Garbage Collection Scheduling for Utility Accrual Real-Time Systems

Utility Accrual (UA) scheduling is a method of dynamic real-time scheduling that is designed to respond to overload conditions by producing a feasible schedule that heuristically maximizes a pre-defined metric of utility. Whereas utility accrual schedulers have traditionally focused on CPU overload, this dissertation explores memory overload conditions during which the aggregate memory demand exceeds a system’s available memory bandwidth. Real-time systems are typically implemented in C or other languages that use explicit dynamic memory management. Taking advantage of modern type-safe languages, such as Java, necessitates the use of garbage collection (GC). The timeliness requirements of realtime systems, however, impose specific demands on the garbage collector. Garbage collection introduces a significant source of unpredictability in the execution timeline of a task because it unexpectedly interjects pauses of arbitrary length, at arbitrary points in time, with an arbitrary frequency. To construct a feasible schedule, a real-time scheduler must have the ability to predict the collector’s activities and plan for them accordingly. We have devised CADUS (Collector-Aware Dynamic Utility Scheduler), a utility accrual algorithm that tightly links CPU scheduling with the memory requirements — and the corresponding garbage collection activities — of real-time tasks. By constructing and storing memory time allocation profiles, we address the