WO2005111807A2 - Verfahren zur prüfung der echtzeitfähigkeit eines systems - Google Patents
Verfahren zur prüfung der echtzeitfähigkeit eines systems Download PDFInfo
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- WO2005111807A2 WO2005111807A2 PCT/EP2005/005037 EP2005005037W WO2005111807A2 WO 2005111807 A2 WO2005111807 A2 WO 2005111807A2 EP 2005005037 W EP2005005037 W EP 2005005037W WO 2005111807 A2 WO2005111807 A2 WO 2005111807A2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/34—Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation ; Recording or statistical evaluation of user activity, e.g. usability assessment
- G06F11/3409—Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation ; Recording or statistical evaluation of user activity, e.g. usability assessment for performance assessment
- G06F11/3419—Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation ; Recording or statistical evaluation of user activity, e.g. usability assessment for performance assessment by assessing time
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/34—Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation ; Recording or statistical evaluation of user activity, e.g. usability assessment
- G06F11/3447—Performance evaluation by modeling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
- G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
- G06F9/4887—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues involving deadlines, e.g. rate based, periodic
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0637—Strategic management or analysis, e.g. setting a goal or target of an organisation; Planning actions based on goals; Analysis or evaluation of effectiveness of goals
- G06Q10/06375—Prediction of business process outcome or impact based on a proposed change
Definitions
- the invention relates to a method for checking the real-time capability of a system, in particular a computer system.
- a method for time analysis for periodic real-time task systems is known from [16].
- tasks to be processed by a processor are considered with fixed priorities.
- the blockage is taken into account in the form of additional system costs. The additional system costs are exactly determined.
- Each task is described by a starting time a, a relative time limit d (measured from the starting time), a processing time c for the worst case and a smallest distance or a smallest period p between two events of the task.
- An event of a task can also be called a job.
- Each job has its own start time. In the worst case, the start time results from the start time a of the task and the interval or period p.
- the processing time c and the time limit d of the task are assigned to each job. The time limit is measured from the start time of the respective job. All tasks can be carried out on the same processor.
- a processor is understood to be an execution component of the system that processes tasks. For example, tasks can be performed by a CPU, electronic circuit modules or software components. The following description assumes that the tasks are scheduled according to the Earliest Deadline First, the so-called EDF algorithm. In the EDF algorithm, the task which has the smallest time interval from the end of the time limit d of the task is carried out first. It is also possible for the tasks to be scheduled using other scheduling methods.
- Spuri describes in [14] an algorithm for a response-time analysis for EDF scheduling with a pseudo-polynomial complexity [15]. However, the algorithm requires more effort than the processor demand test.
- the algorithm is defined for an extended task model, the recurring real-time task model [1], [2].
- a fixed number of time intervals is evenly distributed over the maximum interval I ma ⁇ .
- a cumulative processing time is only for these time intervals . checked.
- an approximation is carried out, in which the cumulative processing time is compared with a capacity available by the system for the next smaller time interval.
- the maximum error of this approximation is limited. The maximum error corresponds to the interval between two time intervals.
- the test is always successful. With such an approximation, a compromise between execution time and error of the algorithm is possible. A large error leads to only a few time intervals and consequently to a short execution time. A small error leads to a large number of time intervals to be checked and a large execution time. If a system contains tasks with a small time limit d, the distance between the ends of their execution time and their time limits d is also small. In order to increase the prospect of acceptance of such a system, the test must have only one small error. This leads to long execution times of the algorithm. However, the algorithm always fails for tasks for which the time limit d is identical with their processing time in the worst case.
- the object of the present invention is to eliminate the aforementioned disadvantages according to the prior art.
- the proposed method is suitable both for carrying out a predictive real-time analysis and for a real-time analysis that can be carried out during the operation of the system.
- it can be used to determine whether the system loaded with the current load is still real-time capable. If it is determined with the method according to the invention that this is no longer the case, countermeasures such as e.g. For example, provision of additional resources, task interruption or error handling can be initiated.
- the correctness of the proposed algorithm can be verified formally.
- system costs can be calculated on the basis of a processing time required to process the tasks. But you can also on the
- Total system costs are understood to mean the cumulative system costs incurred for processing the tasks.
- System costs for a time interval can, depending on the application, e.g. B. be used, maximum required, incurred or requested costs.
- further system costs of at least one second task are taken into account at least for a time interval.
- the additional system costs are determined by an approximation based on the actual system costs.
- Actual system costs of a task are understood to be those system costs that are actually used by the system during execution.
- the actual system costs of a task can e.g. B. be the execution time that the system actually needs to process the task.
- the actual system costs can be precisely calculated, for example, using the so-called "worst case execution time" analysis. Due to the additional system costs, the costs incurred in the omitted larger time intervals can be partially anticipated.
- this anticipation takes place only for a subset of the tasks.
- system costs can be taken into account for the first tasks, which include two or more jobs of this task. This can increase the acceptance rate of the test.
- the acceptance rate for a set of tasks the difference between at least one task being see time limit and processing time is small, can be increased. This applies in particular if, at least for the task with a small difference, the anticipation of future costs only takes place for time intervals which are several, e.g. B. include at least two jobs.
- An interval comprises two jobs of a task if, taking into account the smallest distances and the relative time limits, the distance between the start time of the first job of the task and the time limit of the second job of the task is not greater than the time interval. This also applies to any number of jobs in a task.
- the jobs of the task can occur either with a minimum time interval (sporadic case) or periodically (periodic case).
- the set of tasks can also contain tasks from both cases.
- An analysis of both cases can be covered with the method according to the invention.
- test limits are at least partially introduced for the tasks. Additional system costs are only taken into account for those tasks whose test limit is reached in the time interval to be checked. A first task can become a second task when the test limit is reached.
- the test limits can be variable, ie they are not necessarily fixed.
- the test limits allow the ratio of the additional system costs to the total system costs to be limited. The ratio can be shifted by changing the test limits. The accuracy of the test can be increased by increasing the test limits. But u. U. more time intervals can be checked.
- the ratio can also be limited by having fixed test limits be used.
- the fixed test limit for a task advantageously represents a number of jobs of the task, the test limit being reached when the time interval of the number comprises a corresponding number of jobs.
- the ratio of the share of the task in the total system costs to their additional system costs can be limited to the same value for each task.
- the ratio can be used to estimate a maximum possible error and, for example, be passed on to the user.
- the test limit can e.g. B. represented by a numerical value.
- the additional system costs are calculated on the basis of the specific workload of a task. This can be determined by the quotient of the computing time and period of the task.
- the maximum error for each task can be limited. It is possible that the maximum error is independent of the length of the time interval to be considered.
- the specific capacity can usefully be determined for the difference between the time interval and the test interval of the task.
- the maximum error for each task can be limited to twice its computing time.
- the test limit preferably represents a number of jobs in the task.
- the test limit is reached in a time interval if the time interval comprises a corresponding number of jobs. In this case, the error can even occur the simple computing time of the task can be limited.
- the total system costs can be calculated step by step. Time intervals are preferred with increasing
- the actual system costs of these approximated tasks have already been obtained in the further system costs determined in this way. As a result, the determination of the actual system costs of the approximated tasks can be omitted.
- the additional system costs can be determined in one step for all tasks whose test limit has already been exceeded. Time intervals are not checked, for which only system costs of tasks change whose test limit has already been reached.
- Such a procedure is particularly useful if they are on different priority levels.
- the limit value for the total system costs consumed in a time interval can be described by a set of system costs.
- the limit value can be described by an amount of such system costs which the processor can process within the time interval assigned to the limit value. It is also possible to determine the limit value using the capacity of the processor. If a constant capacity of the processor is assumed, the limit value can be determined by multiplying the length of the time interval by the capacity. at Such a determination of the limit value is assigned to a time interval of twice the length, twice the amount of processable system costs.
- different capacities can be assigned to different time intervals in order to determine the limit value. This makes it easier to model processors with fluctuating capacity. The accuracy of the test for systems with such processors can be increased.
- different capacities can only be assigned to a few time intervals.
- the capacities are preferably assigned in increasing size to time intervals with increasing size. I.e. larger capacities are assigned to larger time intervals and smaller capacities are assigned to smaller time intervals. For time intervals to which no capacity is assigned, the capacity that is assigned to the next smaller time interval or is used for this can be used to determine the limit value.
- the limitation to just a few changes in capacity enables a particularly efficient calculation of the limit values. This applies in particular when using the approximation described above. In comparison to the determination of the limit value assuming a constant capacity, a much more precise analysis is possible with only a small additional calculation effort.
- the event flow model according to Gresser [9] describes the time relationships between two events for the worst case.
- the idea is to define a minimum time interval between one, two, three or more events by a formal specification of the input stimuli.
- the model defines the maximum number of events in different predefined time intervals. To formulate the problem in a formal manner, the following definitions are required:
- the time T is a monotonically arranged set of numbers te R + , which are defined as multipliers for a given physical time period.
- Each time ti can be described by the interval 1 (0, ti).
- Processing time c The time interval that a processor needs to calculate a specific piece of software code.
- a task ⁇ is described by the processing time c for the worst case and by the relative time limit d and represents part of a software code.
- time barriers are understood to mean relative, fixed time barriers.
- a processor can only calculate one task ⁇ at a time.
- EDF Earliest Deadline First
- An event sequence is an ordered set of events:
- Event interval function n ⁇ E ⁇ e
- Event interval function n ⁇ E ⁇ e
- Event interval function n ⁇ E ⁇ e
- a homogeneous event sequence E H is an event sequence that consists exclusively of events of the same task:
- a periodic event sequence E p is a homogeneous event sequence E H , which consists of an infinite number of events separated by a fixed distance (the period p).
- the order time of the first event is the first order time a of a sequence:
- a periodic event sequence E p is described by its period p, its first order time a and the values of the underlying task ⁇ , the processing time c for the worst case and the relative time limit d of the corresponding task ⁇ :
- E P (P, ai, di, C) (*)
- a periodic event sequence E p with an infinite period is an event sequence E which consists of a single event e.
- All periodic portions of the event sequence E can be represented by a single periodic event sequence E P.
- the others are represented by a periodic event sequence E p with an infinite period.
- the number of periodic event sequences E P can become quite large.
- each task ⁇ can be described with only one periodic event sequence E P and with exactly two periodic event sequences E P if fluctuations are taken into account.
- To define a test algorithm only an upper bound for the density of events e has to be taken into account:
- the event function n e defines the number of events e that can occur in I in the worst case:
- n e is a monotonically non-decreasing function. It is difficult to describe these functions. to win on from a predetermined event sequence E. For this reason, we consider the reverse function:
- (3teT: n n e (E, I)) ⁇
- An event stream E s is a special case of an event sequence E in which all events e occur in their most unfavorable time ratio, which describes the event stream function a (n):
- Event stream element is a periodic event sequence which belongs to an event stream E s .
- the time ratio for the worst case describes the density of the events e in the worst case.
- An interval a (n) is described by the order time interval of an event.
- the first event ei of the event stream E s represents the limit interval which contains a maximum of one event (which is always 0 in the limit case)
- the second event e 2 represents the interval which contains two events e
- the nth event e n represents an interval with n events e n .
- the event sequence E 2 ⁇ 0, p 2 -t, 2p 2 -t, 3p 2 -t, ... ⁇ , consequently
- E S 2 ⁇ ( ⁇ 0, d 2 , c 2 ), (p 2 , t, d 2 , c 2 ) ⁇ . It is a periodic sequence of events with elements that can fluctuate. The minimum distance between two events e is pt in this event stream. This occurs if one event occurs at the end of the fluctuation interval and the next event e occurs at the beginning of the next fluctuation interval.
- the event sequence E 3 ⁇ 0, 0, 0, t, p, p, p, t + p, 2p, 2p, 2p, t + 2p, ... ⁇ .
- E s3 ⁇ (p, 0, d 3 , c 3 ), (p, 0, d 3 , c 3 ), (p, 0, d 3 , c 3 ), (p, t, d 3 , c 3 ) ⁇ . Note that in an event sequence E, several events e can have the same output time.
- Event stream E s will maintain the period of the sequence.
- An algorithm for real-time analysis can be carried out if all events e occur with a smaller or the same density, as described by the event stream E s .
- n i (Es, I) [((Ia 1 ) / p i ) + 1], I> 0 (*)
- each event stream element describes a periodic event sequence E p .
- Each event stream element generates exactly one event e.
- each task ⁇ has a separate uniform event-E nisstrom s are designed as non-uniform event streams E s are not suitable for real-time analysis.
- uniform event streams E s can be simply summarized by summarizing the sets of event stream elements. This event stream E s represents the density in the worst case for a single task ⁇ .
- E S ⁇ and E S2 are both uniform event streams. That is why the summarized event stream
- D bi The demand flow element D bi is a description of a periodic sequence of the demand. It consists of an end date, period p and the additional requirement requirement c. [((I-di-ai) / pi) + l3 * Ci I ⁇ di
- a demand flow is a set of demand flow elements D b i that describe the entire scope of the worst case execution.
- a demand flow can also describe the difference between two alternative event flows E s with different costs and a time course. This concept enables a new formal representation of the barrier function of the demand and results from the definitions given above.
- An feasibility test or real-time analysis can be constructed using the constraint function of need.
- a system can be executed if the barrier function of the demand is always less than or equal to 1: Vl> 0 D b (I) ⁇ I
- the main problem with using the processor demand test is to find the length of the interval I.
- a scheduling capability test must consider all relevant events to ensure that all tasks are finished before their time limits. Since the barrier function of demand D b (I) is a non-continuous function, " each - event defines a relevant test point for the analysis algorithm defined below. The runtime complexity of the analysis algorithm depends on the length of the interval I.
- a time interval I max is called the feasibility interval if (3I> 0)
- Lemma 2 Be the maximum capacity used. Then I max is an executable interval.
- the approximation is based in particular on reducing the number of test points for each demand flow separately by constructing an approximated demand flow element function D ' b i (I) and superimposing all approximations for an approximated barrier function of the demand D' b (I). This defines a separate test interval for each demand flow element D b i.
- the maximum test interval I m (ei) of the demand flow element ex is the interval which contains k + 1 test points for ei:
- a demand flow element D bl is described by its initial end time f and its period p x .
- the approximated demand flow element function is always the same or larger than the demand flow element function. Of course, it also depends on E s .
- the approximated barrier function of demand D ' b (I) is a superposition of all approximated demand flow element functions (FIG. 2, right side)
- the decisive test points of D ' b (I) are all test points of the elements D' b i (I). For intervals greater than I m (ei), the approximated costs for the events ei must be taken into account for each remaining test interval of the demand flow elements.
- test points I m (e 3 ) 398.
- the next test point is the first test point of event e 2 ,
- the error of the approximation is given by the difference between the bound function of the demand D b (I) and the approximated bound function of the demand D ' b (I).
- the error in the example is less than 0.1%. This means that the feasibility is guaranteed for a processor with a capacity 0.1% larger than that of the optimal processor.
- Barrier function of need D b (I) to be calculated separately for each test interval. 4 shows a complete algorithm for an approximated executability test. First, this initializes the test list with the first instance of all the demand flow elements Dbi using their end times fi as the start time. Then he processes this list in ascending order of the test intervals. For each event e x , he adds the corresponding costs Ci to the accumulated costs. He checks whether the accumulated costs are higher than the computing time for the current test interval, the test would then fail. If the maximum number of test intervals of this element e ⁇ has not yet been reached, the next instance of this element ei is added to the test list. It is at a distance pi from the current test interval.
- the test list contains at most one test point of each demand flow element at any time. If the maximum number of test points for an element ei is reached, its utilization becomes ci / pi ü ready added. In this case the next test point is not included in the test list.
- n the number of barrier elements and k the maximum number of test points for each element ! .
- the number of barrier elements is equal to the number of tasks ⁇ .
- the value k is a selectable variable that affects both the complexity and the error of the algorithm. A compromise between the runtime of the algorithm and the error is therefore possible.
- Each test point must be inserted in a sorted list (O (log n)). Therefore the complexity of the approximated feasibility test is 0 (n * logn * l / ⁇ ).
- the given analysis error ⁇ places a condition on the processor P, which is used in the final implementation of the system. In order to comply with all time limits of the system under consideration, this processor P is at most ⁇ percent faster than the unknown optimal processor.
- the algorithm of Baruah et al. [3] shows a pseudo-polynomial complexity that depends on the number of tasks, the total workload and the interval between the periods.
- the first example comes from [4] and models the Olympus Attitude and Orbital Control System for satellites. This example contains 10 periodic and 4 sporadic tasks and is given in Table 1.
- the second example was originally presented by Ma and Shin [13] and can also be found in [11].
- the model describes an application for a palm pilot with 13 different tasks ⁇ . All tasks ⁇ have time limits that are the same with their periods. To define a more difficult problem for the experiment, we set the time limits of tasks ⁇ 7 to 100 ms instead of the 150 ms of the original model.
- the effort of the algorithm according to the invention - apart from the overhead of the approximation - is always less than or equal to the effort of the exact algorithm, even with a very small error.
- the complexity of the algorithm according to Chakraborty et al. grows with smaller errors. The density of the test intervals can therefore be greater than is required for the exact algorithm.
- the results show the same tendency.
- the algorithm according to the invention tolerates the set of tasks ⁇ with an error of 5%, while the algorithm according to the prior art requires a narrower error (the experiments have shown that an error of 0.2% is sufficient). If both algorithms run with an error of 0.01%, which is close to the optimal processor, then the algorithm according to the invention requires 49 ms in comparison to 1817 ms, which the algorithm of Chakraborty et al. [6] are required.
- Figure 6 illustrates the reason for this behavior. It contains a section from a test run of the two algorithms compared to the exact solution.
- the same section of the run of the algorithm according to the invention is shown using an error of 5%. The error allows some test points to be omitted. Nevertheless, the approximation for the critical test points is closer to the exact solution than the approximation according to Chakraborty et al ..
- the method according to the invention can be carried out while the tasks are being processed by the system. It can be determined essentially simultaneously with the processing of the tasks whether the system can process the tasks in real time. If it is determined that i'as ⁇ s menr to be processed by the system can become aogearoei-cer, measures can be taken at an early stage. The measures can e.g. This could be, for example, the provision of additional resources for processing the tasks, an interruption of tasks or the initiation of error handling.
- the method according to the invention can be provided on a chip or other hardware as a program for carrying out the method.
- the method can also be integrated on the chip or hardware on a hardware basis. It is also possible that the program for performing the method on a storage medium, such as. B. a CD, DVD or hard drive is stored.
Abstract
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Application Number | Priority Date | Filing Date | Title |
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US11/579,828 US8010592B2 (en) | 2004-05-11 | 2005-05-10 | Method for testing the real-time capability of a system |
EP05752682A EP1756714A2 (de) | 2004-05-11 | 2005-05-10 | Verfahren zur prüfung der echtzeitfähigkeit eines systems |
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DE102004023738 | 2004-05-11 | ||
DE102004023738.7 | 2004-05-11 | ||
DE102004053979.0 | 2004-11-09 | ||
DE102004053979A DE102004053979A1 (de) | 2004-05-11 | 2004-11-09 | Verfahren zur Prüfung der Echtzeitfähigkeit eines Systems |
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WO2005111807A3 WO2005111807A3 (de) | 2006-08-03 |
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EP (1) | EP1756714A2 (de) |
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2004
- 2004-11-09 DE DE102004053979A patent/DE102004053979A1/de not_active Withdrawn
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2005
- 2005-05-10 US US11/579,828 patent/US8010592B2/en active Active
- 2005-05-10 EP EP05752682A patent/EP1756714A2/de not_active Withdrawn
- 2005-05-10 WO PCT/EP2005/005037 patent/WO2005111807A2/de active Application Filing
Non-Patent Citations (3)
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ALBERS K ET AL: "An event stream driven approximation for the analysis of real-time systems" REAL-TIME SYSTEMS, 2004. PROCEEDINGS. 16TH EUROMICRO CONFERENCE ON JUNE 30 - JULY 2, 2004, CATANIA, ITALY,IEEE, 30. Juni 2004 (2004-06-30), Seiten 187-195, XP002383592 ISSN: 1068-3070 * |
BARUAH S K ET AL: "Preemptively scheduling hard-real-time sporadic tasks on one processor" PROCEEDINGS OF THE REAL TIME SYSTEMS SYMPOSIUM. LAKE BUENA VISTA, DEC. 5 - 7, 1990, WASHINGTON, IEEE. COMP. SOC. PRESS, US, Bd. SYMP. 11, 5. Dezember 1990 (1990-12-05), Seiten 182-190, XP010022049 ISBN: 0-8186-2112-5 * |
CHAKRABORTY S., ET AL.: "Approximate Schedulability Analysis" PROCEEDINGS REAL-TIME SYSTEMS SYMPOSIUM ON 3-5 DECEMBER 2002, AUSTIN, TX, USA, IEEE, 3. Dezember 2002 (2002-12-03), Seiten 1-10, XP002383591 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8102552B2 (en) | 2008-04-03 | 2012-01-24 | Sharp Laboratories Of America, Inc. | Performance monitoring and control of a multifunction printer |
US8392924B2 (en) | 2008-04-03 | 2013-03-05 | Sharp Laboratories Of America, Inc. | Custom scheduling and control of a multifunction printer |
Also Published As
Publication number | Publication date |
---|---|
DE102004053979A1 (de) | 2005-12-08 |
US8010592B2 (en) | 2011-08-30 |
EP1756714A2 (de) | 2007-02-28 |
WO2005111807A3 (de) | 2006-08-03 |
US20080040171A1 (en) | 2008-02-14 |
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