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Soft Real-Time Scheduling for Embedded Control System

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This Master's Thesis presents the implementation of a model of computation for real-time tasks, with highly varying computation times, in a robotic control scenario. A set of real-time and best-effort tasks, sharing the CPU is considered. A feedback controller allows the robot to follow a defined path, while satisfying its Quality of Control (QoC) requirements. The implemented solution consists of a predictable model of computation and a scheduling algorithm, controlling the evolution of the delays. Given that the probability of deadline violations depends on the election of the scheduling parameters, and affects the QoC experienced by the feedback loop, the scheduling parameters are synthesised in order to minimise the CPU utilisation and guarantee the QoC requirements of the control task.
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  UNIVERSITY OF TRENTO Department of Information Engineering and Computer Science M.Sc. of Science in Computer ScienceFinal thesis Soft Real-Time Schedulingfor Embedded Control Systems:A Robotic Study Supervisor: Graduant:Luigi Palopoli Bernardo Villalba FriasUniversity of TrentoAcademic Year 2013-2014  Abstract This Master’s Thesis presents the implementation of a model of com-putation for real-time tasks, with highly varying computation times, in arobotic control scenario. A set of real-time and best-effort tasks, sharingthe CPU is considered. A feedback controller allows the robot to follow adefined path, while satisfying its Quality of Control ( QoC  ) requirements.The implemented solution consists of a predictable model of computationand a scheduling algorithm, controlling the evolution of the delays. Giventhat the probability of deadline violations depends on the election of thescheduling parameters, and affects the  QoC   experienced by the feedbackloop, the scheduling parameters are synthesised in order to minimise the CPU utilisation and guarantee the  QoC   requirements of the control task. Keywords [Soft real-time scheduling, Embedded Control Systems, Robotics]i  ii
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