Real-time scheduling and synchronization for the NPS Autonomous Underwater Vehicle.

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by  Makris, Dionysios.;Shukla, Shridhar B.

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THESIS
Real-time Scheduling and Synchronization
for the
NPS Autonomous Underwater Vehicle
by
DionysiosMakris
December, 1991
Thesis Advisor: ShridharB.Shukla
Second Reader Roberto Cristi
Approved for public release; distribution is unlimited

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Performing Organization Report Number(s) 5. Monitoring Organization Report Number(s)
a. Name ofPerforming Organization 6b. Office Symbol 7a. Name ofMonitoring Organization
Naval Postgraduate School (iCfoapdpleica3b3le) Naval Postgraduate School
:. Address (City, State, and ZIP Code) 7b. Address (City, State, and ZIP Code)
Monterey, CA 93943-5000 Monterey, CA 93943-5000
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. Title (IncludeSecurity Classification) ^RE„A.LT -_TTI.M,E„ S_,^C,THTE'D_U, LING AN'D SYCHRONI1 ZATION
^OR THE NPS AUTONOMOUS UNDERWATER VEHICLE
Personal Author(s)
.
MAKRIS,
Dionysios
a.SuTpyppMleaemsofetneRtrea'prsoyrtTNhoetastiiscn" 13Fbr.oTmime Covered To 14. Dateof RDeepcoertmb(eYerar,19M9o1nth, Day) 15. Page 9Co7unt
. The views expressed in this thesis are those of the author and do not reflect the
facial policy or position of the Department of Defense or the United States Government
Cosati Codes IS. Subject lerms (Continueon reverseifnecessaryandidentify by block number)
Field Group Subgroup Aperiodic, Data-flow, Periodic, Rate Monotonic, Real-time, Schedul-
ing, Synchronization, Task.
Abstract (Continue on reverse ifnecessaryand identify by block number) '
The work described in this thesis is part of a multi-year research project to develop an Autonomous
.derwater Veh.de (AUV-II), which is an intelligent robot submarine, carried out by the departmenTso
ie School S' C°mpUter SdenCe and Electrical <""! Computer Engineering of the Naval Postgrad-
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Real-time Scheduling and Synchronization
for the
NPS Autonomous Underwater Vehicle
by
Dionysios Makris
Lieutenant JG, Hellenic Navy
B.S, Hellenic Naval Academy, 1983
Submitted in partial fulfillment of the
requirements for the degree of
MASTER OF SCIENCE IN ELECTRICAL ENGINEERING
from the
NAVAL POSTGRADUATE SCHOOL
ABSTRACT
The work described in this thesis is part of a multi-year research project to
develop an Autonomous Underwater Vehicle (AUV-II), which is an intelligent robot
submarine, carried out by the departments of Mechanical Engineering, Computer
Science, and Electrical and Computer Engineering of the Naval Postgraduate School.
The AUV-II on-board computer must perform several different tasks such as
navigation, autopilot, guidance, sonar processing, and collision avoidance, etc. under
strict timing constraints to guarantee the safety of the vehicle. This thesis describes
the design and development of real-time scheduling software, which is capable of
scheduling and synchronizing the periodic and aperiodic processes required by the
AUV-II. A design recommendation of a Graphical User Interface has been developed
to improve the software engineering aspects of this project.
in
a./
TABLE OF CONTENTS
INTRODUCTION
I. 1
BACKGROUND
A. 1
1. NTS AUV-II 1
2. Data-flow for On-board Processing 1
3. AUV-II Real-time Programming Environment 4
OBJECTIVES OF THE STUDY
B. 5
C. THESIS ORGANIZATION 5
II. ISSUES IN REAL-TIME SYSTEMS 6
REAL-TIME SCHEDULING
A. 6
1. Static Scheduling 7
2. Dynamic Scheduling 7
3. Rate Monotonic Scheduling 8
4. Data-flow Scheduling 9
5. Schedulability Analysis 10
REAL-TIME SYNCHRONIZATION
B. 11
TECHNIQUES OF REAL-TIME SYNCHRONIZATION
C. 13
1. Two Phase Locking Protocol 13
2. Priority Inheritance and Priority Ceiling Protocol 14
3. Data-flow Synchronization 15
D. EFFECT OF SYNCHRONIZATION ON SCHEDULABILITY 15
. .
III. SCHEDULING AND SYNCHRONIZATION FOR AUV-II 18
A. OS-9 SUPPORT FOR SCHEDULING AND SYNCHRONIZATION 18
B. IMPLEMENTATION OF DATA-FLOW SYNCHRONIZATION 19
.
iv