ENGG*4420 Real Time Systems Design

Fall 2016

School of Engineering

(Revision 0: September 8, 2016)

1 INSTRUCTIONAL SUPPORT
1.1 Instructor
Instructor: Radu Muresan, Ph.D., P.Eng.
Office: RICH 2509, ext. 56730
Email: rmuresan@uoguelph.ca
Office hours: Fridays: 3:30 pm to 5 pm. Or by appointment

1.2 Lab Technician

Technician: Hong Ma
Office: THRN 1506, ext. 53873
Email: hongma@uoguelph.ca

1.3 Teaching Assistants

GTA Email Office Hours
Angus Galloway gallowaa@uoguelph.ca TBA on CourseLink

2 LEARNING RESOURCES
2.1 Course Website
Course material, news, announcements, and grades will be regularly posted to the ENGG*4420
CourseLink site and on my personal course webpage. You are responsible for checking the sites regularly.

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2.2 Required Resources
1. Radu Muresan, Engg*4420 Real-Time Systems Design Lecture Notes, University of Guelph,
Courselink System, 2016.
2. Radu Muresan, Engg*4420 Real-Time Systems Design Lab Manual, University of Guelph,
Courselink System, 2016.

2.3 Recommended Resources

1. Rajib Mall Real-Time Systems Theory and Practice, Pearson Education, 2008.
2. Giorgio C. Buttazzo, Hard Real-Time Computing systems, 3rd Edition, Springer, 2011.
3. Jane W. S. Liu Real-Time Systems, Prentice Hall, 2000.
4. C. M. Krishna, Kang G. Shin, Real-Time Systems, McGraw-Hill, 1997.
5. Gene F. Franklin, J. David Powell, Abbas Emami-Naeini, Feedback Control of Dynamic Systems,
5th Edition, Prentice Hall, 2006.
6. Jean J. Labrosse MicroC/OS-III The Real-Time Kernel, Micrium, 2009.
7. Keil Tools, RTX Kernel, 2014.
8. Nimal Nissanke, Real-Time Systems, Prentice Hall, 1997.
9. Stuart Bennett, Real-Time Computer Control, Prentice Hall, 1994.

2.4 Additional Resources

Lecture Information: All the lecture notes are posted on the ENGG*4420 CourseLink system (week #1
to week #12) under ENGG4420 LECTURES module.
Lab Information: The ENGG*4420 Real-Time Systems Design Lab Manual can be purchased from the
University of Guelph bookstore and it is also posted on the ENGG*4420 CourseLink system under
the LABORATORY module.
Assignments: The assignments are posted on the ENGG*4420 CourseLink system under the
ASSINGMENTS module.
Exams: Some solutions of previous midterm exams will be posted on the ENGG*4420 CourseLink
system under the EXAM SOLUTIONS section. Also, after each midterm exam the complete
solutions for the exam with the marking scheme applied will be posted for your reference.
Miscellaneous Information: Other information related to real-time systems will be posted on the web
page.

2.5 Communication & Email

Please use lectures and lab help sessions as your main opportunity to ask questions about the
course. Major announcements will be posted to the course website. It is your responsibility to check
the course website regularly. As per university regulations, all students are required to check their
<mail.uoguelph.ca> e-mail account regularly: e-mail is the official route of communication between the
University and its student.

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3 ASSESSMENT
3.1 Dates and Distribution
Labs: 45% total: Lab 1 and Lab 2 weight is 8% each (4% demo + 4% report); Lab 3 weight is 14% (6%
demo + 8% report); Lab 4 weight is 15% (6% demo + 9% report).
See section 5.4 below for due dates
Midterm: 15%
Friday Oct 14th, 12:30 am -1:30 am, Room ROZH 105
Final Exam: 40%
Tuesday Dec 13th, 7:00 pm – 9:00 pm, Room TBA on WebAdvisor

3.2 Course Grading Policies

Missed Assessments: If you are unable to meet an in-course requirement due to medical, psychological,
or compassionate reasons, please email the course instructor. See the undergraduate calendar for
information on regulations and procedures for Academic Consideration:
http://www.uoguelph.ca/registrar/calendars/undergraduate/current/c08/c08-ac.shtml
Accommodation of Religious Obligations: If you are unable to meet an in-course requirement due to
religious obligations, please email the course instructor at the start of the semester to make alternate
arrangements. See the undergraduate calendar for information on regulations and procedures for
Academic Accommodation of Religious Obligations:
http://www.uoguelph.ca/registrar/calendars/undergraduate/current/c08/c08-accomrelig.shtml
Passing grade: In order to pass the course, you must meet the following conditions:
1. Students must finalize and submit all the labs (Demo + Report) and obtain a passing grade of 50%
or higher in the lab portion of the course. If an overall grade of lower than 50% is obtained in any
lab, the students need to arrange with the instructor and the teaching assistant to reschedule a new
demo and report submission.
2. Obtain a passing grade of 20% or higher out of the 40% weight in the final exam or have a
cumulative grade of 25% out of the 55% in the two exams.
3. If the course passing conditions 1 and 2 are not met then the final course grade will be 47% (the
laboratory grades will not be considered).
Contesting marks: All laboratory and midterm test marks must be contested within 2 days from the
grade submission. In addition, the exams must be written in pen or ink for contest considerations.
Missed midterm tests: If you miss a test due to grounds for granting academic consideration or religious
accommodation, you will need to arrange a makeup exam date with the instructor.
Lab Work: You must attend and complete all laboratories. If you miss a laboratory demo due to grounds
for granting academic consideration or religious accommodation, arrangements must be made with
the teaching assistant to complete a makeup lab demo.

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Late Lab Reports: Late submissions of lab reports will be accepted only with the approval of the course
instructor. However, penalties on late submissions will be applied. Applied penalties will be posted
on Engg*4420 CourseLink system.

4 AIMS, OBJECTIVES & GRADUATE ATTRIBUTES

4.1 Calendar Description
This course teaches real-time concepts from a system and computing perspective covering topics related
to four major areas. Real-time computer control and system modeling area teaches basic real-time design
and system modeling concepts for hard and soft real-time computer control applications. Real-time
Operating Systems (RTOS) area introduces common kernel objects and inter-task communication and
synchronization using examples from current commercial RTOS. Topics in the area of scheduling present
theoretical results related to uniprocessor and multiprocessor scheduling algorithms and topics in the area
of fault tolerance and reliability present current techniques at software and hardware level.
Prerequisite(s): ENGG*2400, ENGG*3640
Corequisite(s): None

4.2 Course Aims

This course is a senior level course in most electrical and computer engineering programs and in most
computer science programs. The main goals of the course are (1) to teach students the fundamental
concepts in real-time systems from a system and computing perspective (2) to teach students how to
develop real-time applications using modern real-time operating systems.

4.3 Learning Objectives

At the successful completion of this course, the student will have demonstrated the ability to:
1. Efficiently model a system for the purpose of implementing a real-time control system.
2. Efficiently design and implement a real-time control algorithm.
3. Differentiate between different types of tasks (i.e., periodic, aperiodic, soft, hard, non-real
time) and properly use these tasks in the design.
4. Choose the appropriate RTOS (real-time operating system) for a specific application.
5. Design and implement real-time applications using commercial RTOS such as uC/OSIII,
ARM RTX, MQX, and Real-Time LabView. Use of kernel objects and services.
6. Understand and apply in the design of real-time systems the mechanisms of resource access
protocols such as priority inversion protocol, the priority ceiling protocol and others.
7. Understand and apply in the design of real-time systems common uniprocessor and
multiprocessor scheduling algorithms.
8. Understand the design safety and reliability components in real-time systems.
9. To apply the concept of simulation/experimentation for the purpose of designing and testing
real-time systems.
10. Model using LabView a hot air plant system and an automotive suspension system.

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 11. Design a real-time controller for a hot air plant and for a semi active suspension system using
uC/OSIII and Real-Time LabView.
12. Design real-time embedded applications for systems control.
13. Implement and demonstrate specified real-time control systems.

4.4 Graduate Attributes

Successfully completing this course will contribute to the following CEAB Graduate Attributes:
Learning
Graduate Attribute Objectives Assessment
1. Knowledge Base for Engineering 1, 2, 3, 4, 5, Exams, Labs
6, 7, 8
2. Problem Analysis 3, 4, 5, 9, 10 Labs
3. Investigation 10, 11 Labs
4. Design 2, 5, 9, 10, 11, Exams, Labs
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5. Use of Engineering Tools 9, 10, 11, 12 Labs
6. Communication 13 Labs
7. Individual and Teamwork 9, 10, 11, 12, Labs
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8. Professionalism - -
9. Impact of Engineering on Society and 8 Exams
the Environment
10. Ethics and Equity - -
11. Environment, Society, Business, & - -
Project Management
12. Life-Long Learning 4, 5, 12 Labs

4.5 Instructor’s Role and Responsibility to Students

The instructor’s role is to develop and deliver course material in ways that facilitate learning for a variety
of students. All lecture notes plus various exercises, examples and referenced resources will be made
available to students on CourseLink system in the appropriate module. However, these are not intended to
be stand-alone course notes. During lectures, the instructor will expand and explain the content of notes
and provide in class solutions to problems that supplement posted notes. Scheduled classes and labs will
be the principal venue to provide information and feedback for tests and labs.

4.6 Students’ Learning Responsibilities

Students are expected to take advantage of the learning opportunities provided during lectures and labs. In
addition students are encouraged to consult the instructor and the TA during the scheduled office hours or
to contact the instructor or TA for any help needed. Students, especially those having difficulty with the

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course content, should also make use of other resources recommended by the instructor. Students who do
(or may) fall behind due to illness, work, or extra-curricular activities are advised to keep the instructor
informed. This will allow the instructor to recommend extra resources in a timely manner and/or provide
consideration if appropriate.

4.7 Relationships with other Courses & Labs

Previous Courses:
ENGG*2400 (Engineering Systems Analysis): Analytical description and modeling of engineering
systems such as electrical, thermal, automotive, and other control systems.
ENGG*3640(Microcomputer interfacing): Interfacing microcomputers to I/O external equipment,
developing interfacing routines, understanding of the fabrics of the microcontroller
architecture and programming. Understand synchronous and asynchronous serial
communication and data acquisition topics.
Follow-on Courses:
NA

5 TEACHING AND LEARNING ACTIVITIES

5.1 Timetable
Lectures:
Mon, Wed, Sec 01 12:30 pm – 1:20 am ROZH 105
Fri
Laboratory:
Thur, Fri Sec 01 8:30 am - 11:20 am RICH 1504A

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5.2 Lecture Schedule
Learning
Lectures Lecture Topics References Objectives
1-3 Definitions, Classifications and Characteristics of Lecture Notes 3
Real-time Systems and Real-Time Tasks
4 Design Example, Generalized Computer Approach, Lecture Notes, Lab 1, 2, 9, 11
System Implementation Approach Manual
5-7 Dynamic Models Approach for Real-Time Systems Lecture Notes 1, 2, 9, 11,
Control, Theory and Examples 12
8-9 Feedback Control, PID, Tuning, Application to Lecture Notes 1, 2, 9, 11,
Digital Real-Time Controllers 12
10-11 DDC Control – Implementation of Real-Time Lecture Notes 1, 2, 9, 11,
Control Algorithms 12
12 Implementation of Real-Time Controller Designs Lecture Notes 1, 2
Based on Plant Models
13 Survey of Contemporary Real-Time Operating Lecture Notes 4
Systems, Benchmarks
14 Defining an RTOS, µC/OSIII RTOS Architecture Lecture Notes 5
and Application Types
15-16 Critical Sections, Task Management, Special Lecture Notes 5, 7
Tasks, Scheduling, Context Switch, Interrupt
Management, Time Management
17 Resource Management, Priority Inversion, Lecture Notes 5, 6
Deadlocks, Synchronization
18 Message Passing, Flow Control, Complex Example Lecture Notes 5
19 MQX Basics: an RTOS for Uni-Processor, Multi- Lecture Notes 5, 7
Processor and Distributed Processor Embedded
Real-Time Systems
20 ARM RTX Basics Lecture Notes 5,7
21 Uniprocessor Scheduling: Theory and Applications Lecture Notes 7
22 Real-Time Task Scheduling in Multiprocessor and Lecture Notes 7
Distributed Systems
23 Fault Tolerant Schedulability, Safety and Lecture Notes 8
Reliability in Real-Time Systems
24 Modeling Timing Constraints in Real-Time Lecture Notes 1
Systems

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5.3 Design Lab Schedule
Week Activity References Learning
Objectives
1 Introduction to Lab 1 design requirements, equipment and Lab Manual 9, 12
design tools
2-3 Lab 1 implementation Lab Manual 9, 10, 11, 12
4 Lab 1 demo 13
4 Introduction to Lab 2 design requirements and plant Lab Manual 9, 10, 11, 12
modeling
5 Lab 2 implementation Lab Manual 9, 10, 11, 12

6 Lab 2 demo. 13

6 Introduction to Lab 3 design requirements and time Lab Manual 5, 9, 11, 12

constraints for the control algorithm design
7-8 Lab 3 implementation Lab Manual 5, 9, 11, 12

9 Lab 3 Demo 13
9 Introduction to Lab 4 design requirements and real-time Lab Manual 5, 9, 11, 12
LabView
10 National Instruments industry presentation 5
10-11 Lab 4 implementation Lab Manual 5, 9, 11, 12
12 Lab 4 demo 13

5.4 Lab Schedule

Week Topic Due
1 Introduction to Lab Equipment and Safety Training
1-3 Lab 1: Modeling and control of a Hot Air Plant using LabView Week 4: Demo
with serial communication to the real-time embedded platform Week 4: Report
4-5 Lab 2: Real-time automotive suspension system simulation and Week 6: Demo
control Week 6: Report
6-8 Lab 3: Real-time embedded controller of a Hot Air Plant using an Week 9: Demo
RTOS Week 10: Report
9-11 Lab 4: Multi-core real-time suspension controller using real-time Week 12: Demo
LabView OS Week 12: Report

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5.5 Other Important Dates
First day of class: Thursday Sept. 8, 2016
Thanksgiving: Monday, October xx, 2016 - no classes
Fall Study day: Tuesday October xx - no classes
Last day to drop: Friday November xx, 2016
Last day of class: Friday December xx, 2016

You can refer the student undergraduate calendars for the semester scheduled dates.

6 LAB SAFETY
Safety is critically important to the School and is the responsibility of all members of the School: faculty,
staff and students. As a student in a lab course you are responsible for taking all reasonable safety
precautions and following the lab safety rules specific to the lab you are working in. In addition, you are
responsible for reporting all safety issues to the laboratory supervisor, GTA or faculty responsible.
If the laboratory rules are not followed, consequences will include removing student’s access to the lab.
If this results in lab work not being completed, the student will receive a grade of 0.

7 ACADEMIC MISCONDUCT
The University of Guelph is committed to upholding the highest standards of academic integrity and it is
the responsibility of all members of the University community faculty, staff, and students to be aware of
what constitutes academic misconduct and to do as much as possible to prevent academic offences from
occurring. University of Guelph students have the responsibility of abiding by the University’s policy on
academic misconduct regardless of their location of study; faculty, staff and students have the
responsibility of supporting an environment that discourages misconduct. Students need to remain aware
that instructors have access to and the right to use electronic and other means of detection.
Please note: Whether or not a student intended to commit academic misconduct is not relevant for a
finding of guilt. Hurried or careless submission of assignments does not excuse students from
responsibility for verifying the academic integrity of their work before submitting it. Students who are in
any doubt as to whether an action on their part could be construed as an academic offence should consult
with a faculty member.

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7.1 Resources
The Academic Misconduct Policy is detailed in the Undergraduate Calendar:
http://www.uoguelph.ca/registrar/calendars/undergraduate/current/c08/c08-amisconduct.shtml
A tutorial on Academic Misconduct produced by the Learning Commons can be found at:
http://www.academicintegrity.uoguelph.ca/
Please also review the section on Academic Misconduct in your Engineering Program Guide.
The School of Engineering has adopted a Code of Ethics that can be found at:
http://www.uoguelph.ca/engineering/undergrad-counselling-ethics

8 ACCESSIBILITY

The University of Guelph is committed to creating a barrier-free environment. Providing services for
students is a shared responsibility among students, faculty and administrators. This relationship is based
on respect of individual rights, the dignity of the individual and the University community's shared
commitment to an open and supportive learning environment. Students requiring service or
accommodation, whether due to an identified, ongoing disability for a short-term disability should contact
the Centre for Students with Disabilities as soon as possible.

For more information, contact CSD at 519-824-4120 ext. 56208 or email csd@uoguelph.ca or see the
website: http://www.csd.uoguelph.ca/csd/

9 RECORDING OF MATERIALS
Presentations which are made in relation to course work—including lectures—cannot be recorded or
copied without the permission of the presenter, whether the instructor, classmate or guest lecturer.
Material recorded with permission is restricted to use for that course unless further permission is granted.

10 RESOURCES
The Academic Calendars are the source of information about the University of Guelph’s procedures,
policies and regulations which apply to undergraduate, graduate and diploma programs:
http://www.uoguelph.ca/registrar/calendars/index.cfm?index

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