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Real-Time Mach3.0

User Reference Manual

Takuro Kitayama,Clifford W.Mercer,Tatsuo Nakajima, Stefan Savage,Hideyuki Tokuda,and Jim Zelenka

School of Computer Science

Carnegie Mellon University

Pittsburgh,Pennsylvania15213

June1994

Acknowledgements

The authors would like to the following people who contributed to the implementation of Real-Time Mach:Stephen T.-C.Chou,Hiroshi Arakawa and Noritake Ashida.

This work was supported in part by a National Science Foundation Graduate Fellowship,by Bellcore,and by the U.S.Naval Ocean Systems Center under contract number N00014-91-J-4061.The views and conclusions contained in this document are those of the authors and should not be interpreted as representing of?cial policies,either expressed or implied,of NSF,Bellcore,NOSC,or the https://www.wendangku.net/doc/7f1751646.html,ernment.

Contents

1Introduction1 2Programming Environment2

2.1Scheduler1-2-32

2.2ARM,Advanced Real-time Monitor3 3Creating and Executing a Real-Time Program6

3.1UX Environment6

3.2RTS Environment6

3.3Standalone Environment8 4Realtime Scheduling and Thread Creation9

4.1Retrieving the current scheduling policy9

4.2Creating and Running Realtime Threads11

4.2.1Creating Aperiodic Threads11

4.2.2Using rate-monotonic scheduling12 5Clock and Timer Management17

5.1Realtime Clocks and Timers17

5.2Using a Realtime Clock17

5.2.1Reading the clock17

5.2.2Memory-mapping the clock18

5.2.3Clock Resolution20

5.2.4Identifying clocks22

5.3Alarmclock Timer24

5.3.1Sleeping on a timer24 6Processor Reservations27

6.1Creating and Destroying Reservations27

6.2Reservation status30 7Virtual Memory Managment33

7.1Allocating and Wiring33

7.2Allocating and Wiring Program Components33

7.3Allocating and Wiring Program Text and Data33

7.4Sharing34

7.5Sharing Program Components34

7.6Sharing Program Text35 8Real-Time Synchronization37

8.1Real-Time Mutex37

8.2Condition Variable39

9Real-Time IPC43

9.1Server Program43

9.2Client Program45

9.3MIG De?nition File47 10Device Management48

10.1Device48

10.1.1Console48

10.1.2Floppy Disk49

10.2Name Space for Device51 11Pro Audio Spectrum1653

11.0.1The PAS-1653

11.0.2Running the PAS-16utilities53 12Display Screen(DS)Library55

12.1Program Overview55

12.2Program Components55

12.3Program Text56

List of Figures

2.1Scheduler1-2-34

2.2ARM5

3.1RT-Mach Programming Environment7

Chapter1

Introduction

This Real-Time Mach User Reference Manual describes how to create,execute and debug a distributed real-time program on the Real-Time Mach operating system.In particular,thismanual contains example programs to demonstrate novel features in Real-Time Mach.If you need to understand the details of Real-Time Mach kernel primitives,please consult the man pages.

Several papers which describe various aspects of the design and implementation of Real-Time Mach have been published.The following is a list of some of these papers.

Tokuda,H.,Nakajima,T.and Prithvi Rao,"Real-Time Mach:Towards Predictable Real-Time Systems",

in Proceedings of USENIX1990Mach Workshop,October1990.

Tokuda,Hideyuki and Nakajima,Tatsuo,"Evaluation of Real-Time Synchronization in Real-Time Mach",

in Proceedings of USENIX2nd Mach Symposium,October1991.

Nakajima,T.,and Tokuda,H.,"Implementaqtion of Scheduling Policies in Real-Time Mach",Proceedings

of IWOOS,September24-25,1992.

Savage,S.and Tokuda,H.,"RT-Mach Timers:Exporting Time to the User",Proceedings of3rd USENIX

Mach Symposium,April1993.

Nakajima,T.,Kitayama,T.and Tokuda H,"Experiments with Real-Time Servers in Real-Time Mach",

Proceedings of3rd USENIX Mach Symposium,April1993.

In the user reference manual,we assume that the reader is familiar with the C and C++programming languages, object-oriented programming,real-time programming,and the Mach3.0microkernel.However,if you are not familiar with these terms and concepts,you may wish to consult the following papers and books before you read the manual.

Tokuda,H.,and Mercer,C.W.,"ARTS:A Distributed Real-Time Kernel",ACM Operating Systems

Review,Vol.23,No.3,July,1989.

Tokuda,H.and Kotera,M.,"A Real-Time Tool Set for the ARTS Kernel",Proceedings of the9th

Real-Time Systems Symposium,December1988.

B.W.Kernighan and D.M.Ritchie,The C Programming Language,2nd Ed.,Prentice-Hall,Englewood

Cliffs,NJ,1988.

S.B.Lippman,C++Primer,Addison-W esley,Reading,MA1989.

W.Kim and F.H.Lochovsky,Ed.,Object-Oriented Concepts,Databases,and Applications,ACM Press,

New York,NY1989.

J.A.Stankovic,Misconceptions About Real-Time Computing:A Serious Problem for Next-Generation

Systems,IEEE Computer,Vol.21,No.10,Oct.1988.

ACM Operating Systems Review Special Issue on Real-Time Operating Systems,V ol.23,No.3,July

1989.

Note that this is a preliminary version of the user reference manual for Real-Time Mach,and we are working on future versions of this document.

Chapter2

Programming Environment

Unlike traditional real-time operating systems,we have attempted to provide a good programming environment for application designers.Due to the use of the C language,many of the tools from the Unix progarmming environment may be inherited.For instance,we are able to use gnu-emacs,make,rcs,and adb for the development of distributed real-time programs under Real-Time Mach.

In addition to the existing tools we also have developed and modi?ed the ARTS Real-Time Toolset for analyzing the runtime behavior of distributed Real-Time Mach programs.The goal of the toolset is to incorporate a system-wide scheduling analysis which includes communication and synchronization among real-time tasks.It can predict and analyze the schedulability of the application task set and perform runtime monitoring and debugging[3].Currently, the toolset consists of Scheduler1-2-3[4]and ARM[5].

2.1Scheduler1-2-3

Scheduler1-2-3is an X11-window based interactive schedulability analyzer for creating,manipulating,and analyzing real-time task sets.It employs analysis methods ranging from closed form analysis to simulation to determine whether a feasible schedule exists for a given task set and under what conditions deadlines cannot be met.Scheduler1-2-3can be also used as a synthetic workload generator,which can be integrated with the other tool,the advanced real-time monitor(ARM)to generate the execution history diagram of the task set under a speci?ed scheduling policy.

The basic functions of Scheduler1-2-3are summarized as follows.

Schedulability Analysis The schedulability is veri?ed for the given hard deadline task sets under one of the pre-programmed scheduling algorithm sets.The algorithm set contains the rate monotonic(RM)[2],the?rst-in ?rst-out(FIFO),the round robin(RR),the earliest deadline?rst(DL),the shortest processing time?rst(SF),the minimum slack time?rst(MS),and the?xed priority preemptive(FP)algorithms.

The schedulability analysis can be performed by selecting a speci?c context overhead(sec)and processor speed which is relative to a16.67MHz MC68020processor.If the task set does not contain any aperiodic tasks and the scheduling policy is RM,the closed form analysis can be chosen.Otherwise,analysis is done based on the simulation.In the closed form analysis,we perform the utilization bound check,harmonic task check,and critical zone check[4].In addition to the schedulability analysis,it also performs the monitorability analysis which veri?es whether or not the runtime system behavior can be monitored by ARM.

Response Time Analysis for Aperiodic Tasks The performance of a given set of aperiodic tasks with soft deadlines can be analyzed using speci?c scheduling algorithms,such as Polling,Background,and Deferrable Servers[1].

Scheduler1-2-3will simulate the aperiodic task activities and estimates the minimum,average,and maximum response times of the given aperiodic task set.The aperiodic task set is de?ned by priority,the mean interarrival time,standard deviation,and distribution.

X11based User Interface An interactive user interface is provided on an X11window system with bitmap display for ease of use.As shown in Figure2.1,there are four major sections.From the top,the?rst section consists of various action menus and two sliding bars which allow the user to set some parameters.The third and fourth

sections are used to specify timing attributes of the real-time task set such as its priority,worst case execution time,period,etc.The last section is an output window which displays the results of the schedulability analysis. Synthetic Workload Generator Scheduler@1-2-3outputs a workload table.To con?rm the schedulability of the given task set on a practical environment,a synthetic task set is generated based on the workload table written in

C.By using the workload table and a preprogrammed workload program,a user can run the synthetic workload

under the target execution environment.

The implementation of Scheduler1-2-3consists of three major modules:the Analysis Module,the File Interface Module,and the User Interface Module.The current X11version of Scheduler1-2-3was derived by simply rewriting the User Interface Module from the SunView version.

Scheduler1-2-3is a very useful tool to analyze the schedulability of the given task set and to validate a particular implementation of a scheduling policy by comparing the execution history of the simulation results and the actual run.However,the current version is limited to a single target node environment.The extension is being made to cope with1)communication scheduling analysis and2)end-to-end analysis where a task set is de?ned by end-to-end time constraints in a distributed environment.The current task descriptions also do not yet allow a user to specify any precedence relationship among tasks.

2.2ARM,Advanced Real-time Monitor

ARM is also an X11window based"visualizer"for the real-time tasks’runtime behavior.It allows us to verify the timing correctness of each real-time task and support real-time debugging and monitoring.ARM also analyzes the timing aspects of the time window(speci?ed by using the mouse to de?ne start and end times)by showing the number of periodic and aperiodic tasks,total CPU utilization,the number of met deadlines,the number of missed deadlines, and the number of scheduling events.Since the ARM’s input is a sequence of event packets,it can depict the event stream either from the actual target system or from Scheduler1-2-3’s simulation output.

The basic functions of ARM are summarized as follows.

Visualization ARM can visualize the system’s scheduling decisions,namely context switches among periodic and aperiodic tasks by means of an execution history diagram.Figure2.2shows an example of the history execution diagram and its zooming function.The top six boxes indicate the action menus.The top half portion of the tasks indicated by Lids1through8corresponds to the periodic activities de?ned in the target task set and the bottom half corresponds to the aperiodic activities.Character’R’shown in the execution history diagram indicates that

a periodic task becomes runnable and’E’indicates that it terminates with its deadline being met;otherwise,’A’

or’C’indicate the task is aborted or canceled due to a missed deadline.The bottom window shows various statistical information.

Event Dump and Analysis After ARM has completed its event recording,it can also play back and generate a sequence of scheduling events and information on the timing aspects of the real-time tasks.

The implementation of ARM is divided into three functional units;the Event Tap,the Reporter,and the Visualizer module.The Event Tap is a probe embedded inside the target operating system to pick up the raw data on scheduling events.The Reporter is in charge of sending the raw data to the Visualizer on a remote host which analyzes and visualizes the events.

ARM is a very useful monitor which allows us to debug the real-time scheduler as well as application tasks.Since the Visualizer is independent from the target system,ARM can be ported easily into different real-time operating system environments.The current limitation is that we cannot monitor the real-time task’s activity at an arbitrary level of abstraction.This requires complex monitorability analysis if Scheduler1-2-3must estimate the worst case interference caused by the monitoring activities.

Figure2.1:Scheduler1-2-3

Schedulability Analysis by Scheduler1-2-3:The bottom output window indicates that the above task set was schedulable under the given condition with about87utilization.If the given task set is not schedulable,then it will indicate when one of tasks will miss

its deadline.

This ?gure shows an example of the history execution diagram.The top six boxes indicate the action menus.The top half of threads correspond to the periodic threads and the bottom half correspond to the aperiodic threads.Character ’R’shown in the execution history diagram indicates a periodic thread which becomes runnable and ’E’indicates that it terminates with its deadline being met;’A’or ’C’indicate that the thread is aborted or canceled due to a missed deadline.’B’indicates that the thread is blocked waiting for some event,or for preemption.The bottom window shows the various statistical information.

Figure 2.2:ARM

Chapter3

Creating and Executing a Real-Time Program

This section describes how to create an executable image?le from source?les and link it with the Real-Time Mach system call library to create and executable program.

RT-Mach provides three environments for running applications(Figure3.1).The?rst environment is Unix environ-ment.Applications can uses Unix primitives such as?les and sockets.The second environment is RTS environment. RTS environment provides simple?le system interfaces,process management interface and TTY interface.The environment is suitable for developing embedded applications.The last environment is stand alone environment.The application programmers who uses the environment may write their own?le systems,and process management. 3.1UX Environment

A source?le must be written in C.This source?le must be compiled by using the native Unix C compiler which produces a".o"?le from the code.Then,this.o?le is linked with the Real-Time Mach library called libmach

This example program may be executed simply by typing it’s name at the Unix shell prompt as follows:

example

Two libraries may be used,programmers create advanced applications in Unix Environment.The?rst library is the display(DS)library.When programmers use the library,libds.a should be linked their applications.

cc-o example example.c-lds-lmach

look server name",&serv

check server name",MACH NULL,serv

3.2RTS Environment

When programmers create programs which run on RTS environment,libmach

Standalone

UNIX Server RTS Server

/../../mach_servers/startup must be rts

Figure 3.1:RT-Mach Programming Environment

The display library(DS)can be used by linking libds

init()should be called before calling other RTS primitives. libmach sa.a should be linked instead of libmach

Chapter4

Realtime Scheduling and Thread Creation

4.1Retrieving the current scheduling policy

Program Overview

This program retrieves and outputs the current scheduling policy.get policy()does the actual work.

Program Components

lines14-44Retrieve the current scheduling policy

lines26-28Get the default processor set

lines31-33Get the control port for this default processor set

lines36-40Using this control port,get the current scheduling policy for the default processor set

Program Text

1/*

2*getpolicy.c

3*/

4/*

5*RTMach example program

6*get the current scheduling policy

7*/

9#include

10#include

11#include

12#include

14/*

15*get the scheduling policy for the default

16*processor set,store it where policy points

17*/

18kern_return_t get_scheduling_policy(int*policy)

19{

20struct pset_sched_policy_attr pset_attr;

21processor_set_name_t psetname,pset;

22unsigned int count,i;

23kern_return_t ret;

25/*get the default processor set*/

26ret=processor_set_default(mach_host_self(),&psetname);

27if(ret!=KERN_SUCCESS)

28return(ret);

30/*get the control port for this processor set*/

31ret=host_processor_set_priv(mach_host_priv_self(),psetname,&pset); 32if(ret!=KERN_SUCCESS)

33return(ret);

35/*get the scheduling policy for this processor set*/

36count=PSET_SCHED_POLICY_ATTR_COUNT;

37ret=processor_set_get_attribute(pset,

38PSET_SCHED_POLICY_ATTR,

39(processor_set_attr_t)&pset_attr,

40&count);

42*policy=pset_attr.sched_policy;

43return(ret);

44}

46main(int argc,char**argv)

47{

48kern_return_t ret;

49int policy;

51/*get the scheduling policy*/

52ret=get_scheduling_policy(&policy);

53if(ret!=KERN_SUCCESS){

54printf("ERROR:got%s getting the scheduling policy\n",

55mach_error_string(ret));

56exit(-3);

57}

59printf("The scheduling policy is:");

60switch(policy){

61case SCHED_POLICY_MKTIMESHARE:

62printf("mach timesharing");

63break;

64case SCHED_POLICY_FIXEDPRI_RR:

65printf("round-robin fixed priority");

66break;

67case SCHED_POLICY_FIXEDPRI_FIFO:

68printf("fifo fixed priority");

69break;

70case SCHED_POLICY_RATE_MONOTONIC:

71printf("rate monotonic");

72break;

73case SCHED_POLICY_DEADLINE_MONOTONIC:

74printf("deadline monotonic");

75break;

76case SCHED_POLICY_EARLIEST_DEADLINE_FIRST:

77printf("earliest deadline first");

78break;

79case SCHED_POLICY_RESERVES:

80printf("reserves");

81break;

82default:

83printf("unknown");

84}

86printf(".\n");

87exit(0);

88}

4.2Creating and Running Realtime Threads

4.2.1Creating Aperiodic Threads

Program Overview

This program creates and runs three aperiodic threads with?xed priority preemptive scheduling policy.The threads are created and launched in

rt rtthread

count to3

line44set the scheduling policy on the default processor set(we request FIFO?xed priority scheduling)

lines27-37athread()is the function that all three threads we fork off will run.Each thread prints its identi?cation number(which is passed to it as an argument,and comes from the call to rt rtthread

count was initialized to3earlier;each thread decrements it.When a thread is done,it does a thread thread

16*a thread can end its execution by saying

17*END_THREAD()

18*the last thread to finish running should

19*call exit()instead,so it can also clean

20*up the parent task

21*/

22#define END_THREAD()thread_terminate(mach_thread_self())

24/*

25*a generic thread

26*/

27void athread(int*arg)

28{

29int threadnum=(int)arg;

31printf("athread running,num=%d\n",threadnum);

32thread_count--;

33if(thread_count)

34END_THREAD();

35else

36exit(0);

37}

39main(int argc,char**argv)

40{

41kern_return_t ret;

43/*set the scheduling policy to fixed priority*/

44ret=rt_set_scheduling_policy(SCHED_POLICY_FIXEDPRI_FIFO);

45if(ret!=KERN_SUCCESS){

46printf("ERROR:got%s setting the scheduling policy\n",

47mach_error_string(ret));

48exit(-3);

49}

51/*run some threads*/

52rt_simple_thread_fork(athread,(int*)1,13);

53rt_simple_thread_fork(athread,(int*)2,5);

54rt_simple_thread_fork(athread,(int*)3,12);

56END_THREAD();

57}

4.2.2Using rate-monotonic scheduling

Program Overview

This program creates a periodic threads with the rate-monotonic scheduling policy,which initially runs with a rate of .25seconds.Each time,it does a little bit more work.The program sets a deadline handler(deadlinefunc())for this thread.When the thread can no longer complete its chore within its period,this deadline handler will be noti?ed, and the thread will be suspended.The handler will then adjust the period of the thread(it increases it by.08seconds) and restarts it.

Program Components

line16declare a handle on a thread;the deadline handler will need this

line18declare a port that will be used as our deadline port

lines26-48create our rate monotonic thread,with the given period,store the deadline port,and return a handle on the created thread

lines50-58rthread()is the function that is run by our rate monotonic thread.Each time,it does a little more work.Eventually,it will try to do too much and will miss its deadline(that is,it won’t be able to do all its work before the next time that it’s supposed to run).

lines65-113deadlinefun()is our deadline handler

lines80-87retrieve the current period of the rate monotonic thread

lines89-104increase this period by.08seconds

line112resume the rate monotonic thread,which was automatically suspended when it missed a deadline

lines145-155create a deadline handling thread which will call deadlinefunc()when thread misses its deadline Program Text

1/*

2*ratemono_thread.c

3*/

4/*

5*RTMach example program

6*create a rate-monotonic realtime thread

7*/

9#include

10#include

11#include

12#include

13#include

15int iterations=0;

16thread_t thread;

17rt_thread_attr_data_t thread_attr;

18mach_port_t deadline_port=MACH_PORT_NULL;

20/*

21*take a function,an argument for it(int*),

22*and a rate,and runs that function with that

23*argument in a rate monotonic thread with the

24*given rate

25*/

26thread_t ratemono_rtthread_fork(rt_thread_attr_data_t*thread_attr,

27void(*func)(),int*arg,

28int period_secs,int period_nsecs,

29mach_port_t*portp)

30{

31thread_t new_thread;

32kern_return_t ret;

34ret=rt_thread_attribute_init(

3512,/*priority*/

36period_secs,/*period and deadline secs*/

37period_nsecs,/*period and deadline nsecs*/

38func,/*entry point*/

39arg,/*argument*/

40portp,/*port*/

41thread_attr);

42if(ret!=KERN_SUCCESS)

43return(ret);

45/*create and run the thread*/

46ret=rt_thread_create(mach_task_self(),&new_thread,thread_attr);

47return(new_thread);

48}

50void rthread(int*arg)

51{

52int x,i;

54iterations+=75000;

55printf("thread counting to%d\n",iterations);

56for(x=0;x

57printf("thread counted to%d\n",iterations);

58}

60/*

61*called when the thread misses a deadline

62*see the call to rt_thread_deadline_handler

63*too see where call is generated

64*/

65void deadlinefunc(timespec_t time,thread_t thread,int*arg)

66{

67static int deadlines_missed=0;

68rt_thread_attr_data_t attr;

69unsigned int count;

70kern_return_t ret;

72printf("thread missed deadline%d times\n",++deadlines_missed);

73printf("time=%d%d\n",time.seconds,time.nanoseconds);

75/*

76*adjust the deadline and period of the thread to give it more time

77*next time

78*/

80/*get current attribute*/

81count=THREAD_SCHED_BASIC_ATTR_COUNT;

82ret=thread_get_attribute(thread,THREAD_SCHED_BASIC_ATTR,&attr,&count); 83if(ret!=KERN_SUCCESS){

84printf("ERROR:got%s from thread_get_attribute\n",

85mach_error_string(ret));

86exit(-29);

87}

89/*adjust period&deadline*/

90attr.deadline.nanoseconds+=80000000;

91if(attr.deadline.nanoseconds>=NANOSEC_PER_SEC){

92attr.deadline.nanoseconds-=NANOSEC_PER_SEC;

93attr.deadline.seconds++;

94}

95attr.period=attr.deadline;

97/*set attributes*/

98ret=thread_set_attribute(thread,THREAD_SCHED_BASIC_ATTR,

99&attr,THREAD_SCHED_BASIC_ATTR_COUNT);

100if(ret!=KERN_SUCCESS){

101printf("ERROR:got%s from thread_get_attribute\n",

102mach_error_string(ret));

103exit(-29);

104}

105

106

107/*

108*the thread is no longer scheduled,

109*so we must explicitly say it’s OK to

110*run it

111*/

112thread_resume((mach_port_t)thread);

113}

114

115main(int argc,char**argv)

116{

117kern_return_t ret;

118int x;

119

120/*set the scheduling policy to rate monotonic*/

121ret=rt_set_scheduling_policy(SCHED_POLICY_RATE_MONOTONIC);

122if(ret!=KERN_SUCCESS){

123printf("ERROR:got%s setting the scheduling policy\n", 124mach_error_string(ret));

125exit(-3);

126}

127

128/*

129*run a rate-monotonic thread

130*/

131

132/*thread runs every.25seconds*/

133thread=ratemono_rtthread_fork(

134&thread_attr,

135rthread,(int*)1,

1360,200000000,

137&deadline_port);

138

139/*

140*rt_thread_deadline_handler blocks waiting for deadline

141*messages for the given thread;when they come in,it will 142*calls the specified function as:

143*func(timespec_t*time,thread_t thread,arg)

144*/

145ret=rt_thread_deadline_handler(

146&thread,/*thread*/

147&thread_attr,/*thread attributes*/

148deadlinefunc,/*function*/

1490/*arg*/

150);

151if(ret!=KERN_SUCCESS){

152printf("Got%s from rt_thread_deadline_handler\n",

153mach_error_string(ret));

154exit(-23);

155}

2014届高考英语一轮语法复习大全content还是contents

content还是contents 1.表示图书、文章、讲话、节目等的具体“内容”时，通常要用复数形式。如： The contents of the telegram are as follows.电报内容如下。 The contents of the document remain secret.文件的内容仍然保密。但是，若指抽象意义的内容（如侧重指主题或主要内容），则为不可数名词。如： The teacher returned his paper and said the content was very interesting.教师还给他论文，说论文内容很有意思。 The content of your essay is excellent, but it’s not very well expressed.你那篇文章的内容好极了，但是表达方式不太好。 2.若指具体所容纳的东西或所含的东西，通常用复数形式。如： He checked the contents of the package carefully.他仔细地查看了包裹里的东西。 The entire contents of the house were put up for auction.房子里的所有东西都被拿去拍卖了。 He emptied out the contents of his pockets onto the table.他把口袋里的东西全部倒在桌上。 3.表示“含量”“容量”，通常用单数形式（且通常置名词之后）。如： Oranges have a high vitamin C content.橙子的维生素C含量很高。 Don’t eat food with a high fat content.不要吃脂肪含量高的食物。 Most soft drinks have a high sugar content.大多数软饮料的含糖量都很高。 4.表示“目录”时，总是用复数形式。如： I can’t find it in the contents.我在目录里找不到它。 Look up the contents at the beginning of the book.查一下卷首的目录。即使用于名词前作定语也要用复数。如： the contents page目录页有时，甚至还可与不定冠词连用。如： Is there a contents?有目录吗? 但是a contents更普通的说法是a table of contents。如： At the front of the book is a table of contents, giving details of what is in the book.书的前部有目录，详列了书中的内容。 5.表示“满足”“满意”时，为不可数名词，没有复数形式，与contentment同义。但

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vii U.S. Census Bureau, Statistical Abstract of the United States: 2012Page New Tables ...................................................... xi Guide to Tabular Presentation ........................................ xiii Telephone and Internet Contacts ...................................... xv Sec. 1. Population (Tables 1–77) .................................... 1Estimates and projections by age, sex, race, and Hispanic origin ............. 8States, metropolitan areas, cities ..................................... 18Mobility status ................................................... 37Profiles of elderly, racial, and Hispanic-origin populations ................... 39Native and foreign-born populations ................................... 43Immigration ..................................................... 46Ancestry, languages ............................................... 50Marital status and households ....................................... 52Religion ........................................................ 61Sec. 2. Births, Deaths, Marriages, and Divorces (Tables 78–133) ......... 63Births .......................................................... 65Life expectancy ................................................... 77Deaths ......................................................... 81Marriages and divorces ............................................. 96Sec. 3. Health and Nutrition (Tables 134–218) ......................... 99National Health Expenditure Accounts ................................. 101Medicare, Medicaid, and SCHIP ....................................... 106Health insurance .................................................. 111Employment ..................................................... 114Hospitals ....................................................... 118Health measures .................................................. 123Food consumption, nutrition ......................................... 140Sec. 4. Education (Tables 219–305) .................................. 143School enrollment ................................................. 145Educational attainment ............................................. 151Technology in schools ............................................. 171Degrees conferred ................................................ 188Sec. 5. Law Enforcement, Courts, and Prisons (Tables 306–357) .......... 193Crime rates ...................................................... 196Crimes and arrests ................................................ 207Courts ......................................................... 209Juveniles, child abuse .............................................. 214Prisoners and inmates .............................................. 217Sec. 6. Geography and Environment (Tables 358–396) .................. 221Land and water ................................................... 223Air quality ....................................................... 229Municipal hazardous waste .......................................... 231Weather ........................................................ 236Sec. 7. Elections (Tables 397–427) ................................... 243Vote results ...................................................... 248Campaign finances ................................................ 263Contents [Numbers following subjects are page numbers]

Teaching contents

Teaching contents: 1. Using nouns to identify people’s occupations. e.g. policeman, doctor 2. Using formulaic expressions to identify people. e.g. He/She is a doctor. 3. Asking yes/no questions to identify people. e.g. Is he/she a doctor? Teaching aims 1. Speaking: 1)Open an interaction by eliciting a reponse. 2)Pronounce words properly. 3)Use modelled phrases to communicate with other learners 2.Listening: Locate specific information in response to simple questions. Teaching procedures: 1. Warm up 1)T: Hello! Boys and girls. Nice to meet you. May I know your English name? What’s your English name? Could you please tell me? S1: Flory. S2:Lulu. S3:Alice. S4:Danny. T: What’s your English name? S5: Kate.

Teaching Contents 教学内容

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Contents10

CONTENTS Part A SECTION ONE THEORIES AND METHODS OF SAFETY SCIENCE Safety in Today’s World, New Challenges? PASMAN Hans J (3) Mathematics Idea of Sustainable Safety System Development—Approach by Survival Theory Andrzej H. SZYMANEK (19) Discussion of Some Problems on Safety Development and Safety Science YUAN Changming & YUAN Yin (25) Coal Mine Accident Prediction with the Model Coupling Grey Theory and Markov Chain DONG Sihui (29) Study on Evolutionary Law of Occupational Safety YAO Youli (35) Econometric Analysis on Relativity Between Economic Structure and Accident Risks SONG Li, HE Xueqiu & LI Chengwu (40) The Rough Set Analysis on Safety Psychology of Construction Builders WANG Xiaoqun (44) Evaluation of Potential Accident and Emergency Management Based on FAHP MA Maodong, WANG Liqiong, WANG Nafeng & ZHANG Qian (49) Study on the Prevention of Mine Disaster Based on Self-Organized Criticality Theory LIU Nianping, WANG Hongtu & YUAN Zhigang (55) Numerical Simulation on Nuclear Accident Hazard Predicting and Warning HUANG Shunxiang, LI Huimin, FU Tianbao, LIU Feng, WANG Yonghong & ZHAO Yuan (59) New Optimized Fault Tree Analysis Method and its Application YANG Yi, YUE Bin, PING Gonghui & WANG Hui (64) Study on Analysis and Control Model of the Organization Errors in Aviation Accidents Based on the Theory of Hazards DENG Qiong, QI Wei & FENG Long (68) Model of Total Factor Productivity on Coal Mine Safety Efficiency SHI Wenli & GAO Tianbao (75) Unascertained Model of Colliery Safety Grading Evaluation SHI Wenli & GAO Tianbao (81) Model for Transformation and Quantification of Safety Social Benefits and Its Applications WANG Haiyan, ZHOU Xinquan & ZHANG Zhenlong (87) Data Mining for Coal Mine's Inherent Safety Based on Fuzzy Comprehensive Evaluation CHEN Zhangliang, SUN Yufeng & LI Zhongcai (95) SECTION TWO SAFETY ASSESSMENT AND RISK ANALYSIS Risk, a Persistent Issue Ben J. M. ALE (105)

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