Högskolan i Halmstad
Halmstad University - For the Development of Organisations, Products and Quality of Life

Reading material

Introductory Reading


I recommend all students to take a look at the introductory materiel to get a common ground.

1. "Hard Real-Time Computing SystemsPDF (pdf, 740 kB)", by Giorgio C. Buttazzo, Chapter 2 (Basic Concepts), pages 23-37.

2. "Real-Time Systems and Programming LanguagesPDF (pdf, 830 kB)", by Alan Burns and Andy Wellings, Chapter 13 (Scheduling), pages 465-479.

3. "Fundamentals of Embedded software: where C and Assembly MeetPDF (pdf, 920 kB)", by Daniel W. Lewis, Chapter 8 (Scheduling), pages 155-167.

Optional Book Reading


In a course like this given at the master´s level, students have many different backgrounds. Some have read about concurrent programming, operating systems, real-time systems, distributed systems or other related topics others might need to refresh some background knowledge or just want a better or deeper overview of the area. This is a list of other books that I can recommend.

1. Simon D. E., An Embedded Software Primer, Pearson Education 1999. -- Hands on oriented primer.

2. Lewis Daniel W., Fundamentals of EMBEDDED SOFTWARE – Where C and Assembly Meet, Prentice Hall, 2001. -- A more complete hands on oriented book.

3. Labrosse Jean J., MicroC/OS-II - The Real-Time Kernel, Second Edition, CMP Books 2002. -- Good hands on book about a RT micro kernel and its suppported concepts, incl. CD with source code.

4. Shaw Alan C., Real-Time Systems and Software, Wiley 2001. -- More theoretical but rather easy to read book.

5. Murthy Siva Ram C and Manimaran G., Resource Management in Real-Time Systems and Networks, MIT Press, 2001. -- A book that also covers network aspects.

6. Buttazzo G. C., HARD REAL-TIME COMPUTING SYSTEMS, Kluwer Academic Publishers 1997. -- Theoretical, easy to read book that focuses on scheduling.

7. Krishan C. M. and Shin K. G., Real-Time Systems, McGraw-Hill 1997. -- A good very broad book that covers real-time systems, incl. aspects on real-time: programming languages, databases, communication and fault-tolerance.

8. Burns A. and Wellings A., Real-Time Systems and Programming Languages, Addison-Wesley, 2001. -- Good book focused more on real-time programming.

9. Andrews, Gregory R., Foundations of Multithreaded, Parallel, and Distributed Programming, Addison-Wesley Longman 2000. -- Very good book on concurrent, parallel and distributed programming.

10. Colling Jim, SOFTWARE ENGINEERING for REAL-TIME SYSTEMS, Addison Wesley, 2003. -- Good book with a broad system design oriented approach.

11. Coulouris G., Dollimore J. and Kindberg T., Distributed Systems, Addison-Wesley, Fourth Edition 2005. -- This is an excellent book covering most aspects of distributed systems.

Seminar Papers


The final selection and assignment from the following list of seminar papers will be adapted to the number of students and their interest. Group allocation and date for each seminar will be emailed to the participants. For each seminar, all participants must read one and sometimes two specified papers. The group responsible for a seminar shall make an extended investigation study and search for and present new and interesting published material in the area.

Seminar 1
Static and dynamic priority based scheduling and calculation of worst case execution times

1. C. L. Liu and J. W. Layland, "Scheduling Algorithm for Multiprogramming in a Hard Real-Time EnvironmentPDF (pdf, 950 kB)", Journal of ACM, Vol. 20, No. 1, Jan. 1973.

2. P. Puschner and C. Koza, "Calculating the Maximum Execution Time of Real-Time ProgramsPDF (pdf, 780 kB)", Real-time Systems, Vol. 1, 1989, pp. 159-176.

Seminar 2
Handling of aperiodic tasks and task with soft values

1. S. A. Aldarmi and A. Burns, "Dynamic Value-Density for Scheduling Real-Time SystemsPDF (pdf, 73 kB)", The 11th Euromicro Conference on Real-Time Systems (ECRTS99), York, England, June 9-11, 1999.

2. M. Spuri and G. Buttazzo, "Scheduling Aperiodic Tasks in Dynamic Priority SystemsPDF (pdf, 330 kB)", Real-time Systems, Vol. 10, 179-210, 1996.

Seminar 3
Priority inheritance protocols and adaptive scheduling

1. L. Sha, R. Rajkumar and J. P. Lehoczky, "Priority Inheritance Protocols: An Approach to Real-Time SynchronizationPDF (pdf, 1 MB)", IEEE Transactions on Computers, Vol. 39, No. 9, Sept. 1990.

2. J. Stankovic, C. Lu, S. Son and G. Tao, "The Case for Feedback Control Real-Time SchedulingPDF (pdf, 150 kB)", 11th Euromicro Conference on Real-Time Systems, York, UK, June 1999.

Seminar 4
Handling of conflicts between users of shared resources

1. M. Herlihy, "A methodology for implementing highly concurrent data structuresPDF (pdf, 1 MB)", ACM SIGPLAN Symposium on Principles & Practice of Parallel Programming, 1990, pp. 197-206.

2. J. Anderson, S. Ramamurthy, and K. Jeffay, "Real-time Computing with Lock-Free Shared ObjectsPDF (pdf, 380 kB)", ACM Transactions on Computer Systems, Vol. 15, No. 2, pp. 134-165, May 1997.

Seminar 5
Distributed computing

1. J. Waldo, G. Wyant, A. Wollrath and S. Kendall, "A note on distributed computingPDF (pdf, 49 kB)", Technical Report SMLI TR-94-29, Sun Micro Systems Laboratories Inc., 1994.

2. L. Kleinrock, "Distributed SystemsPDF (pdf, 3 MB)", Communications of the ACM, vol. 28, no. 11, November 1985.

Seminar 6
Distributed real-time systems and dependability

1. A. Avizienis, J-C. Laprie, B. Randell, and C. Landwehr, "Basic Concepts and Taxonomy of Dependable and Secure ComputingPDF (pdf, 2 MB)", IEEE Transactions on Dependable and Secure Computing, vol. 1, no. 1, 2004.

2. J. Gray, P. Helland, P. O’Neil, and D. Shasha., "The dangers of replication and a solutionPDF (pdf, 1 MB)", Proc. 1996 ACM SIGMOD Conference, Montreal, Canada, pp. 173-182, June 1996.

Seminar 7
Task allocation and scheduling in distributed real-time systems

1. D. Peng, K. Shin and T. Abdelzaher, "Assignment and Scheduling of Communicating Periodic Tasks in Distributed Real-Time SystemsPDF (pdf, 480 kB)", IEEE Transactions on Software Engineering, Vol. 23, No. 12, 1997.

2. S. Kodase, S. Wang, Z. Gu and K. G. Shin, "Improving Scalability of Task Allocation and Scheduling in Large Distributed Real-Time Systems Using Shared BuffersPDF (pdf, 280 kB)", IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'03).

Optional Reading Material


These papers are provided as possible inspiration for your project work. However, when you have selected a topic you are supposed to search for suitable material via the library services.

1. G. Buttazzo, "Rate Monotonic vs. EDF: Judgment DayPDF (pdf, 430 kB)", Real-Time Systems, vol. 29, pp. 5–26, 2005.

2. L. E. Jackson and G. N. Rouskas, "Deterministic preemptive scheduling of real-time tasksPDF (pdf, 240 kB)", IEEE Computer, vol. 35, no. 5, May 2002, pp. 72-79.

3. J. Stankovic et al., "Implications of Classical Scheduling Results for Real-Time SystemsPDF (pdf, 860 kB)", IEEE Computer, June 1995, pp. 16-25.

4. Y. Atif and B. Hamidzadeh, "A scalable scheduling algorithm for real-time distributed systemsPDF (pdf, 120 kB)", Proc. 18th Int. Conference on Distributed Computing Systems, Amsterdam, Netherlands, May 1998, pp. 352-359.

5. A. Burns, N. Audsley and A. Wellings, "Real-time distributed computingPDF (pdf, 570 kB)", Proc. IEEE Computer Society Workshop on Future Trends of Distributed Computing Systems, South Korea, August 1995,pp. 34-40.

6. A. Casimiro, J. Kaiser and P Verissimo, "An Architectural Framework and a Middleware for Cooperating Smart Components", Proc. ACM Int'l Conf on Computing Frontiers (CF'04), Ischia, Italy, April 14–16, 2004.

7. I. Pyarali, D. C. Schmidt and R. K. Cytron, "Techniques for Enhancing Real-time CORBA Quality of ServicePDF (pdf, 1 MB)", Proceedings of IEEE, Vol. 91, No. 7, July 2003.

8. E. Farcas, C. Farcas, Wo. Pree and J. Templ, "Transparent Distribution of Real-Time Components Based on Logical Execution TimePDF (pdf, 200 kB)", Proc. ACM SIGPLAN/SIGBED Conference on Languages, Compilers, and Tools for Embedded Systems (LCTES’05), Chicago, Illinois, USA, June 15–17, 2005.

9. K. Geihs, "Middleware Challenges AheadPDF (pdf, 1 MB)", IEEE Computer, June 2001.

10. T. A. Henzinger, B Horowitz, and C. M. Kirsch, "Giotto: a time-triggered language for embedded programmingPDF (pdf, 1 MB)", Proc. of the IEEE, vol. 91, no. 1, pp. 84-99, January 2003.

11. E. A. Lee , "Embedded softwarePDF (pdf, 2 MB)", Advances in Computers (M. Zelkowitz, editor), Vol. 56, Academic Press, London, 2002.

12. B. Kao and H. Garcia-Molina, "Deadline assignment in a distributed soft real-time systemPDF (pdf, 220 kB)", IEEE Transactions on Parallel and Distributed Systems, vol. 8, no. 12, Dec 1997, pp. 1268-1274.

13. H. Thane and H. Hansson, "Testing distributed real-time systemsPDF (pdf, 400 kB)", Microprocessors and Microsystems, vol. 24, pp. 463-478, 2001.

14. D. Schmidt and C. O'Ryan, "Patterns and performance of distributed real-time and embedded publisher/subscriber architecturesPDF (pdf, 460 kB)", JOURNAL OF SYSTEMS AND SOFTWARE vol. 66, no. 3, June 2003, pp. 213-223.

15. K. H. Kim, "APIs for Real-Time Distributed Object ProgrammingPDF (pdf, 270 kB)", IEEE transaction on Computer, Vol. 33, No. 6, June. 2000.

16. H. Kopetz and G. Grünsteidl, "TTP - a protocol for fault-tolerant real-time systemsPDF (pdf, 1 MB)", IEEE Computer, vol. 27, no. 1, pp. 14-23, Jan 1994.

17. H. Kopetz, "The Time-Triggered ArchitecturePDF (pdf, 580 kB)", Proceedings of the IEEE, vol. 91, no. 1, pp. 112-126, January 2003.

18. J. Park, Y. Kim, S. Hong, M. Saksena, S. H. Noh and W. H. Kwon, "Network Conscious Design of Distributed Real-Time SystemsPDF (pdf, 690 kB)", Journal of Systems Architecture, vol. 45, no. 2, October 1998, pp. 131-156.

19. T. F. Abdelzaher and K. G. Shin, "Combined Task and Message Scheduling in Distributed Real-Time SystemsPDF (pdf, 650 kB)", IEEE Transactions on Parallel and Distributed Systems, vol. 10, no. 11, November 1999, pp. 1179-1191.

20. L. Jackson and G. Rouskas, "Deterministic Preemptive Scheduling of Real-Time TasksPDF (pdf, 240 kB)", IEEE Computer, vol. 35, no. 5, May 2002, pp. 72-79.

21. L. Lamport, "Time, clocks, and the ordering of events in a distributed systemPDF (pdf, 830 kB)", Communications of the ACM vol. 21 no. 7, July 1978, pp. 558-565,.

22. L. Lamport, "A Fast Mutual Exclusion AlgorithmPDF (pdf, 840 kB)", ACM Transactions on Computer Systems, vol. 5, no. 1, February 1987, pp. l-11.

23. K. Arvind, "Probabilistic clock synchronization in distributed systemsPDF (pdf, 1 MB)", IEEE Transactions on Parallel and Distributed Systems, vol. 5, no. 5, May 1994, pp. 474-487.

24. M. Raynal, "Wait-Free Objects for Real-Time Systems?PDF (pdf, 300 kB)", Proceedings IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC-02), 2002.

25. T. Nolte, M. Nolin and H. Hansson, "Real-Time Server-Based Communication with CANPDF (pdf, 560 kB)", IEEE Transactions on Industrial Informatics, vol. 1, no. 3, pp. 192-201, August 2005.

26. K. Tindell and J. Clark, "Holistic Schedulability Analysis for Distributed Hard Real-Time SystemsPDF (pdf, 190 kB)", Microprocessing and Microprogramming, Vol. 40 , No. 2-3, April 1994, pp. 117 - 134.

27. M. El-Gendy, A. Bose and K. G. Shin, "Evolution of the Internet QoS and support or soft real-time applicationsPDF (pdf, 990 kB)", Proceedings of the IEEE, Special Issue on Real-Time Systems, vol. 91, no. 7, pp. 1086-1104, July 2003.

Page editor: Tony Larsson
Page last updated 2008-08-07
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