Adaptive Fault Tolerance in Real-Time Information Systems
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1 Shubnsky I.B., Rozenberg I.N., Papc L. Adaptve Fault Tolerance n Real-Tme Informaton Systems Shubnsky I.B., Rozenberg I.N., Papc L. Russa, Moscow, JSC NIIAS, Serba, Prjevor, ICDQM Abstract Real-tme nformaton systems (IS) control msson-crtcal processes. Volaton of functonng n these systems may lead to dangerous errors n control and to ntolerable rsks. The general dsadvantage of tradtonal ways of IS relablty assurance s an autonomous mplementaton of fault tolerance mechansms, as well as breaks of calculaton whch s unacceptable for real-tme systems. All known ways to assure IS relablty are based on the applcaton of large volumes of artfcal structure and nformaton redundancy. The technology of adaptve fault tolerance proposed n ths artcle conssts n the actve use of natural tme and structure redundancy, as well as n the actve (and automatc) reassgnment of avalable computer power not only for operatonal processng of nformaton, but also for mplementaton of observablty of the system under the condtons of lmted control means. The technology of adaptve fault tolerance n nformaton systems when solvng real tasks n lmted tme condtons provdes for a tmely automatc detecton and handlng of falures and gltches by means of operatonal localzaton of faulty computaton modules and by subsequent automatc rearrangement of the system wth removal of faulty modules from the process of functonng. Keywords: Informaton system, computaton modules, faults, falures, errors, relablty, fault tolerance, beats of actve protecton, reassgnment of modules, adaptaton to falures, automatc control, comparson of results, falure detecton, rearrangement, process recovery. I. Introducton Real-tme nformaton systems (IS) control msson-crtcal processes. Volaton of functonng n these systems may lead to serous errors n control and to ntolerable rsks []. Man causes of dangerous errors n control processes are known these are gltches and software errors, data errors, falures of a system s equpment []. That s why to assure a relable task soluton under the condtons of falures, two essentally dfferent approaches are appled recovery of the soluton after a falure of the system (or ts component) and preventon from the system falure (fault tolerance). In real-tme systems termnaton of the control process for the tme necessary to recover the system functonng s n most cases unacceptable the man way of the relable soluton of control tasks s to assure fault tolerance. Tradtonal ways to assure fault tolerance are as follows: reservaton of resources (for nstance, computaton modules (CM); protectng aganst overconsumpton of resources; clusterzaton; rejecton of falures and fault sheldng,.e. preventon from the dstrbuton of fault consequences whle the system contnues the executon of ts functons; applcatons solaton; creaton of mcrokernel archtecture of the operatng system (OS); solaton of the OS kernel from applcatons and solaton of applcatons from each other, etc. [3,4,5, etc.]. The general dsadvantage of the above mentoned ways s an autonomous mplementaton of fault tolerance mechansms, as well as breaks of calculaton, whch s unacceptable for real-tme 8
2 Shubnsky I.B., Rozenberg I.N., Papc L. systems. Attenton s drawn to the fact that absolutely all consdered ways to assure IS relablty are based on the applcaton of large volumes of artfcal structure and nformaton redundancy,.e. are practcally based on the extensve way of fault tolerance assurance. That s why ths s obvously very much a current challenge to construct such a system to assure IS fault tolerance that under lttle structure and tme reserve n real tme t shall guarantee the assurance of IS adaptaton to faults and falures of techncal devces, as well as to exclude the cases of termnaton of the control process durng the perod of tme that s longer than the acceptable perod. The man way to solve ths task s to develop the adaptve fault tolerant systems. II. Task descrpton Adaptve fault tolerance s possble n nformaton systems by means of ntroducng a subsystem of assurance of fault tolerance (SFT) nto ther structure. Ths software or software and hardware subsystem s formed at the stage of IS desgn usng the provsoned redundant computng means wth the help of communcaton meda avalable n IS. It serves to provde tmely protecton or preventon from the falures of basc IS hardware and software. A hgh level of SFT organzaton can be acheved usng an adaptaton mechansm. Let us consder a varant of the creaton of SFT adaptve structures. Ths system contans (Fgure ): nformaton transducer (IT), performng two groups of tasks: the frst group s to connect the measurable states Х of the system, unmeasurable states E and an adaptve acton U. Measurable states are the data about current states of basc hardware and software and a resource. Unmeasurable states are the flows of falures, faults, software errors. The second group of tasks performed by IT s to form a vector T of tme of adaptaton to falures, faults, software errors, as well as of the control commands Y on the ongong change of the resource, on the rearrangement of the nformaton system, on the adjustment of current states of the system; - hardware and software resource R of the system. It ncludes both, natural and artfcal resources; - operator of adaptve control AC, ntended to form adaptve acton n complance wth a certan algorthm F. A task of adaptaton s to fnd such adaptve acton U, so that vector T of SFT system n the feld of measurable states Х and n the feld of unmeasurable states E stay n lne wth the objectves Z to be acheved q j ( X, T) extr, j,..., k; Z : h ( X, T) A;,..., k; g ( X, T),,..., k Fgure : System of assurance of fault tolerance n an nformaton system 9
3 Shubnsky I.B., Rozenberg I.N., Papc L. where the parameters of object functon q j for each j-th control are related to the reachng of extreme values, for example, mnmum losses of IS effcency due to SFT actons, mnmum addtonal storage consumptons, mnmum delays when solvng the tasks of observablty and controllablty, mnmum structure reserve, maxmum level of performance ndcators of IS n the feld Х, etc. These parameters that could be mnmzed (maxmzed) are the am of adaptaton. Not only the nformaton about the am of adaptaton should be transferred to the center of adaptve control, but also the followng nformaton: data about resource R, wthn whch adaptaton s possble ( ), as well as data about adaptaton algorthm F that assures the synthess of adaptve acton accordng to avalable nformaton: U Ф( X, T, Z, R). U R Algorthm F solves the task of optmzaton. In ths regard the task of reachng the goals Z s reduced to a famous task of multcrtera optmzaton q ( X, T) extr, j,..., k, where a set S s defned by condton Restrcton h the perod from the moment j U R U S and restrctons h, g s n fact a requrement for a random tme of adaptaton ths falure s over, not more than allowed tme Restrcton g x when a falure occurs tll the moment A. t t x, that for when the protecton aganst of the nterrupton n operaton should be spent. conssts n the fulfllment of the frst requrement of restrcton h provded that the gven level of assurance the gven probablty of successful adaptaton of SFT to the system falure s kept. To solve ths task of multcrtera optmzaton, t s necessary to reveal the dependence of the object functon q j on the control U by a drect calculaton of the values of restrcton of the object functon. Fg. shows the adaptaton scheme where components q j and h, g Q H, G, that are requred to mplement adaptve control. h, g and, are the vectors wth III. Ideas of adaptve fault tolerance of nformaton systems The basc concept of adaptve fault tolerance s an actve use of natural tme and structure redundancy, as well as reassgnment of avalable computer power not only for operatonal processng of nformaton, but also for mplementaton of observablty of the system under the condtons of lmted control means. We shall further substtute the noton adaptve fault tolerance of real-tme nformaton systems wth a short noton actve protecton (AP) Actve protecton (AP) s ntended to reach the requred levels of fault tolerance of real-tme nformaton systems (IS) under lttle tme reserve, lmted effcency of means used to detect falures of computaton modules, as well as provded that the scope of redundant equpment does not exceed the scope of basc equpment. It also deals wth the assurance of the gven probablty level of successful IS adaptaton to faults and falures of the consttuent elements and programs wthout much ncrease n the number of provsoned means of control and dagnostcs. Actve protecton s based on the followng deas [6,7]:. The duraton of all cycles of the nformaton processng dvdes nto certan tme ntervals that shall be further called A3 beats or just beats. The beats are ntroduced to sample the contnuous tme of the nformaton processng. Moments of samplng serve to regster the fault-free CMs that are avalable at these moments n IS, as well as to te the operatons of IS observablty and controllablty to the A3 beats (vector X of measurable states s beng formed). Each АЗ beat ends wth 0
4 Shubnsky I.B., Rozenberg I.N., Papc L. formng a hold pont, that stores the results of CM operaton durng the prevous beat. Operatons of observablty and controllablty, n partcular the mechansms of hold pont, restart and etc. are n a strct complance wth the ndcated moments of samplng. Thus, the hold pont formed for a computaton process of any CM, s updated n the A3 beats n tme moments,, etc.; a restart s made for a depth not exceedng the tme A ; comparson of the results of the parallel operaton of two CMs s done ether n one, or n two beats and etc., but not more than n m of A3 beats. These processes n IS perform the functons of the nformaton transducer n SFT IT (see Fg.). A3 beats can have both constant duraton (for nstance, n IS wth a ppelne processng of nformaton), and random duraton, whch s specfc to concurrent IS wth dfferent archtecture. Average duraton of a beat corresponds to the tme spent to perform several hundreds of computaton modules.. The whole set of the consttuent computaton modules of an nformaton system s dvded nto two compound sets: computng envronment a set consstng of l m smlar CMs; protectve envronment a set consstng of k m smlar CMs (resource of SFT - R). If l + k = m, (where m s a maxmum number of the man CMs), then the IS s consdered to have no artfcal redundancy (there are no addtonal CMs). But wth such correlaton there s stll the possblty to use k < m of naturally redundant CMs, n favor of IS fault tolerance. If l + k > m, then the system has l + k m of addtonal CMs, and m l of naturally redundant CMs. At each moment of samplng to solve the tasks there may occur the necessty to use l m of the man CMs, as well as the avalablty of m l k of redundant CMs n IS. If at ths moment of tme only CMs are operable, t means that the protectve envronment has reached ts lmts, but there are enough avalable man CMs to solve the task of the nformaton processng. Therefore, the regstraton of fault-free CMs of the man and protectve envronments at each moment of samplng s requred to defne the possblty to proceed wth solvng the processng tasks durng an A3 beat wth a suffcent amount of operable CMs. It s also necessary for a sustanable assurance of IS fault tolerance durng the next beat wth the help of redundant operable CMs f there are such modules at the moment. t t t 3. Dynamc rearrangement of IS s carred out n the A3 beats for the organzaton of a beat-by-beat parallel operaton of the requred number of the man CMs and avalable fault-free redundant modules. Ths wll ensure the mplementaton of external control of CM operatng capablty. Thus, f at the moment t a restrant m l k l s fulflled, then t s possble to form l of CM pars and, therefore, to mplement the control of faults and falures of all man CMs. If at ths moment there s only one redundant fault-free CM, then, as expected, t swtches to the next man CM, and durng the next A3 beat one par of CM operates n parallel, and the rest CMs are not controlled durng one A3 beat. Then n the next beat, wth the help of the ths partcular fault-free redundant CM another par of CM s formed and etc. As the result, for the number of beats equal or less than l t s possble to detect an event of falure n any CM from the cope of that remaned n the system arrangement. These processes n IS solve the tasks of adaptve control AC. 4. Vrtual redundancy of all l of the man CMs wth the avalablty of at least one fault-free redundant CM s acheved owng to the fact that durng a very short perod of tme that does not esceed l of beats, each of the man CMs operates n parallel wth a smlar CM. Therefore, n these short tme spaces those pars of modules operate n whch all man CMs partcpate. Wth k of fault-free redundant CMs there s k whch s a multple vrtual redundancy of all man CMs, as each man CM commutates wth any redundant module. 5. All stages of IS observablty (detecton of an event of falure, localzaton, classfcaton and locaton) are performed on real tasks wth no applcaton of detectng devces durng the processng of nformaton. Therefore, for the estmaton of IS fault tolerance t does not matter that l t l l
5 Shubnsky I.B., Rozenberg I.N., Papc L. under a parallel operaton of the par of CMs no faulty element of the module was detected, that was not used when solvng ths task. It should be noted that the hgher s the ntensty of applcatons comng to IS for handlng (.e. the hgher the system s loaded), the more often IS s observed n the A3 beats. And conversely, the lower the system s loaded,.e. the more pauses are there between the tasks, the less often IS s observed n the A3 beats. In long pauses between the tasks t s reasonable to use tradtonal means of control and dagnostcs. 6. For the classfcaton of falures, and for ther locaton on the CM level, the system should have not less than m = man and one redundant CM. Wth the smple actve protecton the addtonal CM opeates n parallel wth the frst man CM, and durng the next beat (or n a beat) wth the second man CM. If the results of operaton of the par of CMs do not concde, a double count s made durng the prevous beat, and t helps to elmnate error or dentfy a falure of one from the par of CMs n case of repeated nonconcdence of the results. The faled CM s dentfed durng a current beat upon the results of operaton of the addtonal CM wth the second man one. If the results do concde, a decson s made n relaton to the falure of the frst man CM, If the results do not concde, a decson s made n relaton to the falure of the addtonal CM. 7. Capabltes of actve protecton consderably depend on the choce of average duraton of the beat τ of actve protecton. Value τ should be selected so that durng the tme allowed for falure (fault, error) detecton, defned by the duraton of the processng cycle t the faled CM wth the gven level of assurance s localzed and reswtched to an addtonal fault-free CM. Tme L s requred for the recovery of a computaton process from the last hold pont wth a respectve mplementaton of actve protecton. When determnng the value τ t s necessary to consder the tmes of solvng the tasks and the pauses between them, laws of dstrbuton of these tme perods, and the duraton of a beat of actve protecton, number m of the man CMs, ways of mplementaton of actve protecton, number of redundant CMs. Д Д У VI. Example of automatc detecton and elmnaton of falures of the system modules In certan A3 beats CMs are redstrbuted between the computng and protectve envronments. Certan modules of the protectve envronment for an A3 beat hold the functons of the man modules, and vce versa. Under the reassgnment all modules partcpate n par operaton, and as the result the A3 cycle s gettng shorter. Let us llustrate ths stuaton on the followng example. Let = m = 4, k=l. The man CMs are enumerated from to 4, the ntal redundant CM s 5. Let us assume that n the frst beat there was no reassgnment of modules, and module 5 performed the control of the man module (par 5 ). In the second beat the modules have already been reassgned. And moudule 5 performd the functons of the man module, ehch now performd the control of the man module 3 (par 3 n Table). As the reuslt of ths operaton, for two A3 beats t s possble to control the operaton of four CMs out of fve (,, 3 and 5). Under the CM reassgnment for fve A3 beats all modules are controlled twce. The effcency of CM reassgnment grows wth ncrease of m of ntal man modules. Thus, wth m = 6 and k = t s possble to control all 8 modules durng two A3 beats. System wth 8 reassgnable CMs s organzed as follows. The cycle of sngle check of modules contans. А = beats. In the frst beat module 7 of the protectve envronment performs the functons of the man module, whch performs the control of the man module (par ). Besdes, n ths partcular beat module 8 of the protectve envronment performs the control of the man module 5 (par 8 5). In the second beat module 8 performs the functons of the man module 4, formng the pars 4 3 and 7 6. Other varants of the organzaton of the system wth 8 reassgnable CMs are
6 Shubnsky I.B., Rozenberg I.N., Papc L. also possble, but ths varant has an mportant beneft only modules 7 and 8 4 are reassgned, t sgnfcantly smplfes necessary means of commutaton and control n the system. Table No. of beat Numbers of man CMs No. of controllng CM Pars of CMs under control Reassgned CMs In general, wth the avalablty of fault-free m of the man CMs and k of the redundant modules t s possble to defne the number of beats A n the cycle A3, meanng they underwent a sngle check, based on the consdered logc of CM par assgnment А = nt[(m + k)/k] Here operaton nt s the operaton of roundng of the result up to the nearest whole number. For example f m = 5, k =, then А= nt(,75) =. The same values of А shall hold wth m = 6, k =. That s why under the organzaton of A3, havng a known value k of redundant CMs, t s reasonable to protect such amount m of the man modules, so that the followng relatons are true. nt (m/k) = m/k and nt[(m + k)/k] = (m + k)/k. Based on the CM reassgnment t s possble to organze ther prorty control. If under the reassgnment of the modules t was necessary to equalze the frequency of controls of the man and redundant CMs, then under the prorty control we solve the task to ncrease the frequency of controls of the ndcated modules. Let us llustrate the possbltes of the constructon of systems wth one module ndcated as a prorty one. It s assumed that all modules except the ndcated one are controlled wth one and the same frequency, and the ndcated CM s controlled wth a hgher frequency. Let us assume that the system contans m = 4 man (numbers from to 4) and one (number 5) redundant CM. Module s ndcated as a prorty one (Table ). It s requred to assure the frequency of controls of module to be twce hgher n comparson to the other four CMs. The soluton of ths task s descrbed n Table. The cycle A3 s realzed for three beats, and module s controlled twce durng the cycle, and modules, 3, 4, 5 are controlled just once. 3
7 Shubnsky I.B., Rozenberg I.N., Papc L. Table No. of beat No. of cycle Numbers of man CMs No. of controllng CM Pars of CMs under control Reassgned CMs The reducton of tme ntervals between controls of some CMs s possble by ncreasng the tme between controls of non-prorty CMs. It s necessary to keep a ratonal compromse when solvng such tasks of actve protecton. V. Concluson Lmted capabltes of redundancy, means of concurrent detecton of falures, faults, errors durng the mplementaton of nformaton processes, lmted capabltes of the set hardware software these all calls for the necessty to develop non-typcal technologes to assure relablty of nformaton systems. One of them s the proposed technology of adaptve fault tolerance. Ths technology conssts n the actve use of natural tme and structure redundancy, as well as n the actve (and automatc) reassgnment of avalable computer power not only for operatonal processng of nformaton, but also for mplementaton of observablty of the system under the condtons of control means. The technology of adaptve fault tolerance n nformaton systems, when solvng real tasks n lmted tme condtons provdes for a tmely automatc detecton and handlng of falures and gltches by means of operatonal localzaton of faulty computaton modules and by subsequent automatc rearrangement of the system wth a removal of faulty modules from the process of functonng. References [] Shubnsky, I. B. Functonal relablty of nformaton systems. Methods of synthess [Text] / I. B. Shubnsky. М. : Journal dependablty, p. [] Shubnsky, I. B. Structural relablty of nformaton systems. Methods of analyss[text] / I. B. Shubnsky. М. : Journal dependablty, 0. 6 p. [3] Avzens, A. Dependablty of computer systems [Text] / A.Avzens, J-C Lapre, B. Randell / Fundamental concepts, termnology and examples. Techncal report, LAAS CNRS, October, 000. [4] Zyl, S. Standard devces QNX Neutrno to provde fal-safety of msson-crtcal computer systems [Electronc resource] / S. Zyl. СТА. 009(3). 8 p. Access mode: [5] Fogeln, D. Implementaton of hgh avalablty n embedded systems [Electronc resource] / D. Fogeln, K. Kvng. Access mode: [6] Shubnsky, I. B. Actve protecton aganst the falures of mcroprocessng computer systems [Text] / I. B. Shubnsky. М. : Znane, p. [7] Shubnsky, I. B. Relable fal-safe nformaton systems. Methods of synthess [Text] / I. B. Shubnsky. М. : Journal dependablty, p. 4
8 Shubnsky I.B., Rozenberg I.N., Papc L. About the author Shubnsky Igor Borsovch Dr.Sc., Professor, member of several academes of scences, Expert of Research Board under RF Securty Councl, edtor-n-chef of scentfc and research journal Dependablty, deputy edtor-n-chef of journal Relablty: Theory and Applcatons (USA), drector general of JSC Informaton safety on transport IBTrans (Russa, Moscow). Contacts: 9333, Russa, Moscow, Vavlova Str ; Tel. +7(499) ; tel/fax +7(495) ; moble +7(985) e-mal: gor-shubnsky@yandex.ru 5
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