage heterogeneous computing resources (i.e., CPU, GPU) to improve the schedulability of real-time DNN tasks due to several factors, which include a coarse-grained resource allocation model (one-resource-per-task), the asymmetric nature of DNN execution on CPU and GPU, and lack of schedulability-aware CPU/GPU allocation scheme. This paper presents, to the best of our knowledge, the first study of addressing the above three major barriers and examining their cooperative effect on schedulability improvement. In this paper, we propose LaLaRAND, a real-time layer-level DNN scheduling framework, that enables flexible CPU/GPU scheduling of individual DNN layers by tightly coupling CPU-friendly quantization with fine-grained CPU/GPU allocation schemes (one-resource-per-layer) while mitigating accuracy loss without compromising timing guarantees. We have implemented and evaluated LaLaRAND on top of the state-of-the-art ML framework to demonstrate its effectiveness in making more DNN task sets schedulable by 56% and 80% over an existing approach and a baseline (vanilla PyTorch), respectively, with only up to -0.4% of performance (inference accuracy) difference.

The growing trend of multi-device ownerships creates a need and an opportunity to use applications across multiple devices. However, in general, the current app development and usage still remain within the single-device paradigm, falling far short of user expectations. For example, it is currently not possible for a user to dynamically partition an existing live streaming app with chatting capabilities across different devices, such that she watches her favorite broadcast on her smart TV while real-time chatting on her smartphone. In this paper, we present FLUID, a new Android-based multi-device platform that enables innovative ways of using multiple devices. FLUID aims to i) allow users to migrate or replicate individual user interfaces (UIs) of a single app on multiple devices (high flexibility), ii) require no additional development effort to support unmodified, legacy applications (ease of development), and iii) support a wide range of apps that follow the trend of using custom-made UIs (wide applicability). Previous approaches, such as screen mirroring, app migration, and customized apps utilizing multiple devices, do not satisfy those goals altogether. FLUID, on the other hand, meets the goals by carefully analyzing which UI states are necessary to correctly render UI objects, deploying only those states on different devices, supporting cross-device function calls transparently, and synchronizing the UI states of replicated UI objects across multiple devices. Our evaluation with 20 unmodified, real-world Android apps shows that FLUID can transparently support a wide range of apps and is fast enough for interactive use.

The growing trend of multi-device ownerships creates a need and an opportunity to use applications across multiple devices. However, in general, the current app development and usage still remain within the single-device paradigm, falling far short of user expectations. We present FLUID, a new multi-device platform that allows users to migrate or replicate individual user interfaces (UIs) of a single app on multiple devices. In addition, FLUID aims to require no extra development effort to support a wide range of legacy apps that follow the trend of using custom-made UIs. To this end, FLUID analyzes which UI states are necessary to correctly render UI objects, deploys only those states on different devices, and supports cross-device function calls transparently. In this demo, we demonstrate several interesting use cases supported by our Android-based FLUID prototype.

The development of complex cyber-physical systems necessitates real-time networking with timing guarantees even in the presence of a link fault. Targeting firm real-time flows with the maximum allowable number of continuous deadline misses, this paper introduces FR-SDN, a fault-resilient SDN (Software-Defined Networking) framework that satisfies the timing requirements of firm real-time flows. To this end, we first investigate individual steps for path restoration: fault recognition, path recalculation, and path reassignment. We then design novel system architecture that reduces the delay of the fault recognition and path reassignment steps to potentially assign more time budget to the path recalculation step. Based on the calculation of tight upper-bounds on the delays in individual steps under the proposed system design, we derive a necessary feasibility condition that guarantees the timing requirements of firm real-time flows, and we calculate a time budget for the path recalculation step. Finally, we develop a multi-constrained path finding algorithm that can dynamically adjust the scope of flows to reroute according to the time budget. To the best of our knowledge, FR-SDN is the first study on adaptive path restoration for real-time flows, taking into account path restoration delay and fault tolerance constraints in case of link fault. We have implemented and evaluated FR-SDN on top of Open vSwitch to demonstrate its effectiveness, achieving an order of magnitude reduction in path restoration delay. In addition, we have deployed FR-SDN into a 1/10 scale autonomous vehicle and have shown, via an in-depth case study of adaptive cruise control, that FR-SDN is able to meet all fault tolerance requirements so that it can behave similarly as if there were no link failure.

Battery aging is one of the critical issues in battery-powered electric systems. However, this issue has not received much attention in the real-time systems community. In this paper, we present the first attempt to translate the problem of minimizing battery aging subject to timing requirements into a real-time scheduling problem, addressing the following issues. (i) Can scheduling make a systematic impact on battery aging? If so, which scheduling principles are favorable to minimizing battery aging? (ii) If there exists any, how can we build upon the scheduling principle to guarantee real-time requirements? For (i), we first illuminate the connection between task scheduling and battery aging minimization and then derive a principle for task scheduling from abstracting the complicated dynamics of battery aging, which is to minimize the variance of total power consumption over time. In addition, we implement a battery aging simulator and use it to verify the effectiveness of the proposed principle in minimizing battery aging and its impact on quantitative improvement. For (ii), we propose a scheduling framework that separates control for timing guarantees from that for battery aging minimization. Such a separation allows reducing the complexity significantly such that we can employ existing scheduling algorithm and schedulability analysis for real-time guarantee and tailor the proposed scheduling principle to decelerate battery aging without taking real-time guarantees into accounts. Our simulation results show that the proposed framework can extend the battery lifespan by up to 144.4%.

A data race in a kernel is an important class of bugs, critically impacting the reliability and security of the associated system. As a result of a race, the kernel may become unresponsive. Even worse, an attacker may launch a privilege escalation attack to acquire root privileges. In this paper, we propose Razzer, a tool to find race bugs in kernels. The core of Razzer is in guiding fuzz testing towards potential data race spots in the kernel. Razzer employs two techniques to find races efficiently: a static analysis and a deterministic thread interleaving technique. Using a static analysis, Razzer identifies over-approximated potential data race spots, guiding the fuzzer to search for data races in the kernel more efficiently. Using the deterministic thread interleaving technique implemented at the hypervisor, Razzer tames the non-deterministic behavior of the kernel such that it can deterministically trigger a race. We implemented a prototype of Razzer and ran the latest Linux kernel (from v4.16-rc3 to v4.18-rc3) using Razzer. As a result, Razzer discovered 30 new races in the kernel, with 16 subsequently confirmed and accordingly patched by kernel developers after they were reported.

These days, the term of Internet of Things (IoT) becomes popular to interact and cooperate with individual smart objects, and one of the most critical challenges for IoT is to achieve efficient resource sharing as well as ensure safety-stringent timing constraints. To design such reliable real-time IoT, this paper focuses on the concept of mixed-criticality (MC) introduced to address the low processor utilization on traditional real-time systems. Although different worst-case execution time estimates depending on criticality are proven effective on processor scheduling, the MC concept is not yet mature on distributed systems (such as IoT), especially with end-to-end deadline guarantee. To the best of our knowledge, this paper presents the first attempt to apply the MC concept into interference (or jitter), which is a complicated source of pessimism when analyzing the schedulability of distributed systems. Our goal is to guarantee the end-to-end deadlines of high-criticality flows and minimize the deadline miss ratio of low-criticality flows in distributed systems. To achieve this goal, we introduce a jitter-based MC (JMC) scheduling framework, which supports node-level mode changes in distributed systems. We present an optimal feasibility condition (subject to given schedulability analysis) and two policies to determine jitter-threshold values to achieve the goal in different conditions. Via simulation results for randomly generated workloads, JMC outperforms an existing criticality-monotonic scheme in terms of achieving higher schedulability and fewer deadline misses.

Despite recent advances, there still remain many problems to design reliable cyber-physical systems. One of the typical problems is to achieve a seemingly conflicting goal, which is to support timely delivery of real-time flows while improving resource efficiency. Recently, the concept of mixed-criticality (MC) has been widely accepted as useful in addressing the goal for real-time resource management. However, it has not been yet studied well for real-time communication. In this paper, we present the first approach to support MC flow scheduling on switched Ethernet networks leveraging an emerging network architecture, software-defined networking (SDN). Though SDN provides flexible and programmatic ways to control packet forwarding and scheduling, it yet raises several challenges to enable real-time MC flow scheduling on SDN, including: 1) how to handle (i.e., drop or re-prioritize) out-of-mode packets in the middle of the network when the criticality mode changes and 2) how the mode change affects end-to-end transmission delays. Addressing such challenges, we develop MC-SDN that supports real-time MC flow scheduling by extending SDN-enabled switches and OpenFlow protocols. It manages and schedules MC packets in different ways depending on the system criticality mode. To this end, we carefully design the mode change protocol that provides analytic mode change delay bound, and then resolve implementation issues for system architecture. For evaluation, we implement a prototype of MC-SDN on top of Open vSwitch, and integrate it into a real world network testbed as well as a 1/10 autonomous vehicle. Our extensive evaluations with the network testbed and vehicle deployment show that MC-SDN supports MC flow scheduling with minimal delays on forwarding rule updates and it brings a significant improvement in safety in a real-world application scenario.

Progressive Web App (PWA) is a new generation of Web application designed to provide native app-like browsing experiences even when a browser is offline. PWAs make full use of new HTML5 features which include push notification, cache, and service worker to provide short-latency and rich Web browsing experiences. We conduct the first systematic study of the security and privacy aspects unique to PWAs. We identify security flaws in main browsers as well as design flaws in popular third-party push services, that exacerbate the phishing risk. We introduce a new side-channel attack that infers the victim's history of visited PWAs. The proposed attack exploits the offline browsing feature of PWAs using a cache. We demonstrate a cryptocurrency mining attack which abuses service workers. Defenses and recommendations to mitigate the identified security and privacy risks are suggested with in-depth understanding.

In this paper, we present the first approach to support mixed-criticality (MC) flow scheduling on switched Ethernet networks leveraging an emerging network architecture, Software-Defined Networking (SDN). Though SDN provides flexible and programmatic ways to control packet forwarding and scheduling, it yet raises several challenges to enable real-time MC flow scheduling on SDN, including i) how to handle (i.e., drop or reprioritize) out-of-mode packets in the middle of the network when the criticality mode changes, and ii) how the mode change affects end-to-end transmission delays. Addressing such challenges, we develop MC-SDN that supports real-time MC flow scheduling by extending SDN-enabled switches and OpenFlow protocols. It manages and schedules MC packets in different ways depending on the system criticality mode. To this end, we carefully design the mode change protocol that provides analytic mode change delay bound, and then resolve implementation issues for system architecture. For evaluation, we implement a prototype of MC-SDN on top of Open vSwitch, and integrate it into a real world network testbed as well as a 1/10 autonomous vehicle. Our extensive evaluations with the network testbed and vehicle deployment show that MC-SDN supports MC flow scheduling with minimal delays on forwarding rule updates and it brings a significant improvement in safety in a real-world application scenario.

With the omnipresence of computing devices in our daily lives, interests in ubiquitous computing interfaces have grown. In response to this, various studies have introduced on-surface input techniques which use the surfaces of surrounding objects as a touch interface. However, these methods are yet struggling to support ubiquitous interaction due to their dependency on specific hardware or environments. In this paper, we propose UbiTap, an input method that turns solid surfaces into a touch input space, through the use of sound (i.e., with microphones already present in the commodity devices). More specifically, we develop a novel touch localization technique which leverages the physical phenomenon, referred to as dispersion, a characteristic of sound as it travels through solid surfaces, so as to address challenges which limit existing acoustic-based solutions in terms of portability, accuracy, usability, robustness, and responsiveness. Our extensive experiments with a prototype of UbiTap show that we can support sub-centimeter accuracy on various surfaces with minor user calibration effort. In our experience with real-world users, UbiTap significantly improves usability and robustness, thus enabling the emergence of more exciting applications.

Owing to growing complexity and scale, safety-critical real-time systems are generally designed using the concept of mixed-criticality, wherein applications with different criticality or importance levels are hosted on the same hardware platform. To guarantee non-interference between these applications, the hardware resources, in particular the processor, are statically partitioned among them. To overcome the inefficiencies in resource utilization of such a static scheme, the concept of mixed-criticality real-time scheduling has emerged as a promising solution. Although there are several studies on such scheduling strategies for uniprocessor platforms, the problem of efficient scheduling for the multiprocessor case has largely remained open. In this work, we design a fluid-model based mixed-criticality scheduling algorithm for multiprocessors, in which multiple tasks are allowed to execute on the same processor simultaneously. We derive an exact schedulability test for this algorithm, and also present an optimal strategy for assigning the fractional execution rates to tasks. Since fluid-model based scheduling is not implementable on real hardware, we also present a transformation algorithm from fluid-schedule to a non-fluid one. We also show through experimental evaluation that the designed algorithms outperform existing scheduling algorithms in terms of their ability to schedule a variety of task systems.

Real-time scheduling for Mixed-Criticality (MC) systems has received a growing attention as real-time embedded systems accommodate various tasks with different levels of criticality. While many studies have addressed how to guarantee timing requirements for MC systems with uniprocessor and multiprocessors, most of them have focused on supporting preemptive tasks. On the other hand, there have been few studies to address non-preemptive scheduling especially for MC multiprocessor platforms, in which the jobs under execution cannot be preempted by other jobs. In this paper, we develop schedulability tests for non-preemptive scheduling, which is the first attempt for MC multiprocessor systems. To this end, we first generalize an existing NP-EDF (Non-Preemptive Earliest Deadline First) schedulability test developed for single-criticality multiprocessor systems, towards for MC multiprocessor systems. For the generalization, we introduce new timing guarantee techniques for the system transition between two different criticalities, which is one of the key features in MC systems. We next extend the proposed NP-EDF schedulability test towards NP-EDFVD (NP-EDF with Virtual Deadlines) that is specialized for MC systems, and pose a virtual deadline assignment problem. We develop an optimal virtual deadline assignment policy using a control knob of the system-level deadline-reduction parameter and then a suboptimal one for the task-level parameter. Our simulation results demonstrate that the NP-EDFVD schedulability test with the proposed virtual deadline assignment policies finds a number of additional schedulable task sets, which are not schedulable by the NP-EDF schedulability test.

In recent years, the explosion of diverse smart devices such as mobile phones, TVs, watches, and even cars, has completely changed our lives. We communicate with friends through social network services (SNSs) whenever we want, buy stuff without visiting shops, and enjoy multimedia wherever we are, thanks to these devices. However, these smart devices cannot simply interact with each other even though they are right next to each other. For example, when you want to read a PDF stored on a smartphone on a larger TV screen, you need to do complicated work or plug in a bunch of cables. In this paper, we introduce M+, an extension of Android that supports cross-device functionality sharing in a transparent manner. As a platform-level solution, M+ enables unmodified Android applications to utilize not only application functionalities but also system functionalities across devices, as if they were to utilize them inside the same device. In addition to secure connection setup, M+ also allows performing of permission checks for remote applications in the same way as for local. Our experimental results show that M+ enables transparent cross-device sharing for various functionalities and achieves performance close to that of within-device sharing unless a large amount of data is transferred.

Recent embedded systems are becoming integrated systems with components of different criticality. To tackle this, mixed-criticality systems aim to provide different levels of timing assurance to components of different criticality levels while achieving efficient resource utilization. Many approaches have been proposed to execute more lower-criticality tasks without affecting the timeliness of higher-criticality tasks. Those previous approaches however have at least one of the two limitations; i) they penalize all lower-criticality tasks at once upon a certain situation, or ii) they make the decision how to penalize lower-criticality tasks at design time. As a consequence, they under-utilize resources by imposing an excessive penalty on low-criticality tasks. Unlike those existing studies, we present a novel framework, called MC-ADAPT, that aims to minimally penalize lower-criticality tasks by fully reflecting the dynamically changing system behavior into adaptive decision making. Towards this, we propose a new scheduling algorithm and develop its runtime schedulability analysis capable of capturing the dynamic system state. Our proposed algorithm adaptively determines which task to drop based on the runtime analysis. To determine the quality of task dropping solution, we propose the speedup factor for task dropping while the conventional use of the speedup factor only evaluates MC scheduling algorithms in terms of the worst-case schedulability. We apply the speedup factor for a newly-defined task dropping problem that evaluates task dropping solution under different runtime scheduling scenarios. We derive that MC-ADAPT has a speedup factor of 1.619 for task drop. This implies that MC-ADAPT can behave the same as the optimal scheduling algorithm with optimal task dropping strategy does under any runtime scenario if the system is sped up by a factor of 1.619.

With the widespread adoption of multi-core architectures, it is becoming more important to develop software in ways that takes advantage of such parallel architectures. This particularly entails a shift in programming paradigms towards fine-grained, thread-parallel computing. Many parallel programming models have been introduced for targeting such intra-task thread-level parallelism. However, most successful results on traditional multi-core real-time scheduling are focused on sequential programming models. For example, thread-level parallelism is not properly captured into the concept of interference, which is key to many schedulability analysis techniques. Thereby, most interference-based analysis techniques are not directly applicable to parallel programming models. Motivated by this, we extend the notion of interference to capture thread-level parallelism more accurately. We then leverage the proposed notion of parallelism-aware interference to derive efficient EDF schedulability tests that are directly applicable to parallel task models, including DAG models, on multi-core platforms, without knowing an optimal schedule. Our evaluation results indicate that the proposed analysis significantly advances the state-of-the-art in global EDF schedulability analysis for parallel tasks. In particular, we identify that our proposed schedulability tests are adaptive to different degrees of thread-level parallelism and scalable to the number of processors, resulting in substantial improvement of schedulability for parallel tasks on multi-core platforms.

In this paper, we propose an accurate cycle estimation framework which allows to use multiple instruction set simulators to simulate not only processors but also diverse peripheral devices. An instruction set simulator runs on a host machine to mimic functional behaviors of instructions running on a target hardware. It allows to estimate the execution time of software in a fast and accurate way and validate a system even when its target hardware does not yet exist or is not available.

Mixed-criticality real-time scheduling has been developed to improve resource utilization while guaranteeing safe execution of critical applications. These studies use optimistic resource reservation for all the applications to improve utilization, but prioritize critical applications when the reservations become insufficient at runtime. Many of them however share an impractical assumption that all the critical applications will simultaneously demand additional resources. As a consequence, they under-utilize resources by penalizing all the low-criticality applications. In this paper we overcome this shortcoming using a novel mechanism that comprises a parameter to model the expected number of critical applications simultaneously demanding more resources, and an execution strategy based on the parameter to improve resource utilization. Since most mixed criticality systems in practice are component-based, we design our mechanism such that the component boundaries provide the isolation necessary to support the execution of low-criticality applications, and at the same time protect the critical ones. We also develop schedulability tests for the proposed mechanism under both a flat as well as a hierarchical scheduling framework. Finally, through simulations, we compare the performance of the proposed approach with existing studies in terms of schedulability and the capability to support low-criticality applications.

Web browsing is a key application on mobile devices. However, mobile browsers are largely optimized for performance, imposing a significant burden on power-hungry mobile devices. In this work, we aim to reduce the energy consumed to load web pages on smartphones, preferably without increasing page load time and compromising user experience. To this end, we first study the internals of web page loading on smartphones and identify its energy-inefficient behaviors. Based on our findings, we then derive general design principles for energy-efficient web page loading, and apply these principles to the open-source Chromium browser and implement our techniques on commercial smartphones. Experimental results show that our techniques are able to achieve a 24.4% average system energy saving for Chromium on a latest-generation big.LITTLE smartphone using WiFi (a 22.5% saving when using 3G), while not increasing average page load time. We also show that our proposed techniques can bring a 10.5% system energy saving on average with a small 1.69\% increase in page load time for mobile Firefox web browser. User study results indicate that such a small increase in page load time is hardly perceivable.

Motivated by the cutting-edge two-type heterogeneous multicore chips, such as ARM's big.LITTLE, that offer a practical support for migration, this paper studies the global (or fully-migrative) approach to two-type heterogeneous multicore scheduling. Our goal is to design an optimal fully-migrative scheduling framework. To achieve this goal in an efficient and simple manner, we break the scheduling problem into two subproblems: workload assignment and schedule generation. We propose a per-cluster workload assignment algorithm, called Hetero-Split, that determines the fractions of workload of each task to be assigned to both clusters without losing feasibility with the complexity of O(n log n), where n is the number of tasks. Furthermore, it provides a couple of important properties (e.g., a dual property) that help to generate an optimal schedule efficiently. We also derive scheduling guidelines to design optimal schedulers for two-type heterogeneous multicore platforms, called Hetero-Fair. By tightly coupling the solutions of Hetero-Split and Hetero-Fair, we develop the first optimal two-type heterogeneous multicore scheduling algorithm, called Hetero-Wrap, that has the same complexity (O(n)) as in the identical multicore case. Finally, concerning a practical point of view, we derive the first bounds on the numbers of intra-and inter-cluster migrations under two-type heterogeneous multicore scheduling, respectively.

A variety of advantages from sounds such as measurement and accessibility introduces a new opportunity for mobile applications to offer broad types of interesting, valuable functionalities, supporting a richer user experience. However, in spite of the growing interests on mobile sound applications, few or no works have been done in focusing on managing an audio device effectively. More specifically, their low level of real-time capability for audio resources makes it challenging to satisfy tight timing requirements of mobile sound applications, e.g., a high sensing rate of acoustic sensing applications. To address this problem, this work presents the SounDroid framework, an audio device management framework for real-time audio requests from mobile sound applications. The design of SounDroid is based on the requirement analysis of audio requests as well as an understanding of the audio playback procedure including the audio request scheduling and dispatching on Android. It then incorporates both real-time audio request scheduling algorithms, called EDF-V and AFDS, and dispatching optimization techniques into mobile platforms, and thus improves the quality-of-service of mobile sound applications. Our experimental results with the prototype implementation of SounDroid demonstrate that it is able to enhance scheduling performance for audio requests, compared to traditional mechanisms (by up to 40% of improvement), while allowing deterministic dispatching latency.

With increasing popularity and deployment of multi-core chips in embedded systems, a number of real-time multiprocessor scheduling algorithms have been proposed along with their schedulability analyses (or tests), which verify temporal correctness under a specific algorithm. Each of these algorithms often comes with several different schedulability tests, especially when it is difficult to find exact schedulability tests for the algorithm. Such tests usually find different task sets deemed schedulable even under the same scheduling algorithm. While these different tests have been compared with each other in terms of schedulability performance, little has been done on how to combine such different tests to improve the overall schedulability of a given scheduling algorithm beyond a simple union of their individual schedulability. Motivated by this, we propose a composition theory for schedulability tests with two new methods. The first method composes task-level timing guarantees derived from different schedulability tests, and the second one derives system-level schedulability results from a single schedulability test. The unified composition theory with these two methods then utilizes existing schedulability tests effectively so as to cover additional schedulable task sets. The proposed composition theory is shown to be applicable to most existing preemptive/non-preemptive scheduling algorithms. We also present three case-studies, demonstrating how and by how much the theory can improve schedulability by composing existing schedulability tests. Our evaluation results also show that the composition theory makes it possible to cover up to 181.7 percent additional schedulable task sets for preemptive fpEDF, preemptive EDF and non-preemptive EDF scheduling algorithms beyond their existing tests.

The goal of this work is to provide an abstraction of ideal sound environments to a new emerging class of Mobile Multi-speaker Audio (MMA) applications. Typically, it is challenging for MMA applications to implement advanced sound features (e.g., surround sound) accurately in mobile environments, especially due to unknown, irregular loudspeaker configurations. Towards an illusion that MMA applications run over specific loudspeaker configurations (i.e., speaker type, layout), this work proposes AMAC, a new Adaptive Mobile Audio Coordination system that senses the acoustic characteristics of mobile environments and controls individual loud-speakers adaptively and accurately. The prototype of AMAC implemented on commodity smartphones shows that it provides the coordination accuracy in sound arrival time in several tens of microseconds and reduces the variance in sound level substantially.

A mixed-criticality system consists of multiple components with different criticalities. While mixed-criticality scheduling has been extensively studied for the uniprocessor case, the problem of efficient scheduling for the multiprocessor case has largely remained open. We design a fluid model-based multiprocessor mixed-criticality scheduling algorithm, called MC-Fluid, in which each task is executed in proportion to its criticality-dependent rate. We propose an exact schedulability condition for MC-Fluid and an optimal assignment algorithm for criticality-dependent execution rates with polynomial complexity. Since MC-Fluid cannot construct a schedule on real hardware platforms due to the fluid assumption, we propose MC-DP-Fair algorithm, which can generate a non-fluid schedule while preserving the same schedulability properties as MC-Fluid. We show that MC-Fluid has a speedup factor of (1 + v 5)/2 ( 1.618), which is best known in multiprocessor MC scheduling, and simulation results show that MC-DP-Fair outperforms all existing algorithms.

A time slot is defined as contention-free if the number of jobs with remaining executions in the slot is no larger than the number of processors, or contending , otherwise. Then an important property holds that in any contention-free slot, all jobs with remaining executions are guaranteed to be scheduled as long as the scheduler is work-conserving. This article aims at improving schedulability by utilizing the contention-free slots. To achieve this, this article presents a policy (called CF policy) that moves some job executions from contending slots to contention-free ones. This policy can be employed by any work-conserving, preemptive scheduling algorithm, and we show that any algorithm extended with this policy dominates the original algorithm in terms of schedulability. We also present improved schedulability tests for algorithms that employ this policy, based on the observation that interference from jobs is reduced when their executions are postponed to contention-free slots. Simulation results demonstrate that the CF policy, incorporated into existing algorithms, significantly improves schedulability of those existing algorithms.

The trend towards multi-core/many-core architectures is well underway. It is therefore becoming very important to develop software in ways that take advantage of such parallel architectures. This particularly entails a shift in programming paradigms towards fine-grained, thread-parallel computing. Many parallel programming models have been introduced targeting such intra-task thread-level parallelism. However, most successful results on traditional multi-core real-time scheduling are focused on sequential programming models. For example, thread-level parallelism is not properly captured into the concept of interference, which is key to many schedulability analysis techniques. Thereby, most interference-based analysis techniques are not directly applicable to parallel programming models. Motivated by this, we extend the notion of interference to capture thread-level parallelism more accurately. We then leverage the proposed notion of parallelism-aware interference to derive efficient EDF schedulability tests that are directly applicable to synchronous parallel task models on multi-core platforms. Our evaluation results indicate that the proposed analysis significantly advances the state-of-the-art in EDF schedulability analysis for synchronous parallel tasks.

Modern mobile devices are equipped with multiple network interfaces, including 3G/LTE and WiFi. Bandwidth aggregation over LTE and WiFi links offers an attractive opportunity of supporting bandwidth-intensive services, such as high-quality video streaming, on mobile devices. However, achieving effective bandwidth aggregation in mobile environments raises several challenges related to deployment, link heterogeneity, network fluctuation, and energy consumption. We present GreenBag, an energy-efficient bandwidth aggregation middleware that supports real-time data-streaming services over asymmetric wireless links, requiring no modifications to the existing Internet infrastructure and servers. GreenBag employs several techniques, including medium load balancing, efficient segment management, and energy-aware mode control, to resolve such challenges. We implement a prototype of GreenBag on Android-based mobile devices which hosts, to the best knowledge of the authors, the first LTE-enabled bandwidth aggregation prototype for energy-efficient real-time video streaming. Our experiment results in both emulated and real-world environments show that GreenBag not only achieves good bandwidth aggregation to provide QoS in bandwidth-scarce environments but also efficiently saves energy on mobile devices. Moreover, energy-aware GreenBag can minimize video interruption while consuming 14-25% less energy than the non-energy-aware counterpart in real-world experiments.

In real-time systems, correctness depends not only on functionality but also on timeliness. A great number of scheduling theories have been developed for verification of the temporal correctness of jobs (software) in such systems. Among them, the Earliest Deadline first until Zero-Laxity (EDZL) scheduling algorithm has received growing attention thanks to its effectiveness in multicore real-time scheduling. However, the true potential of EDZL has not yet been fully exploited in its schedulability analysis as the state-of-the-art EDZL analysis techniques involve considerable pessimism. In this paper, we propose a new EDZL multicore schedulability test. We first introduce an interesting observation that suggests an insight toward pessimism reduction in the schedulability analysis of EDZL. We then incorporate it into a well-known existing Earliest Deadline First (EDF) schedulability test, resulting in a new EDZL schedulability test. We demonstrate that the proposed EDZL test not only has lower time complexity than existing EDZL schedulability tests, but also significantly improves the schedulability of EDZL by up to 36.6 percent compared to the best existing EDZL schedulability tests.

We present a novel, linear programming (LP)-based scheduling algorithm that exploits heterogeneous multicore architectures such as CPUs and GPUs to accelerate a wide variety of proximity queries. To represent complicated performance relationships between heterogeneous architectures and different computations of proximity queries, we propose a simple, yet accurate model that measures the expected running time of these computations. Based on this model, we formulate an optimization problem that minimizes the largest time spent on computing resources, and propose a novel, iterative LP-based scheduling algorithm. Since our method is general, we are able to apply our method into various proximity queries used in five different applications that have different characteristics. Our method achieves an order of magnitude performance improvement by using four different GPUs and two hexa-core CPUs over using a hexa-core CPU only. Unlike prior scheduling methods, our method continually improves the performance, as we add more computing resources. Also, our method achieves much higher performance improvement compared with prior methods as heterogeneity of computing resources is increased. Moreover, for one of tested applications, our method achieves even higher performance than a prior parallel method optimized manually for the application. We also show that our method provides results that are close (e.g., 75 percent) to the performance provided by a conservative upper bound of the ideal throughput. These results demonstrate the efficiency and robustness of our algorithm that have not been achieved by prior methods. In addition, we integrate one of our contributions with a work stealing method. Our version of the work stealing method achieves 18 percent performance improvement on average over the original work stealing method. This result shows wide applicability of our approach.

No abstract available.

Unlike uniprocessor scheduling, EDF (categorized into job-level fixed-priority (JFP) scheduling) shows relatively poor performance on global multiprocessor scheduling. As no other global JFP multiprocessor algorithms are illuminated beyond EDF, this work proposes one, called EQDF (earliest quasi-deadline first), as a generalization of EDF. We define the quasi-deadline of a job as a weighted sum of its absolute deadline (capturing "urgency") and its worst case execution time (capturing "parallelism") with a system-level control knob to balance urgency and parallelism effectively. This paper then seeks to explore how it can improve the schedulability of global JFP scheduling. In addition to providing a new schedulability analysis for EQDF scheduling, it addresses the problem of priority assignment under EQDF by controlling the system-level control knob. It presents optimal and heuristic solutions to the problem subject to our proposed EQDF analysis. Our empirical results show the proposed heuristic solution outperforms EDF significantly, giving close to optimal results.

In global real-time multiprocessor scheduling, a recent analysis technique for Task-level Fixed-Priority (TFP) scheduling has been shown to outperform many of the analyses for Job-level Fixed-Priority (JFP) scheduling on average. Since JFP is a generalization of TFP scheduling, and the TFP analysis technique itself has been adapted from an earlier JFP analysis, this result is counter-intuitive and in our opinion highlights the lack of good JFP scheduling techniques. Towards generalizing the superior TFP analysis to JFP scheduling, we propose the Smallest Pseudo-Deadline First (SPDF) JFP scheduling algorithm. SPDF uses a simple task-level parameter called pseudo-deadline to prioritize jobs, and hence can behave as a TFP or JFP scheduler depending on the values of the pseudodeadlines. This natural transition from TFP to JFP scheduling has enabled us to incorporate the superior TFP analysis technique in an SPDF schedulability test. We also present a pseudo-deadline assignment algorithm for SPDF scheduling that extends the well-known Optimal Priority Assignment (OPA) algorithm for TFP scheduling. We show that our algorithm is optimal for the derived schedulability test, and also present a heuristic to overcome the computational complexity issue of the optimal algorithm. Our simulation results show that the SPDF algorithm with the new analysis significantly outperforms state-of-the-art TFP and JFP analysis.

Emerging mobile sensing applications are changing the characteristics of smartphone workloads. Whereas typical mobile applications run alone in the foreground interacting with users, sensing applications concurrently run in the background, providing unobtrusive monitoring services. Such concurrent sensing workloads raise a new challenge incurring severe resource contention among themselves and with other foreground applications. To address the challenge, we develop SymPhoney, a coordinated sensing flow execution engine to support concurrent sensing applications. As its key approach, we develop a novel sensing-flow-aware coordination. We first introduce the new concept of frame externalization i.e., to identify and externalize semantic structures embedded in otherwise flat sensing data streams. Leveraging the identified frame structures, SymPhoney develops frame-based coordination and scheduling mechanisms, which effectively coordinates the resource use of concurrent contending applications and maximize their utilities even under severe resource contention. We implemented several sensing applications on top of the SymPhoney engine and performed extensive experiments, showing effective coordination capability of SymPhoney.

The last several years have seen a rapid increase in smart phone use. Android offers an open-source software platform on smart phones, that includes a Linux-based kernel, Java applications, and middleware. The Android middleware provides system libraries and services to facilitate the development of performance-sensitive or device-specific functionalities, such as screen display, multimedia, and web browsing. Android keeps track of which applications make use of which system services for some pre-defined functionalities, and which application is running in the foreground attracting the user's attention. Such information is valuable in capturing application characteristics and can be useful for resource management tailored to application requirements. However, the Linux-based Android kernel does not utilize such information for I/O resource management. This paper is the first work, to the best of our knowledge, to attempt to understand application characteristics through Android architecture and to incorporate those characteristics into disk and network I/O management. Our proposed approach, Aciom (Application Characteristics-aware I/O Management), requires no modification to applications and characterizes application I/O requests as time-sensitive, bursty, or plain, depending on which system services are involved and which application receives the user's focus. Aciom then provides differentiated I/O management services for different types of I/O requests, supporting minimum bandwidth reservations for time-sensitive requests and placing maximum bandwidth limits on bursty requests. We present the design of Aciom and a prototype implementation on Android. Our experimental results show that Aciom is quite effective in handling disk and network I/O requests in support of time-sensitive applications in the presence of bursty I/O requests.

It is widely assumed that scheduling real-time tasks becomes more difficult as their deadlines get shorter. With deadlines shorter, however, tasks potentially compete less with each other for processors, and this could produce more contention-free slots at which the number of competing tasks is smaller than or equal to the number of available processors. This paper presents a policy (called CF policy) that utilizes such contention-free slots effectively. This policy can be employed by any work-conserving, preemptive scheduling algorithm, and we show that any algorithm extended with this policy dominates the original algorithm in terms of schedulability. We also present improved schedulability tests for algorithms that employ this policy, based on the observation that interference from tasks is reduced when their executions are postponed to contention-free slots. Finally, using the properties of the CF policy, we derive a counter-intuitive claim that shortening of task deadlines can help improve schedulability of task systems. We present heuristics that effectively reduce task deadlines for better scheduability without performing any exhaustive search.

This paper develops a software service for dynamic performance optimization and control in performance-sensitive systems. The next generation of performance-sensitive systems is expected to be more distributed and dynamic. They will have multiple "knobs” that affect performance and resource allocation. However, relying on the conglomeration of independent knob controls can become increasingly suboptimal. The problem lies in performance composability or lack thereof; a challenge that arises because individual optimizations in performance-sensitive systems generally do not compose well when combined. Performance adaptation in such systems needs to be carefully designed and implemented by holistically considering performance composability in order to achieve desired system performance. A flexible supporting software layer is therefore needed to easily apply different holistic performance management techniques. In this paper, we develop a software service, called OptiTuner, that monitors the current performance and the resource availability in performance-sensitive systems and allows easy implementation of different performance management schemes based on theoretical concepts of constrained optimization and feedback control. In order to show the efficacy of OptiTuner, we apply it to implement three holistic energy minimization techniques in a real-time web server farm comprising 18 machines. Using an industry standard e-Business benchmark, TPC-W, we demonstrate that the three approaches save up to 40 percent of total energy cost compared to the baseline approaches that do not holistically optimize the cost.

In distributed soft real-time systems, maximizing the aggregate quality-of-service (QoS) is a typical system-wide goal, and addressing the problem through distributed optimization is challenging. Subtasks are subject to unpredictable failures in many practical environments, and this makes the problem much harder. In this paper, we present a robust optimization framework for maximizing the aggregate QoS in the presence of random failures. We introduce the notion of K-failure to bound the effect of random failures on schedulability. Using this notion we define the concept of K-robustness that quantifies the degree of robustness on QoS guarantee in a probabilistic sense. The parameter K helps to tradeoff achievable QoS versus robustness. The proposed robust framework produces optimal solutions through distributed computations on the basis of Lagrangian duality, and we present some implementation techniques. Our simulation results show that the proposed framework can probabilistically guarantee sub-optimal QoS which remains feasible even in the presence of random failures.

LLF (Least Laxity First) scheduling, which assigns a higher priority to a task with smaller laxity, has been known as an optimal preemptive scheduling algorithm on a single processor platform. However, its characteristics upon multiprocessor platforms have been little studied until now. Orthogonally, it has remained open how to efficiently schedule general task systems, including constrained deadline task systems, upon multiprocessors. Recent studies have introduced zero laxity (ZL) policy, which assigns a higher priority to a task with zero laxity, as a promising scheduling approach for such systems (e.g., EDZL). Towards understanding the importance of laxity in multiprocessor scheduling, this paper investigates the characteristics of ZL policy and presents the first ZL schedulability test for any work-conserving scheduling algorithm that employs this policy. It then investigates the characteristics of LLF scheduling, which also employs the ZL policy, and derives the first LLF-specific schedulability test on multiprocessors. It is shown that the proposed LLF test dominates the ZL test as well as the state-of-art EDZL test.

The hierarchical scheduling framework (HSF) has been introduced as a design-time framework to enable compositional schedulability analysis of embedded software systems with real-time properties. In this paper, a software system consists of a number of semi-independent components called subsystems. Subsystems are developed independently and later integrated to form a system. To support this design process, in the paper, the proposed methods allow non-intrusive configuration and tuning of subsystem timing-behavior via subsystem interfaces for selecting scheduling parameters. This paper considers three methods to handle overruns due to resource sharing between subsystems in the HSF. For each one of these three overrun methods corresponding scheduling algorithms and associated schedulability analysis are presented together with analysis that shows under what circumstances one or the other is preferred. The analysis is generalized to allow for both fixed priority scheduling (FPS) and earliest deadline first (EDF) scheduling. Also, a further contribution of the paper is the technique of calculating resource-holding times within the framework under different scheduling algorithms; the resource holding times being an important parameter in the global schedulability analysis.

We present a method that allows for integration of individually developed functions of software components into a predictable real-time system. The method has been designed to provide a lightweight mechanism that gives temporal firewalls between functions, preventing unpredictable side effects during function integration. The method maps well to the AUTOSAR (automotive open system architecture) software component model and can thus be used to facilitate seamless and predictable integration and isolation of AUTOSAR components that have been developed by different manufacturers. Specifically, this paper presents a protocol for synchronization in a hierarchical real-time scheduling framework. Using our protocol, a software component does not need to know, and is not dependent on, the timing behavior of software components belonging to other functions; even though they share mutually exclusive resources. In this paper, we also prove the correctness of our approach and evaluate its efficiency and cost in terms of system load in a vehicular context.

Engineers of embedded software systems rely on efficient design techniques and tools along with efficient run-time support. In the design of complex embedded real-time systems, the hierarchical scheduling framework (HSF) has been introduced as a design-time framework enabling compositional schedulability analysis of embedded software systems with real-time properties. Moreover, the HSF provides a run-time framework guaranteeing that these nonfunctional requirements are met. In this paper a system consists of a number of semi- independent components called subsystems, and these subsystems are allowed to share logical resources. The HSF makes sure that the individual subsystems respect their allocated CPU budgets. However, as semi-independent subsystems share logical resources, extra complexity is introduced. Specifically, the contribution of this paper is a novel method to allow for budget overruns; a common scenario when a subsystem utilizes shared logical resources. This proposed method is not only more resource efficient than existing methods, but it is also more appropriate for supporting composability of independently developed real-time subsystems.

Scheduling of sporadic task systems on multiprocessor platforms is an area which has received much attention in the recent past. It is widely believed that finding an optimal scheduler is hard, and therefore most studies have focused on developing algorithms with good utilization bounds. These algorithms can be broadly classified into two categories: partitioned scheduling in which tasks are statically assigned to individual processors, and globalscheduling in which each task is allowed to execute on any processor in the platform. In this paper we consider a third, more general, approach called cluster-based scheduling. In this approach each task is statically assigned to a processor cluster, tasks in each cluster areglobally scheduled among themselves, and clusters in turn are scheduled on the multiprocessor platform. We develop techniques to support such cluster-based scheduling algorithms, and also consider properties that minimize processor utilization of individual clusters. Since neither partitioned nor global strategies dominate over the other, cluster-based scheduling is a natural direction for research towards achieving improved utilization bounds.

The hierarchical scheduling framework (HSF) has been introduced as a design-time framework enabling compositional schedulability analysis of embedded software systems with real-time properties. In this paper a system consists of a number of semi-independent components called subsystems. Subsystems are developed independently and later integrated to form a system. To support this design process, our proposed methods allow non-intrusive configuration and tuning of subsystem timing-behaviour via subsystem interfaces for selecting scheduling parameters. This paper considers two methods to handle overruns due to resource sharing between subsystems in the HSF. We present the scheduling algorithms for overruns and their associated schedulability analysis, together with analysis that shows under what circumstances one or the other overrun method is preferred. Furthermore, we show how to calculate resource-holding times within our framework.

This paper presents algorithms that (1) facilitate system-independent synthesis of timing-interfaces for subsystems and (2) system-level selection of interfaces to minimize CPU load. The results presented are developed for hierarchical fixed-priority scheduling of subsystems that may share logical recourses (i.e. semaphores). We show that the use of shared resources results in a tradeoff problem, where resource locking times can be traded for CPU allocation, complicating the problem of finding the optimal interface configuration subject to schedulability. This paper presents a methodology where such a tradeoff can be effectively explored. It first synthesizes a bounded set of interface-candidates for each subsystem, independently of the final system, such that the set contains the interface that minimizes system load for any given system. Then, integrating subsystems into a system, it finds the optimal selection of interfaces. Our algorithms have linear complexity to the number of tasks involved. Thus, our approach is also suitable for adaptable and reconfigurable systems.

Real-time embedded systems are typically constrained in terms of three system performance criteria: space, time, and energy. The performance requirements are directly translated into constraints imposed on the system's resources, such as code size, execution time, and energy consumption. These resource constraints often interact or even conflict with each other in a complex manner, making it difficult for a system developer to apply a well-defined design methodology in developing a real-time embedded system. Motivated by this observation, we propose a design framework that can flexibly balance the tradeoff involving the system's code size, execution time, and energy consumption. Given a system specification and an optimization criteria, the proposed technique generates a set of design parameters in such a way that a system cost function is minimized while the given resource constraints are satisfied. Specifically, the technique derives code generation decision for each task so that a specific version of code is selected among a number of different ones that have distinct characteristics in terms of code size and execution time. In addition, the design framework determines the voltage/frequency setting for a variable voltage processor whose supply voltage can be adjusted at runtime in order to minimize the energy consumption while execution performance is degraded accordingly. The proposed technique formulates this design process as a constrained optimization problem. We show that this optimization problem is NP-hard and then provide a heuristic solution to it. We show that these seemingly conflicting design goals can be pursued by using a simple optimization algorithm that works with a single optimization criteria. Moreover, the optimization is driven by an abstract system specification given by the system developer, so that the system development process can be automated. The results from our simulation show that the proposed algorithm finds a solution that is close to the optimal one with the average error smaller than 1.0%.

It is desirable to develop large complex systems using components based on systematic abstraction and composition. Our goal is to develop a compositional real-time scheduling framework to support abstraction and composition techniques for real-time aspects of components. In this paper, we present a formal description of compositional real-time scheduling problems, which are the component abstraction and composition problems. We identify issues that need be addressed by solutions and provide our framework for the solutions, which is based on the periodic interface . Specifically, we introduce the periodic resource model to characterize resource allocations provided to a single component. We present exact schedulability conditions for the standard Liu and Layland periodic task model and the proposed periodic resource model under EDF and RM scheduling, and we show that the component abstraction and composition problems can be addressed with periodic interfaces through the exact schedulability conditions. We also provide the utilization bounds of a periodic task set over the periodic resource model and the abstraction bounds of periodic interfaces for a periodic task set under EDF and RM scheduling. We finally present the analytical bounds of overheads that our solution incurs in terms of resource utilization increase and evaluate the overheads through simulations.

This paper presents a protocol for resource sharing in a hierarchical real-time scheduling framework. Targeting real-time open systems, the protocol and the scheduling framework significantly reduce the efforts and errors associated with integrating multiple semi-independent subsystems on a single processor. Thus, our proposed techniques facilitate modern software development processes, where subsystems are developed by independent teams (or subcontractors) and at a later stage integrated into a single product. Using our solution, a subsystem need not know, and is not dependent on, the timing behaviour of other subsystems; even though they share mutually exclusive resources. In this paper we also prove the correctness of our approach and evaluate its efficiency.

Embedded systems are complex as a whole but consist of smaller independent modules interacting with each other. This structure makes them amenable to compositional design. Real-time embedded systems consist of realtime workloads having deadlines. Compositional design of such systems can be done using real-time components arranged in a scheduling hierarchy. Each component consists of some real-time workload and a scheduling policy for the workload. To simplify schedulability analysis for such systems, analysis should be done compositionally using interfaces that abstract timing requirement of components. To facilitate analysis of dynamically changing systems, the framework should also support incremental analysis. In this paper, we overview our approach to compositional and incremental schedulability analysis of hierarchical real-time systems. We describe a compositional analysis technique that abstracts resource requirement of components using periodic resource models. To support incremental analysis and resource bandwidth minimization, we describe an extension to this interface model. Each extended interface consists of multiple periodic resource models for different periods. This allows the selection of a periodic model that can schedule the system using minimum bandwidth. We also account for context switch overhead of components in these extended interfaces. We then describe an associative composition technique for such interfaces, that supports incremental analysis

Embedded systems are complex as a whole but consist of smaller independent modules minimally interacting with each other. This structure makes embedded systems amenable to compositional system design. Compositional design of real-time embedded systems can be done using hierarchical systems which consist of real-time components arranged in a scheduling hierarchy. Each component consists of a real-time workload and a scheduling policy for the workload. To simplify schedulability analysis of hierarchical systems, analysis can be done compositionally using interfaces that abstract the timing requirements of components. Associative composition will facilitate analysis of systems in which components are modified on the fly. In this paper, we propose efficient algorithms to abstract the resource requirements of components in the form of periodic resource models. Each component interface consists of a set of periodic resource models for different values of period, which allows the selection of a periodic interface that minimizes the collective real-time requirements of hierarchical components. We also describe an interface composition algorithm which accounts for context switch overheads incurred by components and is associative.

Our goal is to develop a compositional real-time scheduling framework so that global (system-level) timing properties can be established by composing independently (specified and) analyzed local (component-level) timing properties. The two essential problems in developing such a framework are: (1) to abstract the collective real-time requirements of a component as a single real-time requirement and (2) to compose the component demand abstraction results into the system-level real-time requirement. In our earlier work, we addressed the problems using the Liu and Layland periodic model. In this paper, we address the problems using another well-known model, a bounded-delay resource partition model, as a solution model to the problems. To extend our framework to this model, we develop an exact feasibility condition for a set of bounded-delay tasks over a bounded-delay resource partition. In addition, we present simulation results to evaluate the overheads that the component demand abstraction results incur in terms of utilization increase. We also present utilization bound results on a bounded-delay resource model.

We address the problem of providing compositional hard real-time guarantees in a hierarchy of schedulers. We first propose a resource model to characterize a periodic resource allocation and present exact schedulability conditions for our proposed resource model under the EDF and RM algorithms. Using the exact schedulability conditions, we then provide methods to abstract the timing requirements that a set of periodic tasks demands under the EDF and RM algorithms as a single periodic task. With these abstraction methods, for a hierarchy of schedulers, we introduce a composition method that derives the timing requirements of a parent scheduler from the timing requirements of its child schedulers in a compositional manner such that the timing requirement of the parent scheduler is satisfied, if and only if the timing requirements of its child schedulers are satisfied.

In addition to real-time requirements, program code size is a critical design factor for real-time embedded systems. To take advantage of the code size vs. execution time trade off provided by reduced bit-width instructions, we propose a design framework that transforms system constraints into task parameters guaranteeing a set of requirements. The goal of our design framework is to derive the temporal parameters and code size parameter of each task in such a way that they collectively guarantee system end-to-end timing requirements while the system code size is minimized. Our design framework is based on asynchronous periodic tasks with pre-period deadlines under EDF scheduling. For schedulability analysis, we present a new feasibility condition that can be more efficiently evaluated than existing ones. When the code size vs. execution time tradeoff can be safely approximated as linear functions, the minimization problem becomes a linear programming problem. However, when the tradeoff is given by a table of possible (code size, execution time) pairs, the problem becomes NP-hard. We provide three heuristic algorithms that can find sub-optimal solutions and evaluate their performance with simulation results.

Unpredictable wireless channel errors may cause applications with real-time traffic to receive degraded quality of services due to packet losses. In the presence of such errors, a challenging problem is how to schedule packets to achieve fairness among real-time flows and to maximize the overall system throughput simultaneously. We capture fairness by minimizing the maximum degradation in service over all flows. In this paper, we show that no online algorithm can guarantee a bounded performance ratio with respect to the optimal algorithm. We then compare four different online algorithms and evaluate them using simulations. The first two are EDF (earliest deadline first) and GDF (greatest degradation first) that consider only one aspect of our scheduling goal respectively. EDF is naturally suited for maximizing throughput while GDF seeks to minimize the maximum degradation. The next two are algorithms, called EOG (EDF or GDF) and LFF (lagging flows first), that consider the two aspects of our scheduling goal. EOG simply combines EDF and GDF, whereas LFF tries to favor lagging flows in a non-trivial manner. Our simulation results show that LFF is almost as good as EDF in maximizing the throughput and also is better than GDF in minimizing the maximum degradation. Finally, we also show that there is an optimal polynomial time algorithm for the offline version of the problem.