{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,4]],"date-time":"2025-10-04T00:39:29Z","timestamp":1759538369800,"version":"build-2065373602"},"reference-count":29,"publisher":"Association for Computing Machinery (ACM)","issue":"5s","funder":[{"name":"DFG Priority Program \u201cDisruptive Memory Technologies\u201d","award":["SPP 2377"],"award-info":[{"award-number":["SPP 2377"]}]},{"name":"\u201cARTS-NVM\u201d","award":["502308721"],"award-info":[{"award-number":["502308721"]}]},{"name":"\u201cMemory Diplomat\u201d","award":["502384507"],"award-info":[{"award-number":["502384507"]}]},{"name":"DFG Project \u201cOne-Memory\u201d","award":["405422836"],"award-info":[{"award-number":["405422836"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Embed. Comput. Syst."],"published-print":{"date-parts":[[2025,11,30]]},"abstract":"<jats:p>\n            Releasing jobs and performing scheduling decisions in real-time operating systems (RTOSes) is often realized within tick interrupts. In each tick interrupt, a set of tasks that are waiting to release new jobs, namely, the waiting set, is inspected to determine the jobs that should be released at this tick. Such a waiting set is sorted whenever a job has finished, by which the release process can be efficiently achieved. However, the overhead of sorting can vary vastly depending on the task set, which has to be taken into account in the worst-case timing analysis. Moreover, the tick interrupt in common practices is backed by a single hardware timer that is configured to trigger interrupts, either with a fixed period or reconfigured to the next release time (so-called one-shot timer). Since not necessarily at every interrupt a job will be released, several tick interrupts might be redundant. For the one-shot timers, the reconfiguration during runtime also incurs overheads at a variable interval. To reduce such variability and amount of overhead, in this work, we propose\n            <jats:italic toggle=\"yes\">LazyTick<\/jats:italic>\n            which partitions the task set and distributes the subsets over multiple timers. Specifically, we propose two job release procedures with constant operations overhead\u2014one for harmonic task sets and one for non-harmonic task sets. We implemented the support for multiple hardware timers in FreeRTOS and conducted intensive experimental evaluations. The evaluation shows that\n            <jats:italic toggle=\"yes\">LazyTick<\/jats:italic>\n            can reduce the variability in overhead by up to \u2248 5 \u00d7 in peak and \u2248 3\u00d7 on average in comparison to the default implementation. Additionally, the combined overhead of the job release process is reduced by up to \u2248 6.1 \u00d7 in peak and \u2248 3.6\u00d7 on average.\n          <\/jats:p>","DOI":"10.1145\/3762651","type":"journal-article","created":{"date-parts":[[2025,8,27]],"date-time":"2025-08-27T11:51:58Z","timestamp":1756295518000},"page":"1-25","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["LazyTick: Lazy and Efficient Management of Job Release in Real-Time Operating Systems"],"prefix":"10.1145","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0005-0551-6596","authenticated-orcid":false,"given":"Kay","family":"Heider","sequence":"first","affiliation":[{"name":"Computer Science, TU Dortmund University","place":["Dortmund, Germany"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9992-9415","authenticated-orcid":false,"given":"Christian","family":"Hakert","sequence":"additional","affiliation":[{"name":"Computer Science, TU Dortmund University","place":["Dortmund, Germany"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7110-921X","authenticated-orcid":false,"given":"Kuan-Hsun","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Twente","place":["Enschede, Netherlands"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8114-9760","authenticated-orcid":false,"given":"Jian-Jia","family":"Chen","sequence":"additional","affiliation":[{"name":"Faculty of Informatik, TU Dortmund University","place":["Dortmund, Germany"]}]}],"member":"320","published-online":{"date-parts":[[2025,9,26]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/S11241-021-09376-1"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.17615\/X1ZQ-V169"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/RTSS.2009.23"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/RTCSA.1996.554977"},{"key":"e_1_3_3_6_2","first-page":"7","volume-title":"Proceedings of the 2nd Workshop on Operating Systems Platforms for Embedded Real-Time Applications","author":"Buttazzo Giorgio","year":"2006","unstructured":"Giorgio Buttazzo and Paolo Gai. 2006. Efficient EDF implementation for small embedded systems. In Proceedings of the 2nd Workshop on Operating Systems Platforms for Embedded Real-Time Applications. 7\u20139."},{"key":"e_1_3_3_7_2","volume-title":"Xtensa Instruction Set Architecture (ISA) Summary","author":"Inc. Cadence Design Systems,","year":"2022","unstructured":"Cadence Design Systems, Inc.2022. Xtensa Instruction Set Architecture (ISA) Summary. Retrieved 26th March 2025 from https:\/\/www.cadence.com\/content\/dam\/cadence-www\/global\/en_US\/documents\/tools\/silicon-solutions\/compute-ip\/isa-summary.pdf"},{"key":"e_1_3_3_8_2","doi-asserted-by":"publisher","DOI":"10.1145\/952532.952669"},{"key":"e_1_3_3_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/EMRTS.2001.934029"},{"key":"e_1_3_3_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/RTCSA.2009.46"},{"key":"e_1_3_3_11_2","volume-title":"Gurobi Optimizer Reference Manual","author":"LLC Gurobi Optimization,","year":"2024","unstructured":"Gurobi Optimization, LLC. 2024. Gurobi Optimizer Reference Manual. Retrieved 26th March 2025 from https:\/\/www.gurobi.com"},{"key":"e_1_3_3_12_2","first-page":"7","volume-title":"Proceedings of the 18th Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT)","author":"Hagens Florian","year":"2023","unstructured":"Florian Hagens and Kuan-Hsun Chen. 2023. Assessment of efficient dispatching in FreeRTOS. In Proceedings of the 18th Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT). 7\u20139."},{"key":"e_1_3_3_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/RTSS.2012.75"},{"key":"e_1_3_3_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/J.SYSARC.2020.101800"},{"key":"e_1_3_3_15_2","volume-title":"Proceedings of the 6th International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems","author":"Kramer Simon","year":"2015","unstructured":"Simon Kramer, Dirk Ziegenbein, and Arne Hamann. 2015. Real world automotive benchmarks for free. In Proceedings of the 6th International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems."},{"key":"e_1_3_3_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/REAL.1991.160369"},{"key":"e_1_3_3_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS.2012.20"},{"key":"e_1_3_3_18_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-60910-8_4"},{"key":"e_1_3_3_19_2","first-page":"42","volume-title":"Proceedings of the 5th IEEE Workshop on Real-Time Software and Operating Systems","author":"Mok Aloysius K.","year":"1988","unstructured":"Aloysius K. Mok. 1988. Task management techniques for enforcing EDF scheduling on a periodic task set. In Proceedings of the 5th IEEE Workshop on Real-Time Software and Operating Systems. 42\u201346."},{"key":"e_1_3_3_20_2","doi-asserted-by":"publisher","DOI":"10.1145\/2997465.2997483"},{"key":"e_1_3_3_21_2","doi-asserted-by":"publisher","DOI":"10.1007\/S10617-023-09267-7"},{"key":"e_1_3_3_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS.2017.40"},{"key":"e_1_3_3_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS.2015.7108444"},{"key":"e_1_3_3_24_2","first-page":"293","volume-title":"Proceedings of the 2016 Design, Automation and Test in Europe Conference and Exhibition, DATE 2016, Dresden, Germany, March 14-18, 2016","author":"Pathan Risat Mahmud","year":"2016","unstructured":"Risat Mahmud Pathan. 2016. Design of an efficient ready queue for earliest-deadline-first (EDF) scheduler. In Proceedings of the 2016 Design, Automation and Test in Europe Conference and Exhibition, DATE 2016, Dresden, Germany, March 14-18, 2016. IEEE, 293\u2013296. Retrieved from https:\/\/ieeexplore.ieee.org\/document\/7459325\/"},{"key":"e_1_3_3_25_2","volume-title":"RTEMS User Manual (release 6.1 (22nd january 2025) ed.)","author":"Project RTEMS","year":"2025","unstructured":"RTEMS Project and contributors. 2025. RTEMS User Manual (release 6.1 (22nd january 2025) ed.). On-Line Applications Research (OAR) Corporation. Retrieved from https:\/\/docs.rtems.org\/docs\/6.1\/user.pdf"},{"key":"e_1_3_3_26_2","volume-title":"Mastering the FreeRTOS Real Time Kernel - A Hands-On Tutorial Guide (release version - 1.1.0 ed.)","author":"Barry Richard","year":"2024","unstructured":"Richard Barry and The FreeRTOS Team. 2024. Mastering the FreeRTOS Real Time Kernel - A Hands-On Tutorial Guide (release version - 1.1.0 ed.). Amazon Web Services. Retrieved from https:\/\/github.com\/FreeRTOS\/FreeRTOS-Kernel-Book\/releases\/download\/V1.1.0\/Mastering-the-FreeRTOS-Real-Time-Kernel.v1.1.0.pdf"},{"key":"e_1_3_3_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS.2010.22"},{"key":"e_1_3_3_28_2","volume-title":"ESP32-S3 Technical Reference Manual","author":"Systems Espressif","year":"2024","unstructured":"Espressif Systems. 2024. ESP32-S3 Technical Reference Manual. Retrieved 26th March 2025 from https:\/\/www.espressif.com\/sites\/default\/files\/documentation\/esp32-s3_technical_reference_manual_en.pdf"},{"key":"e_1_3_3_29_2","doi-asserted-by":"publisher","DOI":"10.1109\/90.650142"},{"key":"e_1_3_3_30_2","doi-asserted-by":"publisher","DOI":"10.1145\/3139258.3139273"}],"container-title":["ACM Transactions on Embedded Computing Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3762651","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,3]],"date-time":"2025-10-03T14:06:53Z","timestamp":1759500413000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3762651"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,26]]},"references-count":29,"journal-issue":{"issue":"5s","published-print":{"date-parts":[[2025,11,30]]}},"alternative-id":["10.1145\/3762651"],"URL":"https:\/\/doi.org\/10.1145\/3762651","relation":{},"ISSN":["1539-9087","1558-3465"],"issn-type":[{"type":"print","value":"1539-9087"},{"type":"electronic","value":"1558-3465"}],"subject":[],"published":{"date-parts":[[2025,9,26]]},"assertion":[{"value":"2025-08-11","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-08-12","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-09-26","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}