This web page lists different projects and publications that make use of Cheddar.
Real time scheduling tool are sometimes difficult to be used.
These projects and publications may help you to understand how/why/when those tools can be applied.




  1. Cheddar is opensource but it has been also integrated in some Ellidiss Technologies products such as Stood or AADLinspector. The main product is AADLInspector that provides scheduling analysis for AADL models. By the past, Ellidiss Technologies has also developed a TOPCASED plugin for Cheddar. The interoperability of Stood/AADLinspector/TOPCASED and Cheddar is managed by Pierre Dissaux from Ellidiss Technologies. Ellidiss technologies provides industrial support in this context and also participates to the maintenance of the Cheddar opensource version.


    S3/Télécom-Paris-Tech team and Cheddar team collaborates on various projects for the development of AADL software engineering tools. For example:

  2. The opensource version of Cheddar relies on Ocarina to provide schedulability analysis of AADL V1 models. who is developing Ocarina, also uses the Cheddar analyzer for different research projects and some tutorial/labs.
  3. Several examples of use of both Cheddar and Ocarina exists. One of these examples was presented at "Ecole d'été temps réel 2009/ETR'09". The AADL model of this example is available there. [HUG 09] is presenting this case study (in french).
  4. Cheddar has also been integrated into RAMSES (see their website ), an OSATE based software engineering tool to both verify and generate embedded real-time critical system. The thesis of Fabien Cadoret ( [CAD 14]) explains how the two toolsets work alltogether.
  5. Cheddar can be used with POK, a run-time for ARINC 653 developed by S3/Télécom/Paris-Tech which makes use of AADL. See their website and the User's guide of POK (version of March 2010) . The POK's team has shown how to display by Cheddar the thread scheduling computed by the POK runtime. See also Julien Delange thesis for further details ( [DEL 10]).
  6. Several others S3/Télécom-Paris-Tech Ph'd students who have worked on AADL/Ocarina and who have been involved in Cheddar : Behir Zalila ( [ZAL 08]), Thomas Vergnaud ( [VER 06]).



  7. Cheddar has been integrated inside TASTE, a tool-set of the European Space Agency that is jointly developed by Ellidiss Technologies, ISAE and Semantix Information Technologies. See [PER 10] [DEL 10] [DEL 12a] [DEL 12b]. See also the following documents.

  8. Cheddar has been integrated inside Time4sys, a tool-set which is part of Polarsys. See here for further details.

  9. Example of MARTE models and scheduling verification with Cheddar. See [ARM 18].

  10. Early scheduling analysis by Dassault with AADLInspector (AADLInspector is the commercial version of Cheddar). See [COR 18].

  11. A synthesis tool for dataflow graphs that is using Cheddar topredict buffer utilization. See [HON 17].

  12. Thesis about contract based analysis (both Univ. of Toulouse and Univ. of Luxembourg) ; Cheddar is used there for evaluation: See [BRA 17].

  13. Cheddar is applied to a case study around PCP and reconfigu. See [GAS 17].

  14. Energy harvesting and scheduling. See [HOU 18] and [HOU 15].

  15. Example of a vision system modeled with FraCC and verified with Cheddar. See [ALV 16].

  16. Implementation of a global EDF and LLREF scheduling in a RTOS. Scheduling results are checked with Cheddar. See [CAR 16].

  17. A paper about certification in the context of avionic systems with AADLInspector (AADLInspector is the commercial version of Cheddar) applied to a case study. See [RAO 16].

  18. An example of co-design (multicore architecture exploration) with Simulink and Cheddar (for a CPS avionic application) : See [ZHO 16].

  19. An example of a reconfiguration method, where Cheddar has been used to validate EDF schedulling : See [WAN 16].

  20. A component based concurrent design pattern and its scheduling verification with Cheddar. See [SAN 15].

  21. An example of scheduling analysis of a Car (with AADL) : See [DON 15].

  22. An example of scheduling analysis of an Unmanned Underwater Vehicle : See [ORT 15].

  23. A robotic framework, which explain (shortly) how to use Cheddar. See [RAM 14].

  24. An example of scheduling analysis of a switch device : See [SOU 14].

  25. About Non-intrusive Monitoring in Real-Time Embedded Operating Systems and how Cheddar can be used there. See [PIN 14].

  26. Design space exploration with AADL and Cheddar. See [LIU 14].

  27. An example of scheduling analysis of data flow models : See [KRA 14].

  28. Cheddar has been integrated inside MOSART, a tool-set of the ENSMA/ISAE. See [OUH 13] or [OUH 12].

  29. Cheddar has been used to make verifications on models that are compliant with the RCA4RTES modeling language. See [KRI 12] and [KRI 13].

  30. A design software exploration with energy optimisation. See [RAI 12].

  31. An example or robotic model driven technology including Cheddar See [SCH 10].

  32. [FOR 10]: a study of real-time scheduling policies which support dependent tasks is presented. This work used Cheddar to verify an small avionic case of study. See also [BON 10] which is another publication of this team (in french).

  33. [ADE 10]: a proposition of a real-time distributed HLA system. Real-time properties of this proposition has been verified with Cheddar.

  34. [GHA 10], [GHA 11]and [GHA 12] : example of sensitivity analysis based on Cheddar.

  35. [IGB 10]: : validation of a stochastic scheduling for multicore systems.

  36. [WAN 10]: proposition of a configuration method based on low power scheduling that is using Cheddar.

  37. [FUR 10]: proposition of a control-theoretical methodology for the design of schedulers.

  38. A benchmarking work of a multiprocessor architecture by Airbus. See [CAS 09]. The multiprocessor architecture and its behavior are modeled with AADL and the Cheddar programming language (for the scheduling part).

  39. Thales RT has proposed an Ecplise plugin in order to perform analysis with Cheddar of MARTE/UML models. MARTE is an UML profile designed for modeling and analysis of real time systems (see for further details on MARTE/UML. The source code and the documentation distributed by Thales RT can be reached there.

  40. [PRA 08, PRA 09] : the proposition of a scheduler designed to support tasks with fuzzy deadlines and fuzzy processing times. The scheduler is verified with Cheddar.

  41. [FER 08, FER 09, MON 10] : J.L. Fernandez has proposed an approach for real-time systems modeling and models evaluation. This approach is named PPOOA-Cheddar: it combines the PPOOA method and tool for architecting real-time systems with the Cheddar framework for simulation and evaluation of real-time systems. See their website.

  42. [THO 09] : Ph'd Thesis of Frederic Thomas (related to the modelling of real time system execution environments).

  43. [KUM 09] and [KUM 10] : modelling and analysis of EDF and LLF like schedulers for multicore processors.

  44. [REV 07] : the proposition of a modeling framework based on AADL and Lustre. The proposed framework allows performance analysis with Cheddar.

  45. [ROL 07] : an other AADL project (EADS Astrium and CNES) which aims to the modeling and tha analysis of the Pléiades satellite.

  46. [NEM 06] and [NEM 07]: papers about Papabench, a benchmark proposed by the IRIT in order to compute WCET (see http://www.irit.fr/PapaBench).

  47. [STR 06] : an experiment with RTEMS and Cheddar.

  48. [THO 06] : Meta-modeling experiment with AADL and Cheddar in order to built robotic application.

  49. M. Baert wrote some XSLT scripts in order to display XML project files and XML event tables. XML event tables are files which store scheduling simulation results. Then, these tools allow users to display in a web browser the results of a scheduling simulation. See the file EventTables.zip for further details.

  50. [AHN 06] : the proposition of a scheduler designed for multimedia applications, which was validated with Cheddar.

  51. [BRY 05] : a comparison of several real time scheduling frameworks (including Cheddar, but a bit out of date now).







Some publications that are related to the previous items and that explain how to use Cheddar :



[ARM 18] Armaoui Naima, Naija Mohamed and Ahmed Samir. On the Use of Models for Real-time Reconfigurations of Embedded Systems. 13th International Conference on Software Technologies (ICSOFT). January 2018.

[COR 18] F Corbier, P Dissaux. Early Timing, Schedulability and Performance Analysis of Embedded Electronics Architectures. ERTSS conference. Toulouse. 2018.

[HOU 18] WIEM HOUSSEYNI, OLFA MOSBAHI, MOHAMED KHALGUI, ZHIWU LI, AND LI YIN. . Multiagent Architecture for Distributed Adaptive Scheduling of Reconfigurable Real-Time Tasks With Energy Harvesting Constraints. IEEE Access. Volume 6. February 2018. Digital Object Identifier 10.1109/ACCESS.2017.2781459

[HON 17] Honorat Alexandre, Tran Hai Nam, Besnard Loïc, et al. ADFG: a scheduling synthesis tool for dataflow graphs in real-time systems. International Conference on Real-Time Networks and Systems. 2017. p. 1-10.

[BRA 17] Guillaume Brau. Integration of the Analysis of Non-Functional Properties in Model-Driven Engineering for Embedded Systems. Thèse de l'Université du Luxembourg et de l'Université de Toulouse. Mars 2017.

[GAS 17] Maroua Gasmi, Olfa Mosbahi, Mohamed Khalgui and Luis Gomes Reconfigurable Priority Ceiling Protocol: A Safe Way to Real-Time Reconfiguration. In Informatics in Control, Automation and Robotics (pp. 23-42). Springer, Cham.

[CAR 16] Carraro, E. Implementation and Test of EDF and LLREF Schedulers in FreeRTOS. Master thesis of Regensburg University of Applied Sciences. 2016.

[ALV 16] Bárbara Álvarez, Pedro J. Navarro, Diego Alonso, Pedro Sánchez and Andrés Iborra. ViSel-TR: A Novel Approach for Developing Component-based Vision Systems Working in Unstructured Environments International Journal of Computer & Software Engineering. 2016, 1: 107, http://dx.doi.org/10.15344/ijcse/2016/107.

[RAO 16] Rao, Y. R., Nanda, M., & Jayanthi, J. Formal Architecture Based Design Analysis for Certifying SWS RTOS. In Intelligent Systems Technologies and Applications (pp. 437-448). Springer, Cham.

[ZHO 16] Yuchen Zhou, John Baras, Shige Wang Hardware Software Co-design for Automotive CPS using Architecture Analysis and Design Language. arXiv preprint arXiv:1603.05069. March 2016. Also in the 5th Analytic Virtual Integration of Cyber-Physical Systems Workshop (AVICPS 2014), Rome, Italy, December 2, 2014.

[WAN 16] Xi Wang, Zhiwu Li, Walter Wonham Dynamic Multiple-Period Reconfiguration of Real-Time Scheduling Based on Timed DES Supervisory Control IEEE Transactions on Industrial Informatics ; 02/2016; DOI: 10.1109/TII.2015.2500161

[HOU 15] Wiem Housseyni, Olfa Mosbahi, Mohamed Khalgui, Maryline Chetto. REAL-TIME TASK RECONFIGURATION IN ENERGY-HARVESTING BASED MULTIPROCESSOR SYSTEMS. 29th European Simulation and Modelling Conference - ESM'2015, Oct 2015, Leicester, United Kingdom.

[SAN 15] F Sanchez-ledesma, Juan Pastor, Diego Alonso and Barbara Alvarez. A Task-Based Concurrency Scheme for Executing Component based applications. Ada User Journal. Volume 36, Number 1, Pages 49-55, March 2015.

[ORT 15] Francisco Ortiz, Antonio Guerrero, Francisco Sánchez-Ledesma, Francisco García-Córdova, Diego Alonso, Javier Gilabert. Diseño del software de control de un UUV para monitorización oceanográfica usando un modelo de componentes y framework con despliegue flexible Revista Iberoamericana de Automática e Informática industrial 12 (2015), 325–337. ScienceDirect.

[DON 15] Donald Patrice. VBD (Vic on-Board Diagnotic): Système embarqué temps réel d’aide au diagnostic des dysfonctionnements pour véhicules terrestres légers. IUC Master thesis report. 2015.

[PIN 14] Pinto, R. C., and Rufino, J. Exploiting Non-intrusive Monitoring in Real-Time Embedded Operating Systems. In EWiLi workshop. 2014.

[RAM 14] Ramaswamy, A., Monsuez, B., & Tapus, A. (2014, June). Model-driven software development approaches in robotics research. In Proceedings of the 6th International Workshop on Modeling in Software Engineering (pp. 43-48). ACM.

[LIU 14] Liu, H., Zhang, H., Jiang, Y., Song, X., Gu, M., & Sun, J.
Application-Specific Architecture Selection for Embedded Systems via Schedulability Analysis. In 2014 Theoretical Aspects of Software Engineering Conference (TASE) (pp. 131-134). IEEE. September.

[CAD 14] Fabien Cadoret. Génération stratégique de code pour la maitrise des performances de systèmes temps réel embarqués. Phd thesis. Télécom-Paris Tech. Mai 2014.

[KRA 14] Matthew W. Kracht. Real-Time Embedded Software Modeling and Synthesis using Polychronous Data Flow Languages. Master Thesis in Computer Engineering. Faculty of the Virginia Polytechnic Institute and State University. February 7, 2014.

[OUH 13] Yassine Ouhammou. Model Based framework for using Advanced scheduling theory in Real-Time systems design. Phd thesis. ENSMA. December 2013.

[KRI 13] Fatma Krichen. Architectures logicielles à composants reconfigurables pour les systèmes Temps Réel Répartis Embarqués. Septembre 2013. PhD thesis, University of Toulouse and University of Sfax (ENIS).

[OUH 12] Yassine Ouhammou, Emmanuel Grolleau, Michael Richard, Pascal Richard From Model-based design to Real-Time Analysis. VALID 2012 : The Fourth International Conference on Advances in System Testing and Validation Lifecycle.

[DEL 12a] Delange Julien, Hugues Jérôme and Dissaux Pierre. Validate implementation correctness using simulation: the TASTE approach. ERTS 2012 (Embedded Real Time Software and Systems), 01-03 Feb 2012, Toulouse.

[DEL 12] Julien Delange, Christophe Honvault and James Windsor. Model-based Engineering Approach for System Architecture Exploration. ERTS 2012 (Embedded Real Time Software and Systems), 01-03 Feb 2012, Toulouse.

[ALE 12] Alessandro Gerlinger Romero and Mauricio Gonçalves Vieira Ferreira. An Approach to Model-Driven Architecture Applied to Space Real-Time Software. The 12th International Conference on Space Operations. 11-15 June in Stockholm, Sweden. 2012.

[KRI 12] Fatma Krichen, Amal Gassara, Bechir Zalila and Mohamed Jmaiel. Towards a verification approach for reconfigurable embedded systems. ISCC12. 2012.

[RAI 12] Devendra Rai, Hoeseok Yang, Iuliana Bacivarov and Lothar Thiele. Power Agnostic Technique for Efficient Temperature Estimation of Multicore Embedded Systems. Proc. International Conference on Compilers Architecture and Synthesis for Embedded Systems (CASES 2012). Tampere, Finland. pp 61-70. October 2012.

[GHA 12] Hamza Gharsellaoui, Mohamed Khalgui, Olfa Mosbahi and Samir Ben Ahmed. New Optimal Solutions For Real-Time Reconfigurable Periodic Asynchronous OS Tasks with Minimizations of Response Times Book chapter in IGI-Global Knowledge on Reconfigurable Embedded Control Systems: Applications for Flexibility and Agility. Ed: Khalgui & Hanisch. 2012. Published by Information Science, USA.

[GAS 11] Amal Gassara. Vérification des propriétés non fonctionnelles des RTES distribués dynamiquement reconfigurables. Mémoire de MASTERE. Université de Sfax. Tunisie. 2011.

[AYE 11] Ayed Hamdi, Fraboul Christian. Gateway optimization for an heterogeneous avionics network AFDX-CAN. The 32nd IEEE Real-Time Systems Symposium, 29 Nov - 02 Dec 2011, Vienna, Austria.

[GHA 11] Hamza Gharsellaoui, Atef Gharbi, Mohamed Khalgui and Samir Ben Ahmed. Feasible Automatic Reconfigurations of Real-Time OS Tasks. Handbook of Research on Industrial Informatics and Manufacturing Intelligence: Innovations and Solutions. editor(s): Mohammad Ayoub Khan, Abdul Quaiyum Ansari, India.

[PAG 10] Claire Pagetti, Julien Forget, Frédéric Boniol, Mikel Cordovilla and David Lesens. Multi-task implementation of multi-periodic synchronous programs. Discrete Event Dynamic Systems 21, 3 (2011) 307-338.

[GHA 10] Hamza Gharsellaoui, Mohamed Khalgui and Samir Ben Ahmed. Feasible Automatic Reconfigurations of Real-Time Tasks. WASET, ICCESSE 2010, VENICE, ITALY.

[WAN 10] Xi Wang, Mohamed Khalgui and Zhiwu Li. Dynamic Low Power Reconfigurations of Embedded Real-Time Systems. Technical Report of Systems Control and Automation Group, School of Electro-Mechancial Engineering, Xidian University. 2010.

[SCH 10] Schlegel, C., Steck, A., Brugali, D., & Knoll, A. Design abstraction and processes in robotics: From code-driven to model-driven engineering. In International Conference on Simulation, Modeling, and Programming for Autonomous Robots (pp. 324-335). Springer, Berlin, Heidelberg. 2010.

[ADE 10] Adelantado Martin, Siron Pierre and Chaudron Jean-Baptiste. Towards an HLA Run-time Infrastructure with Hard Real-time Capabilities. Proceedings of the International Simulation Multi-Conference (ISMC'10), 12-14 July 2010, Ottawa, Canada.

[KUM 10] Pradheep Kumar, K. Shanthi, A.P. Multicore Real Time Scheduling Using Fuzzified Priority and Non-uniform Laxity. Proceedings of the international conference of Complex, Intelligent and Software Intensive Systems (CISIS), 15-18 Feb, 2010, page 637-642.

[FUR 10] Carlo A. Furia, Alberto Leva, Martina Maggio, and Paola Spoletini. A control-theoretical methodology for the scheduling problem. ETH Zurich Technical report, september 2010.

[DEL 10] J. Delange. Intégration de la sécurité et de la sûreté de fonctionnement dans la construction d'intergiciels critiques. Juillet 2010. Doctorat de Télécom-Paris-Tech.

[FOR 10] Julien Forget, Frédéric Boniol, Emmanuel Grolleau, David Lesensy and Claire Pagetti Scheduling Dependent Periodic Tasks Without Synchronization Mechanisms. 5 th International Real-Time Applications Symposium (RTAS 2010). Toulouse(France), 19-21 May 2010.

[PER 10] A. M.Perrotin, E. Conquet, P. Dissaux, T. Tsiodras, J. Hugues. The TASTE Toolset: turning human designed heterogeneous systems into computer built homogeneous software. 5 th International Congress Embedded Real Time Software and Systems (ERTS 2010). Toulouse(France), 19-21 May 2010.

[MON 10] Antonio Monzón, José-Luis Fernández-Sánchez, Jorge Ruíz-de-Castañeda. Applying Deadlock Risk Assessment in Architectural Models of Real-Time Systems. 5 th International Congress Embedded Real Time Software and Systems (ERTS 2010). Toulouse(France), 19-21 May 2010.

[HUG 09] Développement de systèmes à l'aide d'AADL - Ocarina/Cheddar. J. Hugues, F. Singhoff. Tutoriel présenté à l'école d'été temps réel. Septembre 2009.

[THO 09] Frederic Thomas. Contribution à la prise en compte des plates-formes logicielles d'exécution dans une ingénierie générative dirigée par les modèles. Thèse de l'Université d'Evry, Mai 2009.

[CAS 09] Jean Casteres, Tovo Ramaherirariny Aircraft integration real-time simulator Modeling with AADL for architecture tradeoffs. Design, Automation and Test in Europe conference, DATE2009, April, Nice, France.

[KUM 09] Pradheep Kumar, K; Shanthi, A P. Application of non-uniform laxity to EDF for aperiodic tasks to improve task utilisation on multicore platforms. Journal of Computer Science and Information Security; IJCSIS 2009, June Issue, Vol. 2, No. 1

[PRA 09] Pranab K. Muhuri, K.K. Shukla. Real-time scheduling of periodic tasks with processing times and deadlines as parametric fuzzy numbers. Applied Soft Computing, Volume 9, Issue 3, June 2009, Pages 936-946

[FER 09] Jose L. Fernandez and Gloria Marmol. Modelling and Evaluating Real-Time Software Architectures. 14th International Conference on Reliable Software Technologies - Ada-Europe, Telecom Bretagne, Brest, France, June 8-12, 2009.

[FER 08] Fernandez , J.L. and Marmol, Gloria. An Effective Collaboration of a Modeling Tool and a Simulation and Evaluation Framework. 18 th Annual International Symposium, INCOSE 2008. Systems Engineering for the Planet. The Netherlands. 15-19 June 2008.

[PRA 08] Pranab K. Muhuri and K.K. Shukla. Real-time task scheduling with fuzzy uncertainty in processing times and deadlines Applied Soft Computing review, Volume 8, Issue 1, January 2008, Pages 1-13.

[ZAL 08] Bechir Zalila. Configuration et déploiement d'applications temps-réel réparties embarquées à l'aide d'un langage de description d'architecture. Novembre 2008. Doctorat de Télécom-Paris-Tech.

[NEM 07] Fadia Nemer, Hugues Cassé, Pascal Sainrat, Ali Awada. Improving the WCET accuracy by inter-task instruction cache analysis. IEEE International Symposium on Industrial Embedded Systems (SIES 2007), Lisbonne, p. 25-32, juillet 2007.

[REV 07] François Revest, Frédéric Boniol, Claire Pagetti. Aide à la conception multi points de vue de systèmes embarqués. Journées Formalisation des Activités Concurrentes, 15 et 16 mars 2007 CERT-ONERA - Toulouse

[ROL 07] JF. Rolland, D. Thomas, D. Chemouil. Utilisation d'AADL pour la conception de logiciels de vol satellite. Revue Génie logiciel, Number 80, March 2007, pages 41-44.

[VER 06] Thomas VERGNAUD. Modélisation des systèmes temps-réel répartis embarqués pour la génération automatique d'applications formellement vérifiées. décembre 2006. Doctorat de Télécom-Paris-Tech.

[STR 06] Marion Strauss. Extension d'un outil de trace pour système embarqué temps réel. Rapport de projet Brique - ENST Paris - T3. 2006.

[AHN 06] Byoungchul Ahn, Ji-Hoon Kim, Dong Ha Lee, Sang Heon Lee. A Real Time Scheduling Method for Embedded Multimedia Applications. Proceedings of the 2006 International Conference on Pervasive Systems & Computing, PSC 2006, Las Vegas, Nevada, USA , June 26-29, 2006. CSREA Press 2006, ISBN 1-60132-018-3. Pages 104-107.

[NEM 06] Fadia Nemer, Hugues Cassé, Pascal Sainrat, JeanPaul Bahsoun and Marianne De Michiel PapaBench : A Free RealTime Benchmark. International Workshop on Worst-Case Execution Time Analysis (WCET 2006), Dresden, 04/07/06, Frank Mueller (Eds.), Internationales Begegnungs- und Forschungszentrum fuer Informatik (IBFI), Schloss Dagstuhl, Germany , (en ligne), juillet 2006.

[THO 06] D. Thomas, C. Baron, B. Tondu. Ingénierie dirigée par les modèles appliquée à la conception d'un contrôleur de robot de service. 2èmes journées sur l'ingénierie Dirigée par les modèles. Lille, 26-28 juin 2006.

[BRY 05] Kevin Bryan, Tiegeng Ren, Jiangyin Zhang, Lisa DiPippo, Victor Fay-Wolfe The Design of the OpenSTARS Adaptive Analyzer for Real-Time Distributed Systems. Proceedings of the 2005 Workshop on Parallel and Distributed Real-Time Systems, Interlocken, Colorado, April 2005.