REAL-TIME SYSTEMS
REAL-TIME SYSTEMS
Scheduling, Analysis, and Verification
ALBERT M. K. CHENG
University of Houston
A JOHN WILEY & SONS, INC., PUBLICATION
Copyright c 2002 by John Wiley & Sons, Inc., Hoboken, New Jersey. All rights reserved.
Published by John Wiley & Sons, Inc., Hoboken, New Jersey.
Published simultaneously in Canada.
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Library of Congress Cataloging-in-Publication Data Is Available
ISBN 0-471-18406-3
Printed in the United States of America
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To My Family and Friends
CONTENTS
PREFACE |
xiii |
LIST OF FIGURES |
xix |
1 INTRODUCTION |
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1.1What Is Time? / 3
1.2Simulation / 4
1.3Testing / 5
1.4Verification / 6
1.5Run-Time Monitoring / 7
1.6Useful Resources / 8
2ANALYSIS AND VERIFICATION OF NON-REAL-TIME SYSTEMS 10
2.1Symbolic Logic / 10
2.2Automata and Languages / 28
2.3Historical Perspective and Related Work / 37
2.4Summary / 38 Exercises / 39
3 REAL-TIME SCHEDULING AND SCHEDULABILITY ANALYSIS 41
3.1Determining Computation Time / 43
3.2Uniprocessor Scheduling / 44
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3.3Multiprocessor Scheduling / 65
3.4Available Scheduling Tools / 72
3.5Available Real-Time Operating Systems / 75
3.6Historical Perspective and Related Work / 76
3.7Summary / 77 Exercises / 83
4 MODEL CHECKING OF FINITE-STATE SYSTEMS |
86 |
4.1System Specification / 87
4.2Clarke–Emerson–Sistla Model Checker / 89
4.3Extensions to CTL / 93
4.4Applications / 93
4.5Complete CTL Model Checker in C / 96
4.6Symbolic Model Checking / 116
4.7Real-Time CTL / 120
4.8Available Tools / 126
4.9Historical Perspective and Related Work / 127
4.10Summary / 129 Exercises / 131
5 VISUAL FORMALISM, STATECHARTS, AND STATEMATE |
134 |
5.1Statecharts / 135
5.2Activity-Charts / 140
5.3Module-Charts / 140
5.4STATEMATE / 142
5.5Available Tools / 143
5.6Historical Perspective and Related Work / 145
5.7Summary / 146 Exercises / 147
6 REAL-TIME LOGIC, GRAPH-THEORETIC ANALYSIS, |
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AND MODECHART |
148 |
6.1Specification and Safety Assertions / 149
6.2Event-Action Model / 149
6.3Real-Time Logic / 150
6.4Restricted RTL Formulas / 152
6.5Checking for Unsatisfiability / 155
6.6Efficient Unsatisfiability Check / 157
CONTENTS ix
6.7Industrial Example: NASA X-38 Crew Return Vehicle / 161
6.8Modechart Specification Language / 172
6.9Verifying Timing Properties of Modechart Specifications / 175
6.10Available Tools / 180
6.11Historical Perspective and Related Work / 180
6.12Summary / 181 Exercises / 183
7 VERIFICATION USING TIMED AUTOMATA |
187 |
7.1Lynch–Vaandrager Automata-Theoretic Approach / 187
7.2Alur–Dill Automata-Theoretic Approach / 193
7.3Alur–Dill Region Automaton and Verification / 201
7.4Available Tools / 205
7.5Historical Perspective and Related Work / 207
7.6Summary / 207 Exercises / 210
8 TIMED PETRI NETS |
212 |
8.1Untimed Petri Nets / 212
8.2Petri Nets with Time Extensions / 214
8.3Time ER Nets / 220
8.4Properties of High-Level Petri Nets / 224
8.5Berthomieu–Diaz Analysis Algorithm for TPNs / 226
8.6Milano Group’s Approach to HLTPN Analysis / 229
8.7Practicality: Available Tools / 231
8.8Historical Perspective and Related Work / 232
8.9Summary / 233 Exercises / 236
9 PROCESS ALGEBRA |
237 |
9.1Untimed Process Algebras / 237
9.2Milner’s Calculus of Communicating Systems / 238
9.3Timed Process Algebras / 241
9.4Algebra of Communicating Shared Resources / 242
9.5Analysis and Verification / 250
9.6Relationships to Other Approaches / 255
9.7Available Tools / 255
9.8Historical Perspective and Related Work / 256
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CONTENTS |
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9.9 |
Summary / 256 |
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Exercises / 258 |
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DESIGN AND ANALYSIS OF PROPOSITIONAL-LOGIC |
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RULE-BASED SYSTEMS |
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259 |
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10.1 |
Real-Time Decision Systems / 260 |
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Real-Time Expert Systems / 262 |
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10.3 |
Propositional-Logic Rule-Based Programs: |
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the EQL Language / 263 |
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State-Space Representation / 269 |
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10.5 |
Computer-Aided Design Tools / 272 |
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10.6 |
The Analysis Problem / 280 |
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10.7 |
Industrial Example: Analysis of the Cryogenic Hydrogen Pressure |
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Malfunction Procedure of the Space Shuttle Vehicle Pressure |
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Control System / 286 |
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10.8 |
The Synthesis Problem / 294 |
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10.9 |
Specifying Termination Conditions in Estella / 301 |
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10.10 |
Two Industrial Examples / 317 |
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10.11 |
The Estella-General Analysis Tool / 324 |
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10.12 |
Quantitative Timing Analysis Algorithms |
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333 |
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10.13 |
Historical Perspective and Related Work |
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360 |
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10.14 |
Summary / 363 |
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Exercises / 365 |
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TIMING ANALYSIS OF PREDICATE-LOGIC |
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RULE-BASED SYSTEMS |
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367 |
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11.1The OPS5 Language / 369
11.2Cheng–Tsai Timing Analysis Methodology / 373
11.3Cheng–Chen Timing Analysis Methodology / 399
11.4Historical Perspective and Related Work / 430
11.5Summary / 432 Exercises / 435
12 OPTIMIZATION OF RULE-BASED SYSTEMS |
436 |
12.1Introduction / 437
12.2Background / 438
12.3Basic Definitions / 439
12.4Optimization Algorithm / 445
12.5Experimental Evaluation / 455
CONTENTS xi
12.6Comments on Optimization Methods / 460
12.7Historical Perspective and Related Work / 462
12.8Summary / 464 Exercises / 465
BIBLIOGRAPHY |
467 |
INDEX |
505 |