BIRLA INSTITUTE OF TECHNOLOGY & SCIENCE, PILANI

WORK INTEGRATED LEARNING PROGRAMMES

Digital Learning

Part A: Course Design

Course Title Real Time Operating Systems

Course No(s) CS ZG524/ES ZG524/MEL ZG524

Credit Units 5

Credit Model

Instructor-In- Siddhesh G K
Charge

Course Objectives

To introduce the issues and challenges in developing software for Real Time Systems and understand
the functional modules, design and implementation of Real Time Operating Systems. To analyze the
constraints in such a design and to incorporate the essential features which make a real time operating
system different from a conventional operating system.

Text Book(s)

T1 Liu, Jane W.S., Real Time Systems, Pearson Education, 2000

T2 Laplante, Phillip A., Real-Time Systems Design and Analysis, Wiley, 3rd Ed., 2004

Reference Book(s) & other resources

R1 C.M. Krishna and Kang G.Shin, Real Time Systems, Mc Graw Hill Publications, 1997
Content Structure

No Title of the Module

M1 Introduction to the course
M2 Modelling Real time Systems
M3 Task graphs and Data Dependency
M4 Clock Driven Scheduling
M5 Priority Driven Scheduling
M6 Modelling Schedulers using Periodic, Aperiodic and Sporadic task schedulers
M7 Resource and Resource access control
M8 Requirements and Performance aspects of a Real Time System
M9 Types of pseudo-kernels
M10 Real time languages and engineering considerations

Learning Outcomes:

No Learning Outcomes

LO1 Knowing different aspects of a real time system

LO2 Understanding Cheddar basics and designing small schedulers using Cheddar

LO3 Analyzing optimality and feasibility of the scheduler

Part B: Learning Plan

Academic Term First Semester 2023-2024

Course Title Real Time Operating Systems

Course No CS ZG524/ES ZG524/MEL ZG524

Content Developer Siddhesh G K

Glossary of Terms:
1. Contact Hour (CH) stands for a hour long live session with students
conducted either in a physical classroom or enabled through technology.
In this model of instruction, instructor led sessions will be for 20 CH.
a. Pre CH = Self Learning done prior to a given contact hour
b. During CH = Content to be discussed during the contact hour by
 the course instructor
c. Post CH = Self Learning done post the contact hour
2. RL stands for Recorded Lecture or Recorded Lesson. It is presented to the
student through an online portal. A given RL unfolds as a sequences of
video segments interleaved with exercises
3. SS stands for Self-Study to be done as a study of relevant sections from
textbooks and reference books. It could also include study of external
resources.
4. LE stands for Lab Exercises
5. HW stands for Home Work will consists could be a selection of problems
from the text.

Contact Hour 1

Time Type Sequence Content Reference

Pre CH RL1 RL1.1 Real Time Systems –

Introduction

During CH1 CH1.1.1 Providing additional T1,T2

CH inputs on Killer applications that
are real time. Modelling a small
real time system using Free RTOS
or similar RTOS (T1).
CH1.1.2 Studying small
embedded applications
modelling basic components
(sensors, embedded
processors, actuators), etc (T2).

Post SS1 -
CH

Post HW1 -
CH

Post LE1 -
CH

Post QZ1 -
CH

Contact Hour 2

Time Type Sequence Content Reference

Pre CH RL1 RL1.1 Real Time Systems –

Introduction
During CH2 CH2.1 = Explaining PID T1
CH control concept of open and
closed loop system stability
CH2.2 = Explaining stability
concepts for similar embedded
applications.(T1)

Post SS2 -
CH

Post HW2 -
CH

Post LE2 -
CH

Post QZ2 -
CH
Contact Hour 3

Time Type Sequence Content Reference

Pre CH RL2.1 RL2.1 = Components of a Real

Time Scheduler

During CH3 CH3.1 = Discussing scheduler T1

CH as a key component of the
RTOS (T1)
CH3.2 = Explaining how
effectively modelling needs to
be done.

Post SS3 Analysing the modelling of hard

CH and soft real time tasks using
Vxworks, Free RTOS based Real
time Operating Systems

Post HW3 Practising using Cheddar how to

CH add additional complexity to
incorporate optimality in mixed
modelling of hard and soft real
time systems when embedded
applications have both hard and
soft real time tasks (Mixed
modelling)

Post LE3  Understanding Cheddar

CH basics
 Designing small
schedulers using
 Cheddar

Post QZ3 -
CH
Contact Hour 4

Time Type Sequence Content Reference

Pre CH RL2.1 RL2.2 = Nature of tasks

During CH4 CH4.1 = Discussing optimality R1

CH and feasibility constraints for
hard and soft real time systems
(R1)
CH4.2 = Explaining tardiness
parameter in soft real time system
modelling

Post SS4 Analysing the modelling of hard

CH and soft real time tasks using
Vxworks, Free RTOS based Real
time Operating Systems

Post HW4 Practising using Cheddar how to

CH add additional complexity to
incorporate optimality in mixed
modelling of hard and soft real
time systems when embedded
applications have both hard and
soft real time tasks (Mixed
modelling)

Post LE4  Understanding Cheddar

CH basics
 Designing small
schedulers using
Cheddar

Post QZ4 -
CH

Contact Hour 5

Time Type Sequence Content Reference

Pre CH RL2.1 RL2.3= Modeling a Real Time

System

During CH5 CH5.1 = Providing more

CH insight on Cheddar and
scheduling analysers. Analysing
 the nature of tasks using
Cheddar.
CH5.2 = Formulating small
task schedules based on tasks.

Post SS5 Analysing the modelling of hard

CH and soft real time tasks using
Vxworks, Free RTOS based Real
time Operating Systems

Post HW5 Practising using Cheddar how to

CH add additional complexity to
incorporate optimality in mixed
modelling of hard and soft real
time systems when embedded
applications have both hard and
soft real time tasks (Mixed
modelling)

Post LE5  Understanding Cheddar

CH basics
 Designing small
schedulers using
Cheddar

Post QZ5 -
CH

Contact Hour 6

Time Type Sequence Content Reference

Pre CH RL3.1 RL3.1.1 = Reference Model of

Real Time Systems

During CH6 CH6.1 = Modelling a real T1,T2

CH time system (T1)
CH6.2 = Explaining with case
study examples to model a real
time system (T2)

Post SS6 Study of research papers on task

CH modelling in cases of tasks being
dependent and independent.
Analysing the criteria associated
with such tasks and graph
reduction in such cases.
Post HW6 Using Graph reduction tools like
CH Graphviz for such analysis and also
identifying the reduction process
of complex graphs using such
graph reduction tools.

Post LE6 -
CH

Post QZ6 -
CH

Contact Hour 7

Time Type Sequence Content Reference

Pre CH RL3.2 RL3.2.1= Components of real

time systems

During CH7 CH7.1 = Different aspects of a R1

CH real time system like real time
databases and real time
communication with example
scenarios (R1)

Post SS7 Study of research papers on task

CH modelling in cases of tasks being
dependent and independent.
Analysing the criteria associated
with such tasks and graph
reduction in such cases.

Post HW7 Using Graph reduction tools like

CH Graphviz for such analysis and also
identifying the reduction process
of complex graphs using such
graph reduction tools.

Post LE7 -
CH

Post QZ7 -
CH

Contact Hour 8

Time Type Sequence Content Reference

Pre CH RL3.3 RL3.3.1 = Commonly used
approaches for Real Time
Scheduling

During CH8 CH8.1 = Modelling tasks with T1

CH task graphs (T1)
CH8.2 = Discussing DAG’s and
schematics to model such tasks
using graphs (T1)
CH8.3 = Criteria involved in
mapping dependent and
independent task graphs and
mapping them on to scheduling
(T1)

Post SS8 Study of research papers on task

CH modelling in cases of tasks being
dependent and independent.
Analysing the criteria associated
with such tasks and graph
reduction in such cases.

Post HW8 Using Graph reduction tools like

CH Graphviz for such analysis and also
identifying the reduction process
of complex graphs using such
graph reduction tools.

Post LE8 -
CH

Post QZ8 -
CH
Contact Hour 9

Time Type Sequence Content Reference

Pre CH RL3.4 RL3.4.1 = Task Graphs

Pre CH RL3.5 RL 3.5.1 = Functional

Parameters of tasks

During CH9 CH9.1 = Using standard R1,T1

CH distributions like Weibull to
choose tasks (R1)
CH9.2 = Variations of
scheduler behaviour in terms of
resource utilisation and task
schedulability when varied task
 mixes are provided as inputs to
a real time system (T1 & R1)
CH9.3 = Designing schedulers
based on task graphs using
Cheddar

Post SS9 Study of research papers on task

CH modelling in cases of tasks being
dependent and independent.
Analysing the criteria associated
with such tasks and graph
reduction in such cases.

Post HW9 Using Graph reduction tools like

CH Graphviz for such analysis and also
identifying the reduction process
of complex graphs using such
graph reduction tools.

Post LE9 -
CH

Post QZ9 -
CH

Contact Hour 10

Time Type Sequence Content Reference

Pre CH RL4.1 RL4.1.1 = Frame size

constraints

During CH10 CH10.1 = Analysing tasks and T1

CH highlighting restrictions in
scheduling periodic tasks (T1)
CH10.2 = Highlighting
differences in periodic
scheduling when frames are
used and not using Cheddar
(T1)
CH10.3 = Explaining the
hyperperiod and makespan
constraints and its impact on
periodic scheduling (T1)

Post SS10 Study of applications using

CH Periodic scheduling. Designing a
real time application like
multimedia or networking using
 periodic task scheduling and
applying the algorithm to such a
scenario

Post HW10 Study of RTOS like CHIMERA

CH and VXWORKS. Designing small
real time tasks and
understanding the same on any
small RTOS.

Post LE10 Design Periodic scheduler using

CH Cheddar

Post QZ10 -
CH

Contact Hour 11

Time Type Sequence Content Reference

Pre CH RL4.2 RL4.2.1 = Cyclic Executives

Pre CH RL4.3 RL 4.3.1 = Slack Stealing

approach

During CH11 CH11.1 = Illustrating periodic T1

CH schedules based on frame size
constraints (T1)
CH11.2 = Explain slack
concepts for online and offline
schedules namely critical
scaling factor and laxity based
approaches (T1)
CH11.3 = Extending this
concepts to real time applications
(T1)

Post SS11 Study of applications using

CH Periodic scheduling. Designing a
real time application like
multimedia or networking using
periodic task scheduling and
applying the algorithm to such a
scenario

Post HW11 Study of RTOS like CHIMERA and

CH VXWORKS. Designing small real
time tasks and understanding the
 same on any small RTOS.

Post LE11 Design Periodic scheduler using

CH Cheddar

Post QZ11 -
CH

Contact Hour 12

Time Type Sequence Content Reference

Pre CH RL5.1 RL5.1.1 = Priority based task

scheduling

During CH12 CH12.1 = Introduction to real R1

CH time applications where priority
driven scheduling is used.
Explaining laxity based
strategies. (R1) Applying
priority inheritance and priority
ceiling protocol to schedulers
CH12.2 = Extending laxity
based constraints to dependent
and independent tasks (R1)
CH12.3 = Explaining the
modus operandi on how tasks
would be scheduled in such
scenarios taking laxity constraints
into account.
CH12.4 = Studying additional
factors in scheduling like
migration overhead and
scheduling costs (Computation
and Communication) (R1)

Post SS12 Designing a real time application

CH where priority driven scheduling is
used

Post HW12 -
CH

Post LE12.1  Designing laxity based

CH schedulers using
Cheddar
 Designing online and
offline schedulers using
 Cheddar

Post LE12.2  Designing schedulers

CH using Cheddar and
compare the utilisation
metrics
 Analyse the slack
distribution strategies
(Critical Scaling factor and
laxity ) for online and
offline schedulers

Post QZ12 -
CH
Contact Hour 13

Time Type Sequence Content Reference

Pre CH RL5.2 RL5.2.1 = Dynamic Priority

assignment

During CH13 CH13.1 = Explain granularity R1

CH in tasks (fine grain and coarse
grain) and their corresponding
scheduling constraints (R1)
CH13.2 = Explaining task
clustering and ranking in such
scenarios and identifying scenarios
where task parameters are not
precise (R1)
CH13.3 = Explaining scenarios
of the above using Cheddar.
CH13.4= Explaining IRIS
scheduling algorithms (R1)

Post SS13 Designing a real time

CH application where priority
driven scheduling is used.

Post HW13 -
CH

Post LE13.1  Design an IRIS scheduler

CH  Analysing optimality and
feasibility of the scheduler

Post LE13.2  Design an RM scheduler

CH using Cheddar
 Design an EDF scheduler
using Cheddar
 Analyse the optimality and
 feasibility of the scheduler

Post QZ13 -
CH

Contact Hour 14

Time Type Sequence Content Reference

Pre CH RL6.1 RL6.1.1 = Scheduling using

Aperiodic and Sporadic tasks

Pre CH RL6.2 RL 6.2.1 = Deferrable Servers

Pre CH RL6.3 RL 6.3.1 = Time Demand

Analysis

Pre CH RL6.4 RL 6.4.1 = Simple Sporadic

Server

Pre CH RL6.5 RL 6.5.1 = Total Bandwidth

Server

During CH14 CH14.1 = Highlighting how T1

CH non-real time tasks are
scheduled with real time tasks
(T1)
CH14.2 = Applying
Deferrable and Simple sporadic
server to non-real time tasks
(T1)
CH14.3 = Bandwidth
preserving analysis (T1)

Post SS14 -
CH

Post HW14 -
CH

Post LE14  Design a scheduler for

CH mixture of tasks (real
time, non-real)
 Analyse scenario for real
time (Periodic, Sporadic
 and Aperiodic)

Post QZ14 -
CH
Contact Hour 15

Time Type Sequence Content Reference

Pre CH RL6.1 RL6.1.1 = Scheduling using

Aperiodic and Sporadic tasks

Pre CH RL6.2 RL 6.2.1 = Deferrable Servers

Pre CH RL6.3 RL 6.3.1 = Time Demand

Analysis

Pre CH RL6.4 RL 6.4.1 = Simple Sporadic

Server

Pre CH RL6.5 RL 6.5.1 = Total Bandwidth

Server

During CH15 CH15.1 = Sporadic tasks T1

CH scheduling (T1)
CH15.2 = Rejection tests using
Cheddar (T1)
CH15.3 = Replenishment and
Consumption rules (T1)

Post SS15 -
CH

Post HW15 -
CH

Post LE15  ILP constraint modelling

CH  Analysis on feasibility and
optimality

Post QZ15 -
CH

Contact Hour 16

Time Type Sequence Content Reference

Pre CH RL7.1 RL7.1.1 = Resource control

using task graphs

During CH16 CH16.1 = Analysing resource

CH utilization
CH16.2 = Simulation of
scenarios when tasks are
dependent or independent.
 Linking this scenario to task graphs

Post SS16 -
CH

Post HW16 -
CH

Post LE16 -
CH

Post QZ16 -
CH

Contact Hour 17

Time Type Sequence Content Reference

Pre CH RL8.1 RL8.1.1 = Requirements of

Real Time System

Pre CH RL8.2 RL 8.2.1 = Finite State

Machines

During CH17 CH17.1 = Analysing the T2

CH requirements to design a real
time system (T2)
CH17.2 = Explaining how to
use all the components especially
of schedulers studied in this
course to design a real time
system (T2)
CH17.3 = Constraints and
criteria for design of a real time
operating system (T2)
CH17.4 = Discussing Petrinet
usage for simple embedded
applications (T2)

Post SS17 -
CH

Post HW17 -
CH

Post LE17 -
CH
Post QZ17 -
CH

Contact Hour 18

Time Type Sequence Content Reference

Pre CH RL8.3 RL8.3.1 = Structural analysis

During CH18 CH18.1 = Performance T2

CH assessment of embedded
system (T2)
CH18.2 = Deciding on
tolerance level of an embedded
system based usage (T2)
CH18.3 = Criteria to avoid
failure of such an embedded
system in terms of performance
and also highlighting the
exceptional and sub optimal
solutions in such real time
operating systems (T2)

Post SS18 -
CH

Post HW18 -
CH

Post LE18 -
CH

Post QZ18 -
CH

Notes:-

Contact Hour 19

Time Type Sequence Content Reference

Pre CH RL9.1 RL9.1.1 = Pseudo Kernel and

its uses

During CH19 CH19.1 = Pseudo kernel T2

CH applications in real time
 systems (Coroutines, Cyclic
executives, Polled loops,
Synchronous Polled loops) (T2)
CH19.2 = Case study and real
time examples where pseudo
kernel (T2)
CH19.3 = Modelling systems
as preemptive, non-preemptive
and hybrid versions(T2)

Post SS19 -
CH

Post HW19 -
CH

Post LE19 -
CH

Post QZ10 -
CH

Contact Hour 20

Time Type Sequence Content Reference

Pre CH RL9.1 RL9.1.1 = Pseudo Kernel and

its uses

During CH20 CH20.1 = Research avenues T2

CH in such embedded systems (T2
and R1)
CH20.2 = Highlighting the
various industrial avenues of
working in such embedded
systems (T2)
CH20.3 = Explaining how the
course studied could be utilised to
bridge challenges in these areas
(T2)

Post SS20 -
CH

Post HW20 -
CH

Post LE20 -
CH
Post QZ20 -
CH
Contact Hour 21

Time Type Sequence Content Reference

Pre CH RL10.1 RL10.1.1 = Real time

languages

During CH21 CH21.1 = Choice of the R1,T2

CH language for small embedded
real time applications (R1)
CH21.2 = Criteria to be kept in
mind based on storage classes (T2
and R1)
CH21.3 = Evaluation of
effectiveness of the language
chosen for an embedded real time
application (R1)

Post SS21 -
CH

Post HW21 -
CH

Post LE21 -
CH

Post QZ21 -
CH
Contact Hour 22

Time Type Sequence Content Reference

Pre CH RL10.2 RL10.2.1 = Engineering

aspects of a real time system

During CH22 CH22.1 = Metrics to evaluate T2

CH a real time systems (T2)
CH22.2 = Designing a real time
system with a simple example and
analysing the same using metrics
(T2).
CH22.3 = Trade-off
considerations to be kept in mind
when a real time system design is
engineered (T2).
 Post SS22 -
CH

Post HW22 -
CH

Post LE22 -
CH

Post QZ22 -
CH

Evaluation Scheme:
Legend: EC = Evaluation Component; AN = After Noon Session; FN = Fore Noon Session
No Name Type Duratio Weight Day, Date, Session, Time
n
EC-1 Quiz-I/ Assignment-I Online - 5% September 1-10, 2023
Quiz-II Online - 5% October 1-10, 2023
Quiz-III/ Online - 5%
November 1-10, 2023
Assignment-II
EC-2 Mid-Semester Test Open 2 hours 35% Sunday, 24/09/2023 (AN)
Book
EC-3 Comprehensive Open 2½ 50% Sunday, 26/11/2023 (AN)
Exam Book hours

Syllabus for Mid-Semester Test (Open Book): Topics in Session Nos. 1 to 11

Syllabus for Comprehensive Exam (Open Book): All topics (Session Nos. 1 to 22)
Important links and information:
Elearn portal: https://elearn.bits-pilani.ac.in
Students are expected to visit the Elearn portal on a regular basis and stay up to date with the latest announcements
and deadlines.
Contact sessions: Students should attend the online lectures as per the schedule provided on the Elearn portal.
Evaluation Guidelines:
1. EC-1 consists of either two Assignments or three Quizzes. Students will attempt them through the course
pages on the Elearn portal. Announcements will be made on the portal, in a timely manner.
2. For Closed Book tests: No books or reference material of any kind will be permitted.
3. For Open Book exams: Use of books and any printed / written reference material (filed or bound) is
permitted. However, loose sheets of paper will not be allowed. Use of calculators is permitted in all exams.
Laptops/Mobiles of any kind are not allowed. Exchange of any material is not allowed.
4. If a student is unable to appear for the Regular Test/Exam due to genuine exigencies, the student should
follow the procedure to apply for the Make-Up Test/Exam which will be made available on the Elearn portal.
The Make-Up Test/Exam will be conducted only at selected exam centres on the dates to be announced later.
It shall be the responsibility of the individual student to be regular in maintaining the self study schedule as given in
the course handout, attend the online lectures, and take all the prescribed evaluation components such as
Assignment/Quiz, Mid-Semester Test and Comprehensive Exam according to the evaluation scheme provided in the
handout.