Björn B. Brandenburg

Faculty (tenure track)

Real-Time Systems Group

bbb -at- mpi-sws.org

See also: my profile on Google Scholar and my profile on DBLP.

- M. Yang, A. Wieder, and B. Brandenburg, “Global Real-Time Semaphore Protocols: A Survey, Unified Analysis, and Comparison”, manuscript, May 2015.

[PDF | PDF (extended version) | ZIP (complete data set)] - A. Gujarati and B. Brandenburg, “When is CAN the Weakest Link? A Bound on Failures-In-Time in CAN-Based Real-Time Systems”, manuscript, May 2015.

[PDF] - P. Bhatotia, P. Fonseca, U. Acar, B. Brandenburg, and R. Rodrigues, “iThreads: A Threading Library for Parallel Incremental Computation”, Proceedings of the 20th International Conference on Architectural Support for Programming Languages and Operating Systems (ASPLOS 2015), pp. 645-659, March 2015. [PDF (via ACM Authorizer) | ACM]
- F. Cerqueira, A. Gujarati, and B. Brandenburg, “Linux’s Processor Affinity API, Refined: Shifting Real-Time Tasks towards Higher Schedulability”, Proceedings of the 35th IEEE Real-Time Systems Symposium (RTSS 2014), pp. 249-259, December 2014.

[PDF | slides] - A. Wieder and B. Brandenburg, “On the Complexity of Worst-Case Blocking Analysis of Nested Critical Sections”, Proceedings of the 35th IEEE Real-Time Systems Symposium (RTSS 2014), pp. 106-117, December 2014.

[PDF | slides] - B. Brandenburg, “A Synchronous IPC Protocol for Predictable Access to Shared Resources in Mixed-Criticality Systems”, Proceedings of the 35th IEEE Real-Time Systems Symposium (RTSS 2014), pp. 196-206, December 2014.

[PDF | slides] - R. Spliet, M. Vanga, B. Brandenburg, and S. Dziadek, “Fast on Average, Predictable in the Worst Case: Exploring Real-Time Futexes in LITMUS
^{RT}”, Proceedings of the 35th IEEE Real-Time Systems Symposium (RTSS 2014), pp. 96-105, December 2014.

[PDF | slides] - P. Fonseca, R. Rodrigues, and B. Brandenburg,
“SKI: Exposing Kernel Concurrency Bugs through Systematic Schedule Exploration”, Proceedings of the 11th USENIX Symposium on Operating Systems Design and Implementation (OSDI'14), pp. 415-431, October 2014.

[PDF | slides | video] - B. Brandenburg, “Blocking Optimality in Distributed Real-Time Locking Protocols”, Leibniz Transactions on Embedded Systems (LITES), Volume 1, Issue 2, pp. 1-22. Leibniz-Zentrum für Informatik, September 2014.

[Freely available at LITES]

- B. Brandenburg, “Scheduling and Locking in Multiprocessor Real-Time Operating Systems”, under the supervision of James H. Anderson, The University of North Carolina at Chapel Hill, 2011.

[PDF | companion page]

**UNC Dean's Distinguished Dissertation Award 2012**

in the area of Mathematics, Physical Sciences and Engineering

[UNC CS news story]**CGS/ProQuest Distinguished Dissertation Award 2012**

in the area of Mathematics, Physical Sciences and Engineering

[CGS/ProQuest press release | UNC press release]**EDAA Outstanding Dissertations Award 2012**

in the category “New directions in embedded system design and embedded software”

[EDAA press release]

- A. Gujarati, F. Cerqueira, and B. Brandenburg, “Multiprocessor Real-Time Scheduling with Arbitrary Processor Affinities: From Practice to Theory”, Real-Time Systems, Volume 51, Issue 4, pp. 440-483. Springer Verlag, 2015.

**Note**: we are in the process of preparing an erratum concerning Section 4. In the meantime, please refer to the revised conference version or contact me for details.

[PDF | SpringerLink] - B. Brandenburg, “An Asymptotically Optimal Real-Time Locking Protocol for Clustered Scheduling under Suspension-Aware Analysis”,
ACM SIGBED Review, Special Issue on the Work-in-Progress (WiP) session of the 33rd IEEE Real-Time Systems Symposium (RTSS'12), Volume 10, Issue 2, p. 19. ACM, July 2013.

[PDF | slides | ACM] - B. Brandenburg and J. Anderson, “The OMLP Family of Optimal Multiprocessor Real-Time Locking Protocols”,
Design Automation for Embedded Systems, special issue on selected papers from the 9th International Conference on Embedded Software (EMSOFT'11), Volume 17, Issue 2, pp. 277-342. Springer, June 2013.

[PDF | SpringerLink] - B. Brandenburg, H. Leontyev, and J. Anderson, “An Overview of Interrupt Accounting Techniques for Multiprocessor Real-Time Systems”, Journal of Systems Architecture, special issue on selected papers from the 15th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2009), Volume 57, Issue 6, pp. 638-654. Elsevier, June 2011.

[PDF | ScienceDirect] - B. Brandenburg and J. Anderson, “Spin-Based Reader-Writer Synchronization for Multiprocessor Real-Time Systems”, Real-Time Systems, special issue on selected papers from the 21st Euromicro Conference on Real-Time Systems, Volume 46, Issue 1, pp. 25-87. Springer Netherlands, September 2010.

[PDF | SpringerLink]

- B. Brandenburg, “The FMLP
^{+}: An Asymptotically Optimal Real-Time Locking Protocol for Suspension-Aware Analysis”, Proceedings of the 26th Euromicro Conference on Real-Time Systems (ECRTS 2014), pp. 61-71, July 2014.

[PDF | PDF (extended version) | ZIP (all graphs) | slides] - F. Cerqueira, M. Vanga, and B. Brandenburg, “Scaling Global Scheduling with Message Passing”, Proceedings of the 20th IEEE Real-Time and Embedded
Technology and Applications Symposium (RTAS 2014), pp. 263-274, April 2014.

The extended version contains all overhead measurements and the complete set of schedulability results.

[PDF | PDF (extended version) | slides] - S. Baruah and B. Brandenburg, “Multiprocessor feasibility analysis of recurrent task systems with specified processor affinities”, Proceedings of the 34th IEEE Real-Time Systems Symposium, pp. 160-169, December 2013.

[PDF | slides] - A. Wieder and B. Brandenburg, “On Spin Locks in AUTOSAR: Blocking Analysis of FIFO, Unordered, and Priority-Ordered Spin Locks”,
Proceedings of the 34th IEEE Real-Time Systems Symposium, pp. 45-56, December 2013.

The extended version contains the analysis of all lock types, analysis refinements, and all graphs (300+ pages, ~30 MB).

[PDF | PDF (extended version) | slides] - A. Gujarati, F. Cerqueira, and B. Brandenburg, “Schedulability Analysis of the Linux Push and Pull Scheduler with Arbitrary Processor Affinities”,
Proceedings of the 25th Euromicro Conference on Real-Time Systems (ECRTS 2013), pp. 69-79, July 2013.
**Outstanding Paper Award**.

**Erratum**: the paper has been revised to account for issues in Lemmas 2 and 4 in Section IV of the original ECRTS 2013 paper. A detailed erratum is provided in Appendix A of the revised paper.

[PDF (revision 1)] - B. Brandenburg, “A Fully Preemptive Multiprocessor Semaphore Protocol for Latency-Sensitive Real-Time Applications”,
Proceedings of the 25th Euromicro Conference on Real-Time Systems (ECRTS 2013), pp. 292-302, July 2013.

[PDF | PDF (extended version) | slides] - F. Cerqueira and B. Brandenburg, “A Comparison of Scheduling Latency in Linux, PREEMPT-RT, and LITMUS
^{RT}”, Proceedings of the 9th Annual Workshop on Operating Systems Platforms for Embedded Real-Time applications (OSPERT 2013), pp. 19-29, July 2013. Invited paper.

The slides include additional graphs comparing Linux 3.8.13 with and without the "threadirqs" option enabled.

[PDF | slides | proceedings] - A. Wieder and B. Brandenburg, “Efficient Partitioning of Sporadic Real-Time Tasks with Shared Resources and Spin Locks”,
Proceedings of the 8th IEEE International Symposium on
Industrial Embedded Systems (SIES 2013), pp. 49-58, June 2013.
**Best Paper Award**.

[PDF | IEEE | slides] - B. Brandenburg, “Improved Analysis and Evaluation of Real-Time Semaphore Protocols for P-FP Scheduling”,
Proceedings of the 19th IEEE Real-Time and Embedded
Technology and Applications Symposium (RTAS 2013), pp. 141-152. IEEE, April 2013.

[PDF | PDF (extended version) | IEEE | ACM | slides] - C. Kenna, J. Herman, B. Brandenburg, A. Mills, and J. Anderson, “Soft Real-Time on Multiprocessors: Are Analysis-Based Schedulers Really Worth It?”, Proceedings of the 32nd IEEE Real-Time Systems Symposium (RTSS 2011), pp. 93-103. IEEE, December 2011.

[PDF | IEEE] - B. Brandenburg and J. Anderson, “Real-Time Resource-Sharing under Clustered Scheduling: Mutex, Reader-Writer, and k-Exclusion Locks”, Proceedings of the 9th International Conference on Embedded Software (EMSOFT 2011), pp. 69-78. ACM, October 2011.
**Best Paper award**.

The conference version discusses two sample graphs; the appendix includes all graphs.

[PDF | PDF (with appendix) | IEEE | ACM] - A. Bastoni, B. Brandenburg, and J. Anderson, “Is Semi-Partitioned Scheduling Practical?”, Proceedings of the 23rd Euromicro Conference on Real-Time Systems (ECRTS 2011), pp. 125-135. IEEE, July 2011. The full version contains all graphs (over 2000 of them).

[PDF | PDF (full version) | IEEE | ACM] - B. Brandenburg and J. Anderson, “Optimality Results for Multiprocessor Real-Time Locking”, Proceedings of the 31st IEEE Real-Time Systems Symposium (RTSS 2010), pp. 49-60. IEEE, December 2010.
**Best Student Paper award**.

[PDF | IEEE | ACM] - A. Bastoni, B. Brandenburg, and J. Anderson, “An Empirical Comparison of Global, Partitioned, and Clustered Multiprocessor EDF Schedulers”, Proceedings of the 31st IEEE Real-Time Systems Symposium (RTSS 2010), pp. 14-24. IEEE, December 2010.

[PDF | IEEE | ACM] - A. Bastoni, B. Brandenburg, and J. Anderson, “Cache-Related Preemption and Migration Delays: Empirical Approximation and Impact on Schedulability”, Proceedings of the Sixth International Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT 2010), pp. 33-44, July 2010.

[PDF | Proceedings] - B. Brandenburg and J. Anderson, “On the Implementation of Global Real-Time Schedulers”, Proceedings of the 30th IEEE Real-Time Systems Symposium (RTSS 2009), pp. 214-224. IEEE, December 2009.

Note: The extended version of the paper contains all data and graphs.

[PDF | PDF (extended) | IEEE | ACM] - B. Brandenburg, H. Leontyev, and J. Anderson, “Accounting for Interrupts in Multiprocessor Real-Time Systems”, Proceedings of the 15th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2009), pp. 273-283. IEEE, August 2009.

[PDF | IEEE | ACM] - B. Brandenburg and J. Anderson, “Reader-Writer Synchronization for Shared-Memory Multiprocessor Real-Time Systems”, Proceedings of the 21st Euromicro Conference on Real-Time Systems (ECRTS 2009), pp. 184-193. IEEE, July 2009.

Note: The extended version of the paper contains the blocking term analysis and a 32-bit phase-fair reader-writer lock implementation.

[PDF | PDF (extended) | IEEE | ACM] - M. Mollison, B. Brandenburg, and J. Anderson, “Towards Unit Testing Real-Time Schedulers in LITMUS
^{RT}”, Proceedings of the Fifth International Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT 2009), pp. 33-39. Politécnico do Porto, July 2009.

[PDF | Proceedings] - J. Anderson, S. Baruah, and B. Brandenburg, “Multicore Operating-System Support for Mixed Criticality”, Proceedings of the Workshop on Mixed Criticality: Roadmap to Evolving UAV Certification (part of CPS Week 2009). April 2009.

[PDF | Program] - B. Brandenburg and J. Anderson, “A Comparison of the M-PCP, D-PCP, and FMLP on LITMUS
^{RT}”, Proceedings of the 12th International Conference On Principles Of Distributed Systems (OPODIS 2008), Lecture Notes in Computer Science 5401, pp. 105-124. Springer-Verlag, December 2008.

[PDF | SpringerLink | ACM] - B. Brandenburg, J. Calandrino, and J. Anderson, “On the Scalability of Real-Time Scheduling Algorithms on Multicore Platforms: A Case Study”, Proceedings of the 29th IEEE Real-Time Systems Symposium (RTSS 2008), pp. 157-169. IEEE, December 2008.

[PDF | IEEE | ACM] - B. Brandenburg and J. Anderson, “An Implementation of the PCP, SRP, D-PCP, M-PCP, and FMLP Real-Time Synchronization Protocols in LITMUS
^{RT}”, Proceedings of the 14th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2008), pp. 185-194. IEEE, August 2008. Note: The extended version of the paper contains the blocking term analysis of the FMLP under partitioned static-priority scheduling.

[PDF | PDF (extended) | IEEE | ACM] - A. Block, B. Brandenburg, J. Anderson, and S. Quint, “An Adaptive Framework for Multiprocessor Real-Time Systems”, Proceedings of the 20th Euromicro Conference on Real-Time Systems (ECRTS 2008), pp. 23-33. IEEE, July 2008.

[PDF | IEEE | ACM] - B. Brandenburg, J. Calandrino, A. Block, H. Leontyev, and J. Anderson, “Real-Time Synchronization on Multiprocessors: To Block or Not to Block, to Suspend or Spin?”, Proceedings of the 14th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2008), pp. 342-353. IEEE, April 2008.

[PDF | IEEE | ACM] - A. Block, H. Leontyev, B. Brandenburg, and J. Anderson, “A Flexible Real-Time Locking Protocol for Multiprocessors”, Proceedings of the 13th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2007), pp. 47-57. IEEE, August 2007.

[PDF | IEEE | ACM] - B. Brandenburg and J. Anderson, “Feather-Trace: A Light-Weight Event Tracing Toolkit”, Proceedings of the Third International Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT 2007), pp. 19-28. National ICT Australia, July 2007.

[PDF | Proceedings] - B. Brandenburg and J. Anderson, “Integrating Hard/Soft Real-Time Tasks and Best-Effort Jobs on Multiprocessors”, Proceedings of the 19th Euromicro Conference on Real-Time Systems (ECRTS 2007), pp. 61-70. IEEE, July 2007.

[PDF | IEEE | ACM]

- B. Brandenburg and Robert Kaiser (Eds.),
Proceedings of the 11th Annual Workshop on
Operating Systems Platforms for Embedded Real-Time Applications (OSPERT 2015), Lund, Sweden, July 7, 2015.

[PDF] - B. Brandenburg and Shinpei Kato (Eds.),
Proceedings of the 10th Annual Workshop on
Operating Systems Platforms for Embedded Real-Time Applications (OSPERT 2014), Madrid, Spain, July 8, 2014.

[PDF] - B. Brandenburg (Ed.),
Proceedings of the Work-in-Progress Session of the 20th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2014), Berlin, Germany, April 15, 2014.

[PDF]

- B. Brandenburg, “Augmenting Criticality-Monotonic Scheduling with Dynamic Processor Affinities
”,
extended abstract, presented at Dagstuhl seminar 15121, March 2015.

[PDF] -
B. Brandenburg and J. Anderson, “A Clarification of Link-Based Global Scheduling”, technical report, MPI-SWS-2014-007, November 2014.

[PDF] - M. Vanga, F. Cerqueira, B. Brandenburg,
A. Lyons, and G. Heiser,
“FlaRe: Efficient Capability Semantics for Timely Processor Access”,
manuscript, October 2013.

[PDF] - B. Brandenburg, “A Note on Blocking Optimality in Distributed Real-Time Locking Protocols”,
manuscript, April 2013.

Note: this manuscript has been superseded by the LITES'14 journal paper Blocking Optimality in Distributed Real-Time Locking Protocols.

[PDF] - B. Brandenburg and A. Bastoni, “The Case for Migratory Priority Inheritance in Linux: Bounded Priority Inversions on Multiprocessors”, Proceedings of the 14th Real-Time Linux Workshop (RTLWS 2012), pp. 67-86. Real-Time Linux Foundation, October 2012.

[PDF | slides | prototype] - B. Brandenburg, “Virtually Exclusive Resources”, technical report, MPI-SWS-2012-005, May 2012.

[PDF] - B. Brandenburg and J. Anderson, “Joint Opportunities for Real-Time Linux and Real-Time Systems Research”, Proceedings of the 11th Real-Time Linux Workshop (RTLWS 2009), pp. 19-30. Real-Time Linux Foundation, September 2009.

[PDF | Proceedings] - B. Brandenburg, A. Block, J. Calandrino, U. Devi, H. Leontyev, and J. Anderson, “LITMUS
^{RT}: A Status Report”, Proceedings of the 9th Real-Time Linux Workshop (RTLWS 2007), pp. 107-123. Real-Time Linux Foundation, November 2007.

[PDF | Program]