In this paper we present work to combine fixed priority scheduling with off-line schedule construction.It assumes a schedule has been constructed off-line for a set of tasks to meet their complex constraints.Our method takes the schedule and assigns the FPS attributes priority, offset, and period, to the tasks, such that their runtime FPS execution matches the off-line schedule.It does so by di...

The well-known periodic task model of Liu and Layland [10] assumes a worst-case execution time bound for every task and may be too pessimistic if the worst-case execution time of a task is much longer than the average. In this paper, we give a multiframe real-time task model which allows the execution time of a task to vary from one instance to another by specifying the execution time of a task...

When dealing with soft real-time tasks with highly variable execution times in open systems, an approach that is becoming popular is to use feedback scheduling techniques to dynamically adapt the bandwidth reserved to each task. According to this model, each task is assigned an adaptive reservation, with a variable budget and a constant period. The response times of the jobs of the task are mon...

In many distributed real-time systems, the workload can be modeled as a set of periodic tasks, each of which consists of a chain of subtasks executing on different processors. Synchronization protocols are used to govern the release of subtasks so that the precedence constraints among subtasks are satisfied and the schedulabilityof the resultant system is analyzable. When different protocols ar...

We expose a strict hierarchy within monotone monadic strict NP without inequalities (MMSNP), based on the number of second-order monadic quantifiers. We do this by studying a finer strict hierarchy within a class of forbidden patterns problems (FPP), based on the number of permitted colours. Through an adaptation of a preservation theorem of Feder and Vardi, we are able to prove that this stric...

Physics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners equipped with a dynamic engine acting as state propagator are usually used for that purpose. The difficulties arise in the setting of the adequate forces for the interactions ...

This technical note addresses the distributed fixed-time consensus protocol design problem for multi-agent systems with general linear dynamics over directed communication graphs. By using motion planning approaches, a class of distributed fixed-time consensus algorithms are developed, which rely only on the sampling information at some sampling instants. For linear multi-agent systems, the pro...

An up-flow anaerobic sludge fixed film (UASFF) bioreactor was used to treat the pretreated palm oil mill effluent (POME). In physical pretreatment, POME was pre-settled for 2 h and the supernatant was fed into the reactor. In chemical pretreatment, optimum dosages of cationic and anionic polymers were used. Experiments of pretreated POME digestion were conducted based on a central composite fac...

Improvements in schedulability tests for global fixed-priority and EDF scheduling in a homogeneous multiprocessor (symmetric multiprocessing) environment have shown that the worst-case guaranteed achievable utilization levels for global EDF scheduling equals what can be achieved with partitioned scheduling, and both ways of applying EDF scheduling out-perform fixed-priority scheduling, for sets...

Global fixed-priority scheduling of constraineddeadline sporadic tasks systems is important not only for CPU scheduling but also in other domains, for example, scheduling real-time flows in WirelessHART networks designed for industrial process control and monitoring. In this paper, we propose a novel priority assignment scheme for scheduling such task systems on multiprocessors and demonstrate,...