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In computer science, rate-monotonic scheduling (RMS) is a scheduling algorithm used in real-time operating systems with a static-priority scheduling class. The static priorities are assigned on the basis of the cycle duration of the job: the shorter the cycle duration is, the higher is the job's priority.

These operating systems are generally preemptive and have deterministic guarantees with regard to response times. Rate monotonic analysis is used in conjunction with those systems to provide scheduling guarantees for a particular application.

Introduction

A simple version of rate-monotonic analysis assumes that threads have the following properties:

• No resource sharing (processes do not share resources, e.g. a hardware resource, a queue, or any kind of semaphore blocking or non-blocking (busy-waits))
• Deterministic deadlines are exactly equal to periods
• Static priorities (the task with the highest static priority that is runnable immediately preempts all other tasks)
• Static priorities assigned according to the rate monotonic conventions (tasks with shorter periods/deadlines are given higher priorities)
• Context switch times and other thread operations are free and have no impact on the model

It is a mathematical model that contains a calculated simulation of periods in a closed system, where round-robin and time-sharing schedulers fail to meet the scheduling needs otherwise. Rate monotonic scheduling looks at a run modeling of all threads in the system and determines how much time is needed to meet the guarantees for the set of threads in question.

Template:Harvtxt proved that for a set of Template:Mvar periodic tasks with unique periods, a feasible schedule that will always meet deadlines exists if the CPU utilization is below a specific bound (depending on the number of tasks). The schedulability test for RMS is:

$U=\sum _{i=1}^n\frac{C_i}{T_i}\le n(2^{1/n}-1)$

where Template:Mvar is the computation time, Template:Mvar is the release period (with deadline one period later), and Template:Mvar is the number of processes to be scheduled. For example, Template:Mvar for two processes. When the number of processes tends towards infinity, this expression will tend towards:

$\underset{n\to \mathrm{\infty }}{\lim }n(\sqrt[n]{2}-1)=\ln 2\approx 0.693147\dots$

So a rough estimate is that RMS in the general case can meet all the deadlines if CPU utilization is 69.3%. The other 30.7% of the CPU can be dedicated to lower-priority non real-time tasks. It is known that a randomly generated periodic task system will meet all deadlines when the utilization is 85% or less, however this fact depends on knowing the exact task statistics (periods, deadlines) which cannot be guaranteed for all task sets.

The rate monotonic priority assignment is optimal meaning that if any static priority scheduling algorithm can meet all the deadlines, then the rate monotonic algorithm can too. The deadline-monotonic scheduling algorithm is also optimal with equal periods and deadlines, in fact in this case the algorithms are identical; in addition, deadline monotonic scheduling is optimal when deadlines are less than periods.

An optimal static-priority scheduling algorithm when deadlines are greater than periods is an open problem.

Avoiding priority inversion

In many practical applications, resources are shared and the unmodified RMS will be subject to priority inversion and deadlock hazards. In practice, this is solved by introducing priority inheritance. Alternative methods are to use lock free algorithms or avoid the sharing of a mutex/semaphore across threads with different priorities. This is so that resource conflicts cannot result in the first place.

Disabling of preemption

• The OS_ENTER_CRITICAL() and OS_EXIT_CRITICAL() primitives that lock CPU interrupts in a real-time kernel (MicroC/OS-II (commonly written as uC/OS-II) kernel),
• The splx() family of primitives which nest the locking of device interrupts (FreeBSD 5.x/6.x),

Priority inheritance

Examples of priority inheritance algorithms include (from simplest to most complex):

• Linux kernel contains an implementation of this algorithm, which is a part of the in-kernel Linux real time effort to make the entire Linux kernel fully preemptive.
• The basic priority inheritance protocol which waits until a high priority task requests a lock held by a low-priority task, and then boosts the low priority task priority up to the high priority level until the lock is released. This method does not prevent deadlocks, but does prevent priority inversion.
• The highest locker protocol which requires off-line analysis of all task conflicts to find a "ceiling priority"
• The priority ceiling protocol which is an enhancement of basic priority inheritance which assigns a "ceiling priority" to each semaphore, which is the priority of the highest job that will ever access that semaphore. A job then cannot preempt a lower priority critical section if its priority is lower than the ceiling priority for that section. This method can be sub-optimal, in that it can cause unnecessary blocking. However, it does prevent both priority inversion and deadlocks.

Priority inheritance algorithms can be characterized by two parameters. First, is the inheritance lazy (only when essential) or immediate (boost priority before there is a conflict). Second is the inheritance optimistic (boost a minimum amount) or pessimistic (boost by more than the minimum amount):

	pessimistic	optimistic
immediate	OS_ENTER_CRITICAL() / OS_EXIT_CRITICAL()	splx(), highest locker
lazy		priority ceiling protocol, basic priority inheritance protocol

In practice there is no mathematical difference (in terms of the Liu-Layland system utilization bound) between the lazy and immediate algorithms, and the immediate algorithms are more efficient to implement, and so they are the ones used by most practical systems.Potter or Ceramic Artist Truman Bedell from Rexton, has interests which include ceramics, best property developers in singapore developers in singapore and scrabble. Was especially enthused after visiting Alejandro de Humboldt National Park.

The basic priority inheritance protocol can produce chained blocking, that is, an almost arbitrarily long delay from the time a high priority task requests a critical section, until it is served. The other protocols guarantee that at most one lower priority critical section must finish before the high priority task gets its critical section.

The priority ceiling protocol is available in the VxWorks real-time kernel but is seldom enabled.

An example of usage of basic priority inheritance is related to the "Mars Pathfinder reset bug" which was fixed on Mars by changing the creation flags for the semaphore so as to enable the priority inheritance.

Example

Process	Execution Time	Period
P1	1	8
P2	2	5
P3	2	10

The utilization will be:

$\frac{1}{8}+\frac{2}{5}+\frac{2}{10}=0.725$

The sufficient condition for $3$ processes, under which we can conclude that the system is schedulable is:

$U=3(2^{\frac{1}{3}}-1)=0.77976\dots$

Since $0.725<0.77976\dots$ the system is surely schedulable.

But remember, this condition is not a necessary one. So we cannot say that a system with higher utilization is not schedulable with this scheduling algorithm.

See also

• Deos, a time and space partitioned real-time operating system containing a working Rate Monotonic Scheduler.
• Deadline-monotonic scheduling
• Dynamic priority scheduling
• Earliest deadline first scheduling
• RTEMS, an open source real-time operating system containing a working Rate Monotonic Scheduler.
• Scheduling (computing)

References

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Further reading

• Many property agents need to declare for the PIC grant in Singapore. However, not all of them know find out how to do the correct process for getting this PIC scheme from the IRAS. There are a number of steps that you need to do before your software can be approved.
  
  Naturally, you will have to pay a safety deposit and that is usually one month rent for annually of the settlement. That is the place your good religion deposit will likely be taken into account and will kind part or all of your security deposit. Anticipate to have a proportionate amount deducted out of your deposit if something is discovered to be damaged if you move out. It's best to you'll want to test the inventory drawn up by the owner, which can detail all objects in the property and their condition. If you happen to fail to notice any harm not already mentioned within the inventory before transferring in, you danger having to pay for it yourself.
  
  In case you are in search of an actual estate or Singapore property agent on-line, you simply should belief your intuition. It's because you do not know which agent is nice and which agent will not be. Carry out research on several brokers by looking out the internet. As soon as if you end up positive that a selected agent is dependable and reliable, you can choose to utilize his partnerise in finding you a home in Singapore. Most of the time, a property agent is taken into account to be good if he or she locations the contact data on his website. This may mean that the agent does not mind you calling them and asking them any questions relating to new properties in singapore in Singapore. After chatting with them you too can see them in their office after taking an appointment.
  
  Have handed an trade examination i.e Widespread Examination for House Brokers (CEHA) or Actual Property Agency (REA) examination, or equal; Exclusive brokers are extra keen to share listing information thus making certain the widest doable coverage inside the real estate community via Multiple Listings and Networking. Accepting a severe provide is simpler since your agent is totally conscious of all advertising activity related with your property. This reduces your having to check with a number of agents for some other offers. Price control is easily achieved. Paint work in good restore-discuss with your Property Marketing consultant if main works are still to be done. Softening in residential property prices proceed, led by 2.8 per cent decline within the index for Remainder of Central Region
  
  Once you place down the one per cent choice price to carry down a non-public property, it's important to accept its situation as it is whenever you move in – faulty air-con, choked rest room and all. Get round this by asking your agent to incorporate a ultimate inspection clause within the possibility-to-buy letter. HDB flat patrons routinely take pleasure in this security net. "There's a ultimate inspection of the property two days before the completion of all HDB transactions. If the air-con is defective, you can request the seller to repair it," says Kelvin.
  
  15.6.1 As the agent is an intermediary, generally, as soon as the principal and third party are introduced right into a contractual relationship, the agent drops out of the image, subject to any problems with remuneration or indemnification that he could have against the principal, and extra exceptionally, against the third occasion. Generally, agents are entitled to be indemnified for all liabilities reasonably incurred within the execution of the brokers´ authority.
  
  To achieve the very best outcomes, you must be always updated on market situations, including past transaction information and reliable projections. You could review and examine comparable homes that are currently available in the market, especially these which have been sold or not bought up to now six months. You'll be able to see a pattern of such report by clicking here It's essential to defend yourself in opposition to unscrupulous patrons. They are often very skilled in using highly unethical and manipulative techniques to try and lure you into a lure. That you must also protect your self, your loved ones, and personal belongings as you'll be serving many strangers in your home. Sign a listing itemizing of all of the objects provided by the proprietor, together with their situation. HSR Prime Recruiter 2010.
• Many property agents need to declare for the PIC grant in Singapore. However, not all of them know find out how to do the correct process for getting this PIC scheme from the IRAS. There are a number of steps that you need to do before your software can be approved.
  
  Naturally, you will have to pay a safety deposit and that is usually one month rent for annually of the settlement. That is the place your good religion deposit will likely be taken into account and will kind part or all of your security deposit. Anticipate to have a proportionate amount deducted out of your deposit if something is discovered to be damaged if you move out. It's best to you'll want to test the inventory drawn up by the owner, which can detail all objects in the property and their condition. If you happen to fail to notice any harm not already mentioned within the inventory before transferring in, you danger having to pay for it yourself.
  
  In case you are in search of an actual estate or Singapore property agent on-line, you simply should belief your intuition. It's because you do not know which agent is nice and which agent will not be. Carry out research on several brokers by looking out the internet. As soon as if you end up positive that a selected agent is dependable and reliable, you can choose to utilize his partnerise in finding you a home in Singapore. Most of the time, a property agent is taken into account to be good if he or she locations the contact data on his website. This may mean that the agent does not mind you calling them and asking them any questions relating to new properties in singapore in Singapore. After chatting with them you too can see them in their office after taking an appointment.
  
  Have handed an trade examination i.e Widespread Examination for House Brokers (CEHA) or Actual Property Agency (REA) examination, or equal; Exclusive brokers are extra keen to share listing information thus making certain the widest doable coverage inside the real estate community via Multiple Listings and Networking. Accepting a severe provide is simpler since your agent is totally conscious of all advertising activity related with your property. This reduces your having to check with a number of agents for some other offers. Price control is easily achieved. Paint work in good restore-discuss with your Property Marketing consultant if main works are still to be done. Softening in residential property prices proceed, led by 2.8 per cent decline within the index for Remainder of Central Region
  
  Once you place down the one per cent choice price to carry down a non-public property, it's important to accept its situation as it is whenever you move in – faulty air-con, choked rest room and all. Get round this by asking your agent to incorporate a ultimate inspection clause within the possibility-to-buy letter. HDB flat patrons routinely take pleasure in this security net. "There's a ultimate inspection of the property two days before the completion of all HDB transactions. If the air-con is defective, you can request the seller to repair it," says Kelvin.
  
  15.6.1 As the agent is an intermediary, generally, as soon as the principal and third party are introduced right into a contractual relationship, the agent drops out of the image, subject to any problems with remuneration or indemnification that he could have against the principal, and extra exceptionally, against the third occasion. Generally, agents are entitled to be indemnified for all liabilities reasonably incurred within the execution of the brokers´ authority.
  
  To achieve the very best outcomes, you must be always updated on market situations, including past transaction information and reliable projections. You could review and examine comparable homes that are currently available in the market, especially these which have been sold or not bought up to now six months. You'll be able to see a pattern of such report by clicking here It's essential to defend yourself in opposition to unscrupulous patrons. They are often very skilled in using highly unethical and manipulative techniques to try and lure you into a lure. That you must also protect your self, your loved ones, and personal belongings as you'll be serving many strangers in your home. Sign a listing itemizing of all of the objects provided by the proprietor, together with their situation. HSR Prime Recruiter 2010, Chapter 6.
• Many property agents need to declare for the PIC grant in Singapore. However, not all of them know find out how to do the correct process for getting this PIC scheme from the IRAS. There are a number of steps that you need to do before your software can be approved.
  
  Naturally, you will have to pay a safety deposit and that is usually one month rent for annually of the settlement. That is the place your good religion deposit will likely be taken into account and will kind part or all of your security deposit. Anticipate to have a proportionate amount deducted out of your deposit if something is discovered to be damaged if you move out. It's best to you'll want to test the inventory drawn up by the owner, which can detail all objects in the property and their condition. If you happen to fail to notice any harm not already mentioned within the inventory before transferring in, you danger having to pay for it yourself.
  
  In case you are in search of an actual estate or Singapore property agent on-line, you simply should belief your intuition. It's because you do not know which agent is nice and which agent will not be. Carry out research on several brokers by looking out the internet. As soon as if you end up positive that a selected agent is dependable and reliable, you can choose to utilize his partnerise in finding you a home in Singapore. Most of the time, a property agent is taken into account to be good if he or she locations the contact data on his website. This may mean that the agent does not mind you calling them and asking them any questions relating to new properties in singapore in Singapore. After chatting with them you too can see them in their office after taking an appointment.
  
  Have handed an trade examination i.e Widespread Examination for House Brokers (CEHA) or Actual Property Agency (REA) examination, or equal; Exclusive brokers are extra keen to share listing information thus making certain the widest doable coverage inside the real estate community via Multiple Listings and Networking. Accepting a severe provide is simpler since your agent is totally conscious of all advertising activity related with your property. This reduces your having to check with a number of agents for some other offers. Price control is easily achieved. Paint work in good restore-discuss with your Property Marketing consultant if main works are still to be done. Softening in residential property prices proceed, led by 2.8 per cent decline within the index for Remainder of Central Region
  
  Once you place down the one per cent choice price to carry down a non-public property, it's important to accept its situation as it is whenever you move in – faulty air-con, choked rest room and all. Get round this by asking your agent to incorporate a ultimate inspection clause within the possibility-to-buy letter. HDB flat patrons routinely take pleasure in this security net. "There's a ultimate inspection of the property two days before the completion of all HDB transactions. If the air-con is defective, you can request the seller to repair it," says Kelvin.
  
  15.6.1 As the agent is an intermediary, generally, as soon as the principal and third party are introduced right into a contractual relationship, the agent drops out of the image, subject to any problems with remuneration or indemnification that he could have against the principal, and extra exceptionally, against the third occasion. Generally, agents are entitled to be indemnified for all liabilities reasonably incurred within the execution of the brokers´ authority.
  
  To achieve the very best outcomes, you must be always updated on market situations, including past transaction information and reliable projections. You could review and examine comparable homes that are currently available in the market, especially these which have been sold or not bought up to now six months. You'll be able to see a pattern of such report by clicking here It's essential to defend yourself in opposition to unscrupulous patrons. They are often very skilled in using highly unethical and manipulative techniques to try and lure you into a lure. That you must also protect your self, your loved ones, and personal belongings as you'll be serving many strangers in your home. Sign a listing itemizing of all of the objects provided by the proprietor, together with their situation. HSR Prime Recruiter 2010

External links

• Mars Pathfinder Bug from Research @ Microsoft
• What really happened on Mars Rover Pathfinder by Mike Jones from The Risks Digest, Vol. 19, Issue 49