A library of Petri nets has been developed for carrying out the tests

 A library of Petri nets has been developed for carrying out the tests. The library is based on eight base
models which can be scaled using a parameter. Some of these models are Petri nets which are well known
and frequently used in literature. The library comprises the following nets:
• SEQ. Petri nets of one sequential process with ne (1..100) states (Fig. 1.a).
• PAR. Petri nets of p (1..100) sequential processes of 2 places (Fig. 1.b).
• PR1. Petri nets of p (1..40) sequential processes of 2 states and a common resource (Fig. 1.c). These
belong to s3pr net class [15].
• DB. Petri nets of b (5..11) databases (Fig. 1.d). [16].
• P1R. Petri nets of 1 sequential process and r (1..40) resources (Fig. 1.e). These belong to s3pr net class
[15].
• PH. Petri nets of the philosophers' problem[17] (Fig. 1.f) with f (5..40) philosophers.
• SQUARE. Petri nets of r (1..40) sequential processes of r+1 states and r common resources (Fig. 1.g,
defined by the authors).
• PR5. Petri nets of p (5..62) sequential processes of 6 states and 5 common resources (not showed in
figure). These belong to s3pr net class [15].
Net
#P
#T
fp
SEQ
ne
ne
1
1
1
1
1
PAR
2*p
2*p
1
1
1
p
p
PR1
1+2*p
2*p
1.5
1.5
1
3p
1+ 2p
1
DB
1+3*b2
2*b2
6b − 3
2b
6b − 3
2b
7b − 3
4b
≤b-1
b-1
P1R
r+1
r+1
1 + 2r
1+ r
1
1
1
PH
7*f
5*f
1.6
1 + 2r
1+ r
1.6
1.14
f
SQ.
2r+r2
r+r2
f
2
r
2
2.5
3
r + 2r 2
r+r
PR5
5+6*p
6*p
fs
1.83
2
fd
av
conc
2
r + 2 r 2 r + 2r
r+r
1.83
2
2r + r
11 p
5 + 6p
2
Max
conc
⎡r ⎤
⎢2⎥
⎢ ⎥
Table 1 Characterization of the Petri nets composing the net library. fp (Parallelism Factor) = average number of descending
places of a transition. fs (Synchronization Factor) = average number of input places of a transition. fd (Descendants Factor) =
average number of output transitions of a place. Av. conc. = average concurrence. Max conc. = maximum concurrence.
Each test consists of the execution of a Petri net with one of the implemented algorithms. The test
concludes when 2000 transitions have fired, obtaining the coordinator task total computation time. Each
net is also executed with the other implemented algorithms. We have implemented the centralized
implementation techniques of PN in the Java language using the Java Real-time extension [11] and
following some ideas presented in [12] [13].
The real time extension provides Java with the necessary aspects for the programming of real-time
systems, e.g., pre-emptive planning based on static priorities, asynchronous transfer of control, real-time
high resolution clocks, and the possibility of execution over the Java garbage collector. In our
implementations, we used the Real Time Java Virtual Machine JamaicaVM v2.7 [14]. The target
hardware was a personal computer with Pentium IV processor at 1.7GHz, running Red Hat Linux 2.4.
b)
SEQ
a)
e)
d)
PAR
P1_1
P1R
DB
P1_1
T1_1
T1_1
....
....
....
c) PR1
T1_2
....
T1_2
....
T1_ne-1
P1_ne
T1_r
T1_ne
P1_r+1
T1_r+1
f)
PH
Idle_0
Idle_1
Idle_f-1
g)
Tr0_0
Tr0_1
Wright_0
Wleft_0
T0
Tr0_f-1
Wright_1
Wleft_1
T1
SQUARE
T2
Wleft_f
Tf-1
Wright_f
P1_1
P2_1
P3_1
Pr_1
T1_1
T2_1
T3_1
Tr_1
T2_2
T3_2
Tr_2
T0
R_1
Tr2_f
Tr3_0
Tr3_1
Eat_0
Tr3_f
Activación
periódica
Eat_1
Tr4_0
R_2
Tright_f
Tr4_1
....
Tleft_f
T1_2
....
Tright_1
Tr2_f
....
Tleft_1
....
Tright_0
Tr1_f
Tr2_1
....
Tleft_0
Tr1_1
Tr2_0
....
Tr1_0
Tr1_0
R_r-1
T1_r
Eat_f
P1_r+1
Tr4_f
T1_r+1
R_r
T2_r
T3_r
Tr_r
P2_r+1
P3_r+1
Pr_r+1
T2_r+1
T3_r+1
Tr_r+1
Fig. 1 Perti nets Library Execution Time Controller
TET=f(ETLsize,AETLsize)
TSRP=f(MRPLsize, MRPLNsize…)
Error=TET-TSRP
Integral=integral+error
…..
If integral>integralmax then
Algoritmexecuted=StaticReprplaces
changealgorithm
MRPLsize
MRPLNsize
MSPLNsize
ETLsize
AETLsize
Brute Force
Algorithms
Immediate transit
Deferred transit
Actions
Enabled Transitions
Events
Static Representing
Places
Jamaica Real Time Java Virtual Machine
Fig. 2 Execution Time Controller • PAR. Petri Nets with p (1..100) sequential processes with 2 places
b)
PAR
Fig. 3 Par nets 8
11
x 10
PAR nets. ET Real Execution and time computing estimation
10
9
time ns 2000 firings
8
7
6
5
4
3
ET execution
ET estimation
2
1
0
0
10
20
30
40
50
60
parameter p
70
80
90
100
Fig. 4 16
8
x 10 PAR nets. SRP Real Execution and time computing estimation
14
time ns 2000 firings
12
10
8
6
4
SRP execution
SRP estimation
2
0
0
10
20
30
40
50
60
parameter p
70
80
90
100
8
16
x 10
PAR nets. Real Execution and time computing estimation
14
time ns 2000 firings
12
10
8
6
SRP execution
SRP estimation
ET execution
ET estimation
4
2
0
0
10
20
30
40
50
60
parameter p
70
80
90
100
8
11
PAR nets. ET Overload for SRP estimation
x 10
10
9
time ns 2000 firings
8
7
6
5
4
3
2
ET execution
ET execution with SRP estimation
1
0
0
10
20
30
40
50
60
parameter p
70
80
90
100
8
18
PAR nets. SRP Overload for ET estimation
x 10
16
time ns 2000 firings
14
12
10
8
6
4
SRP execution
SRP execution with ET estimation
2
0
0
10
20
30
40
50
60
parameter p
70
80
90
100
g)
SQUARE
P1_1
P2_1
P3_1
Pr_1
T1_1
T2_1
T3_1
Tr_1
T2_2
T3_2
Tr_2
R_1
1_0
....
....
....
....
R_2
....
T1_2
R_r-1
T1_r
P1_r+1
R_r
T1_r+1
3
T2_r
T3_r
Tr_r
P2_r+1
P3_r+1
Pr_r+1
T2_r+1
T3_r+1
Tr_r+1
9
x 10 SQUARE nets. ET Real Execution and time computing estimation
time ns 2000 firings
2.5
2
1.5
1
0.5
ET execution
ET estimation
0
5
6
7
8
9
10
11
parameter p
12
13
14
15
18
8
x 10 SQUARE nets. SRP Real Execution and time computing estimation
16
time ns 2000 firings
14
12
10
8
6
4
SRP execution
SRP estimation
2
0
5
6
7
8
9
10
11
parameter p
12
13
14
15
9
3
x 10
SQUARE nets. Real Execution and time computing estimation
time ns 2000 firings
2.5
2
1.5
1
SRP execution
SRP estimation
ET execution
ET estimation
0.5
0
5
6
7
8
9
10
11
parameter p
12
13
14
15
9
3
SQUARE nets. ET Overload for SRP estimation
x 10
time ns 2000 firings
2.5
2
1.5
1
0.5
0
ET execution
ET execution with SRP estimation
5
6
7
8
9
10
11
parameter p
12
13
14
15
8
18
SQUARE nets. SRP Overload for ET estimation
x 10
16
time ns 2000 firings
14
12
10
8
6
4
SRP execution
SRP execution with ET estimation
2
0
5
6
7
8
9
10
11
parameter p
12
13
14
15
8
18
SQUARE nets. SRP Overload for ET estimation
x 10
16
time ns 2000 firings
14
12
10
8
6
4
SRP execution
SRP execution with ET estimation
2
0
5
6
7
8
9
10
11
parameter p
12
13
14
15
SEQ
a)
P1_1
T1_1
....
T1_2
T1_ne-1
P1_ne
T1_ne
8
5.5
x 10
SEQ nets. SRP Real Execution and time computing estimation
5
4.5
time ns 2000 firings
4
3.5
SRP execution
SRP estimation
3
2.5
2
1.5
1
0.5
0
0
10
20
30
40
50
60
parameter ne
70
80
90
100
8
7
SEQ nets. Real Execution and time computing estimation
x 10
6
time ns 2000 firings
5
4
3
2
SRP execution
SRP estimation
1
0
ET execution
ET estimation
0
10
20
30
40
50
60
parameter ne
70
80
90
100
8
SEQ nets. ET Overload for SRP estimation
x 10
6
time ns 2000 firings
5
4
3
2
ET execution
ET execution with SRP estimation
1
0
0
10
20
30
40
50
60
parameter ne
70
80
90
100
8
SEQ nets. SRP Overload for ET estimation
x 10
4.5
4
time ns 2000 firings
3.5
3
2.5
2
1.5
SRP execution
1
SRP execution with ET estimation
0.5
0
0
10
20
30
40
50
60
parameter ne
70
80
90
100
P1R
P1_1
T1_1
....
T1_2
T1_r
P1_r+1
T1_r+1
8
9
x 10
P1R nets. ET Real Execution and time computing estimation
8
7
time ns 2000 firings
e)
6
5
4
3
2
ET execution
ET estimation
1
0
0
5
10
15
20
parameter r
25
30
35
40
18
8
x 10 P1R nets. SRP Real Execution and time computing estimation
16
time ns 2000 firings
14
12
10
8
6
SRP execution
SRP estimation
4
2
0
0
5
10
15
20
parameter r
25
30
35
40
9
1.8
x 10
P1R nets. Real Execution and time computing estimation
SRP execution
SRP estimation
ET execution
ET estimation
1.6
time ns 2000 firings
1.4
1.2
1
0.8
0.6
0.4
0
5
10
15
20
parameter r
25
30
35
40
8
9
P1R nets. ET Overload for SRP estimation
x 10
8
time ns 2000 firings
7
ET execution
ET execution with SRP estimation
6
5
4
3
2
1
0
0
5
10
15
20
parameter r
25
30
35
40
8
12
P1R nets. SRP Overload for ET estimation
x 10
time ns 2000 firings
10
8
6
4
2
0
SRP execution
SRP execution with ET estimation
0
5
10
15
20
parameter r
25
30
35
40
c) PR1
9
9
x 10
PR1 nets. Real Execution and time computing estimation
SRP execution
8
SRP estimation
ET execution
time ns 2000 firings
7
ET estimation
6
5
4
3
2
1
0
0
5
10
15
20
parameter p
25
30
35
40
9
9
PR1 nets. ET Overload for SRP estimation
x 10
ET execution
ET execution with SRP estimation
8
time ns 2000 firings
7
6
5
4
3
2
1
0
0
5
10
15
20
parameter p
25
30
35
40
9
2
PR1 nets. SRP Overload for ET estimation
x 10
1.8
1.6
time ns 2000 firings
1.4
1.2
1
0.8
0.6
0.4
SRP execution
SRP execution with ET estimation
0.2
0
0
5
10
15
20
parameter p
25
30
35
40
g)
P1_1
P2_1
P3_1
Pr_1
T1_1
T2_1
T3_1
Tr_1
T2_2
T3_2
Tr_2
R_1
1_0
....
....
....
....
R_2
....
T1_2
R_r-1
T1_r
P1_r+1
R_r
T1_r+1
9
8
x 10
T2_r
T3_r
Tr_r
P2_r+1
P3_r+1
Pr_r+1
T2_r+1
T3_r+1
Tr_r+1
PR5 nets. ET Real Execution and time computing estimation
ET execution
ET estimation
7
time ns 2000 firings
6
5
4
3
2
1
0
5
10
15
20
25
parameter p
30
35
40
3.5
9
x 10 PR5 nets. SRP Real Execution and time computing estimation
SRP execution
SRP estimation
3
time ns 2000 firings
2.5
2
1.5
1
0.5
0
5
10
15
20
25
parameter p
30
35
40
9
8
x 10
PR5 nets. Real Execution and time computing estimation
SRP execution
SRP estimation
ET execution
ET estimation
7
time ns 2000 firings
6
5
4
3
2
1
0
5
10
15
20
25
parameter p
30
35
40
9
8
PR5 nets. ET Overload for SRP estimation
x 10
7
time ns 2000 firings
6
5
4
3
2
ET execution
ET execution with SRP estimation
1
0
5
10
15
20
25
parameter p
30
35
40
9
3.5
PR5 nets. SRP Overload for ET estimation
x 10
SRP execution
SRP execution with ET estimation
3
time ns 2000 firings
2.5
2
1.5
1
0.5
0
5
10
15
20
25
parameter p
30
35
40
f)
PH
Idle_0
Idle_1
Tr0_0
Tr0_1
Wright_0
Wleft_0
T0
Idle_f-1
Wleft_1
T1
g)
Tr0_f-1
Wright_1
T2
Wright_f
Wleft_f
Tf-1
T0
Tr2_f
Tr1_0
Tleft_0
Tr1_1
Tr2_0
Tright_0
Tleft_1
Tr1_f
Tr2_1
Tright_1
Tr3_0
Tr3_1
Eat_0
Eat_1
Tr4_0
Tr4_1
....
Tr1_0
Tleft_f
Tr2_f
Tright_f
Tr3_f
Activación
periódica
Eat_f
Tr4_f
8
x 10
PH nets. ET Real Execution and time computing estimation
8
7
time ns 2000 firings
6
5
4
3
2
ET execution
ET estimation
1
0
5
10
15
20
25
parameter f
30
35
40
9
3.5
x 10
PH nets. SRP Real Execution and time computing estimation
SRP execution
SRP estimation
3
time ns 2000 firings
2.5
2
1.5
1
0.5
0
5
10
15
20
25
parameter f
30
35
40
9
3.5
x 10
PH nets. Real Execution and time computing estimation
SRP execution
SRP estimation
ET execution
ET estimation
3
time ns 2000 firings
2.5
2
1.5
1
0.5
0
5
10
15
20
25
parameter f
30
35
40
8
8
PH nets. ET Overload for SRP estimation
x 10
7
time ns 2000 firings
6
5
4
3
2
ET execution
ET execution with SRP estimation
1
0
5
10
15
20
25
parameter f
30
35
40
9
3.5
PH nets. SRP Overload for ET estimation
x 10
SRP execution
SRP execution with ET estimation
3
time ns 2000 firings
2.5
2
1.5
1
0.5
0
5
10
15
20
25
parameter f
30
35
40
PR510 Real Time execution an Estimation
6
4
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
cycle time nanosecons
2
1
0
-1
-2
0
0.5
1
1.5
2
2.5
time
PR510 Real Time execution an Estimation
6
3.5
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
PR510 Real Time execution TEC, SRP and ET
6
3.5
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
PR510 comparing Real Time execution an Estimation
6
3.5
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
PR520 Real Time execution an Estimation
6
6
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
5
4
cycle time nanosecons
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
PR520 Real Time execution an Estimation
6
6
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR520 Real Time execution TEC, SRP and ET
6
6
x 10
ETCexecution
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
PR520 comparing Real Time execution an Estimation
6
6
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR530 Real Time execution an Estimation
6
8
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
cycle time nanosecons
4
2
0
-2
-4
-6
0
0.5
1
1.5
2
2.5
time
PR530 Real Time execution an Estimation
6
8
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
7
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR530 Real Time execution TEC, SRP and ET
6
9
x 10
ETCexecution
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
PR530 comparing Real Time execution an Estimation
6
9
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
3
PAR10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
0
0.5
1
1.5
2
2.5
time
6
3
PAR10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4
PAR10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
4
PAR10 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
12
PAR30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
10
cycle time nanosecons
8
6
4
2
0
-2
0
0.5
1
1.5
2
2.5
time
6
12
PAR30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
12
PAR30 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
12
PAR30 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
20
PAR40 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
cycle time nanosecons
15
10
5
0
-5
0
0.5
1
1.5
2
2.5
time
6
18
PAR40 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
16
14
cycle time nanosecons
12
10
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
18
PAR40 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
16
14
cycle time nanosecons
12
10
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
18
PAR40 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
16
14
cycle time nanosecons
12
10
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
7
2.5
PAR50 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2
cycle time nanosecons
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
7
2.5
PAR50 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
7
2.5
PAR50 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
7
2.5
PAR50 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
7
3.5
PAR60 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
7
3.5
PAR60 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
7
3.5
PAR60 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
7
3.5
PAR60 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
7
PAR20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
cycle time nanosecons
5
4
3
2
1
0
-1
0
0.5
1
1.5
2
2.5
time
6
7
PAR20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
8
PAR20 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
8
PAR20 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ10 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ25 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ25 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ25 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ25 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ35 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ35 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ35 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ35 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ45 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ45 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ45 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ45 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
6
2.5
PH05 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2
cycle time nanosecons
1.5
1
0.5
0
-0.5
0
0.5
1
1.5
2
2.5
time
6
2.5
PH05 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
3.5
PH05 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
3.5
PH05 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
7
PH15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
5
cycle time nanosecons
4
3
2
1
0
-1
-2
0
0.5
1
1.5
2
2.5
time
6
7
PH15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
9
PH15 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
9
PH15 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
12
PH20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
10
cycle time nanosecons
8
6
4
2
0
-2
-4
0
0.5
1
1.5
2
2.5
time
6
12
PH20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
14
PH20 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
12
cycle time nanosecons
10
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
14
PH20 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
12
cycle time nanosecons
10
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
7
2
PH30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
1.5
cycle time nanosecons
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
7
2
PH30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
7
2.5
PH30 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
7
2.5
PH30 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4
PR5 10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
cycle time nanosecons
2
1
0
-1
-2
0
0.5
1
1.5
2
2.5
time
6
3.5
PR5 10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
3.5
PR5 10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
3.5
PR5 10 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
6
PR5 20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
5
4
cycle time nanosecons
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
6
6
PR5 20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
6
PR5 20 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
6
PR5 20 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
8
PR5 30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
cycle time nanosecons
4
2
0
-2
-4
-6
0
0.5
1
1.5
2
2.5
time
6
8
PR5 30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
9
PR5 30 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
9
PR5 30 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
2.5
SQUARE5 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2
cycle time nanosecons
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
6
2.5
SQUARE5 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2.5
SQUARE5 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
2.5
x 10
SQUARE5 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
5
SQUARE8 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
4
cycle time nanosecons
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
6
5
SQUARE8 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
4.5
4
cycle time nanosecons
3.5
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4
SQUARE8 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
5
x 10
SQUARE8 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
4.5
4
cycle time nanosecons
3.5
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
7
SQUARE10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
5
cycle time nanosecons
4
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
6
7
SQUARE10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
6
SQUARE10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
7
x 10
SQUARE10 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
10
SQUARE12 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
cycle time nanosecons
5
0
-5
0
0.5
1
1.5
2
2.5
time
6
9
SQUARE12 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
8
SQUARE12 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
9
x 10
SQUARE12 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
12
SQUARE15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
10
8
cycle time nanosecons
6
4
2
0
-2
-4
-6
0
0.5
1
1.5
2
2.5
time
6
12
SQUARE15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
12
SQUARE15 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
12
x 10
SQUARE15 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
Ensayos 5 con eventos 20 sin eventos 6
3
PAR10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
0
0.5
1
1.5
2
2.5
time
6
3
PAR10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4
PAR10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
4
PAR10 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
7
PAR20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
cycle time nanosecons
5
4
3
2
1
0
-1
0
0.5
1
1.5
2
2.5
time
6
7
PAR20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
8
PAR20 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
8
PAR20 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
12
PAR30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
10
cycle time nanosecons
8
6
4
2
0
-2
0
0.5
1
1.5
2
2.5
time
6
12
PAR30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
12
PAR30 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
12
PAR30 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
20
PAR40 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
cycle time nanosecons
15
10
5
0
-5
0
0.5
1
1.5
2
2.5
time
6
18
PAR40 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
16
14
cycle time nanosecons
12
10
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
18
PAR40 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
16
14
cycle time nanosecons
12
10
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
18
PAR40 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
16
14
cycle time nanosecons
12
10
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
7
2.5
PAR50 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2
cycle time nanosecons
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
7
2.5
PAR50 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
7
2.5
PAR50 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
7
2.5
PAR50 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
7
3.5
PAR60 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
7
3.5
PAR60 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
7
3.5
PAR60 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
7
3.5
PAR60 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2.5
PH05 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2
cycle time nanosecons
1.5
1
0.5
0
-0.5
0
0.5
1
1.5
2
2.5
time
6
2.5
PH05 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
3.5
PH05 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
3.5
PH05 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
7
PH15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
5
cycle time nanosecons
4
3
2
1
0
-1
-2
0
0.5
1
1.5
2
2.5
time
6
7
PH15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
9
PH15 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
9
PH15 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
12
PH20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
10
cycle time nanosecons
8
6
4
2
0
-2
-4
0
0.5
1
1.5
2
2.5
time
6
12
PH20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
14
PH20 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
12
cycle time nanosecons
10
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
14
PH20 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
12
cycle time nanosecons
10
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
7
2
PH30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
1.5
cycle time nanosecons
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
7
2
PH30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
7
2.5
PH30 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
7
2.5
PH30 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4
PR5 10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
cycle time nanosecons
2
1
0
-1
-2
0
0.5
1
1.5
2
2.5
time
6
3.5
PR5 10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
3.5
PR5 10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
3.5
PR5 10 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
6
PR5 20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
5
4
cycle time nanosecons
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
6
6
PR5 20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
6
PR5 20 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
6
PR5 20 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
8
PR5 30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
cycle time nanosecons
4
2
0
-2
-4
-6
0
0.5
1
1.5
2
2.5
time
6
8
PR5 30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
9
PR5 30 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
9
PR5 30 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR510 Real Time execution an Estimation
6
4
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
cycle time nanosecons
2
1
0
-1
-2
0
0.5
1
1.5
2
2.5
time
PR510 Real Time execution an Estimation
6
3.5
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
PR510 Real Time execution TEC, SRP and ET
6
3.5
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
PR510 comparing Real Time execution an Estimation
6
3.5
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
PR520 Real Time execution an Estimation
6
6
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
5
4
cycle time nanosecons
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
PR520 Real Time execution an Estimation
6
6
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR520 Real Time execution TEC, SRP and ET
6
6
x 10
ETCexecution
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
PR520 comparing Real Time execution an Estimation
6
6
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR530 Real Time execution an Estimation
6
8
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
cycle time nanosecons
4
2
0
-2
-4
-6
0
0.5
1
1.5
2
2.5
time
PR530 Real Time execution an Estimation
6
8
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
7
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR530 Real Time execution TEC, SRP and ET
6
9
x 10
ETCexecution
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
PR530 comparing Real Time execution an Estimation
6
9
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ10 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ25 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ25 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ25 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ25 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ35 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ35 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ35 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ35 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ45 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ45 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ45 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ45 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
6
2.5
SQUARE5 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2
cycle time nanosecons
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
6
2.5
SQUARE5 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2.5
SQUARE5 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
2.5
x 10
SQUARE5 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
5
SQUARE8 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
4
cycle time nanosecons
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
6
5
SQUARE8 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
4.5
4
cycle time nanosecons
3.5
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4.5
SQUARE8 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
4
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
5
x 10
SQUARE8 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
4.5
4
cycle time nanosecons
3.5
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
7
SQUARE10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
5
cycle time nanosecons
4
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
6
7
SQUARE10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
6
SQUARE10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
7
x 10
SQUARE10 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
10
SQUARE12 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
cycle time nanosecons
5
0
-5
0
0.5
1
1.5
2
2.5
time
6
9
SQUARE12 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
8
SQUARE12 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
9
x 10
SQUARE12 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
12
SQUARE15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
10
8
cycle time nanosecons
6
4
2
0
-2
-4
-6
0
0.5
1
1.5
2
2.5
time
6
12
SQUARE15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
12
SQUARE15 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
12
x 10
SQUARE15 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
Ensayos 2 con eventos 3 sin eventos 6
3
PAR10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
0
0.5
1
1.5
2
2.5
time
6
3
PAR10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4
PAR10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
4
PAR10 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
7
PAR20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
cycle time nanosecons
5
4
3
2
1
0
-1
0
0.5
1
1.5
2
2.5
time
6
7
PAR20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
8
PAR20 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
8
PAR20 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
12
PAR30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
10
cycle time nanosecons
8
6
4
2
0
-2
0
0.5
1
1.5
2
2.5
time
6
12
PAR30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
12
PAR30 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
12
PAR30 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
20
PAR40 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
cycle time nanosecons
15
10
5
0
-5
0
0.5
1
1.5
2
2.5
time
6
18
PAR40 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
16
14
cycle time nanosecons
12
10
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
18
PAR40 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
16
14
cycle time nanosecons
12
10
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
18
PAR40 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
16
14
cycle time nanosecons
12
10
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
7
2.5
PAR50 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2
cycle time nanosecons
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
7
2.5
PAR50 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
7
2.5
PAR50 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
7
2.5
PAR50 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
7
3.5
PAR60 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
7
3.5
PAR60 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
7
3.5
PAR60 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
7
3.5
PAR60 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2.5
PH05 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2
cycle time nanosecons
1.5
1
0.5
0
-0.5
0
0.5
1
1.5
2
2.5
time
6
2.5
PH05 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
3.5
PH05 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
3.5
PH05 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
7
PH15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
5
cycle time nanosecons
4
3
2
1
0
-1
-2
0
0.5
1
1.5
2
2.5
time
6
7
PH15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
9
PH15 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
9
PH15 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
12
PH20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
10
cycle time nanosecons
8
6
4
2
0
-2
-4
0
0.5
1
1.5
2
2.5
time
6
12
PH20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
14
PH20 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
12
cycle time nanosecons
10
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
14
PH20 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
12
cycle time nanosecons
10
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
7
2
PH30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
1.5
cycle time nanosecons
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
7
2
PH30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
7
2.5
PH30 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
7
2.5
PH30 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4
PR5 10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
cycle time nanosecons
2
1
0
-1
-2
0
0.5
1
1.5
2
2.5
time
6
3.5
PR5 10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4
PR5 10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
4
PR5 10 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
6
PR5 20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
5
4
cycle time nanosecons
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
6
6
PR5 20 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
6
PR5 20 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
6
PR5 20 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
8
PR5 30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
cycle time nanosecons
4
2
0
-2
-4
-6
0
0.5
1
1.5
2
2.5
time
6
8
PR5 30 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
9
PR5 30 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
9
PR5 30 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR510 Real Time execution an Estimation
6
4
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
cycle time nanosecons
2
1
0
-1
-2
0
0.5
1
1.5
2
2.5
time
PR510 Real Time execution an Estimation
6
3.5
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
PR510 Real Time execution TEC, SRP and ET
6
3.5
x 10
ETCexecution
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
PR510 comparing Real Time execution an Estimation
6
3.5
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
PR520 Real Time execution an Estimation
6
6
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
5
4
cycle time nanosecons
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
PR520 Real Time execution an Estimation
6
6
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR520 Real Time execution TEC, SRP and ET
6
6
x 10
ETCexecution
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
PR520 comparing Real Time execution an Estimation
6
6
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR530 Real Time execution an Estimation
6
8
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
cycle time nanosecons
4
2
0
-2
-4
-6
0
0.5
1
1.5
2
2.5
time
PR530 Real Time execution an Estimation
6
8
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
7
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
PR530 Real Time execution TEC, SRP and ET
6
9
x 10
ETCexecution
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
PR530 comparing Real Time execution an Estimation
6
9
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
5
3.5
SEQ10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
3
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3.5
SEQ10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
3
cycle time nanosecons
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ10 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ25 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ25 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ25 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ25 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ35 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ35 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ35 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ35 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
5
3
SEQ45 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2.5
cycle time nanosecons
2
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
5
3
SEQ45 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
2.5
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2
SEQ45 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
2
2.5
time
6
2
SEQ45 comparing Real Time execution an Estimation
x 10
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
1.8
1.6
cycle time nanosecons
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
0.5
1
1.5
time
2
2.5
6
2.5
SQUARE5 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
2
cycle time nanosecons
1.5
1
0.5
0
-0.5
-1
0
0.5
1
1.5
2
2.5
time
6
2.5
SQUARE5 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
2.5
SQUARE5 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
2.5
x 10
SQUARE5 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
cycle time nanosecons
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
5
SQUARE8 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
4
cycle time nanosecons
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
6
5
SQUARE8 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
4.5
4
cycle time nanosecons
3.5
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
4.5
SQUARE8 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
4
3.5
cycle time nanosecons
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
2
2.5
time
6
5
x 10
SQUARE8 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
4.5
4
cycle time nanosecons
3.5
3
2.5
2
1.5
1
0.5
0
0
0.5
1
1.5
time
2
2.5
6
7
SQUARE10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
6
5
cycle time nanosecons
4
3
2
1
0
-1
-2
-3
0
0.5
1
1.5
2
2.5
time
6
7
SQUARE10 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
6
SQUARE10 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
5
cycle time nanosecons
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
7
x 10
SQUARE10 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
6
cycle time nanosecons
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
10
SQUARE12 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
cycle time nanosecons
5
0
-5
0
0.5
1
1.5
2
2.5
time
6
9
SQUARE12 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
8
SQUARE12 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
2
2.5
time
6
9
x 10
SQUARE12 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
8
7
cycle time nanosecons
6
5
4
3
2
1
0
0
0.5
1
1.5
time
2
2.5
6
12
SQUARE15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
error
integral
10
8
cycle time nanosecons
6
4
2
0
-2
-4
-6
0
0.5
1
1.5
2
2.5
time
6
12
SQUARE15 Real Time execution an Estimation
x 10
ETCexecution
estim same algorithm
estim altern. algorithm
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
time
2
2.5
6
12
SQUARE15 Real Time execution TEC, SRP and ET
x 10
ETCexecution
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time
6
12
x 10
SQUARE15 comparing Real Time execution an Estimation
estim same algorithm
estim altern. algorithm
SRP execution
ET execution
10
cycle time nanosecons
8
6
4
2
0
0
0.5
1
1.5
2
2.5
time