System level fixed priority energy management algorithm for embedded real time application

Dynamic power management (DPM) and dynamic voltage scaling (DVS) are crucial techniques to reduce the energy consumption in embedded real-time systems. Many previous studies have focused on the energy consumption of the processor or I/O devices. In this paper, we focus on the problem of energy management integrating DVS and DPM techniques for periodic embedded real-time applications with rate monotonic (RM) policy and present a system level fixed priority energy-efficient scheduling (SLFPEES) algorithm. The SLFPEES algorithm consists of I/O device scheduling and job scheduling. I/O device scheduling is based on the dynamic power management with rate monotonic (DPM-RM) policy which puts devices into the sleep state when the idle interval is larger than devices break even time. Job scheduling is based on the RM policy and uses stack resource protocol (SRP) to guarantee exclusive access to the shared resources. For energy efficiency, the SLFPEES algorithm schedules the task with a lower speed and a higher speed. The experimental result shows that the SLFPEES algorithm can yield significantly energy savings with respect to the existing techniques.     

Energy-aware disk scheduling for soft real-time I/O requests

In this work, we develop energy-aware disk scheduling algorithm for soft real-time I/O. Energy consumption is one of the major factors which bar the adoption of hard disk in mobile environment. Heat dissipation of large scale storage system also calls for an energy-aware scheduling technique to further increase the storage density. The basic idea in this work is to properly determine the I/O burst size so that device can be in standby mode between consecutive I/O bursts and that it can satisfy the soft real-time requirement. We develop an elaborate model which incorporates the energy consumption characteristics, overhead of mode transition in determining the appropriate I/O burst size and the respective disk operating schedule. Efficacy of energy-aware disk scheduling algorithm greatly relies on not only disk scheduling algorithm itself but also various operating system and device firmware related concerns. It is crucial that the various operating system level and device level features need to be properly addressed within disk scheduling framework. Our energy-aware disk scheduling algorithm successfully addresses a number of outstanding issues. First, we examine the effect of OS and hard disk firmware level prefetch policy and incorporate its effect in our disk scheduling framework. Second, our energy aware scheduling framework can allocate a certain fraction of disk bandwidth to handle sporadically arriving non real-time I/O’s. Third, we examine the relationship between lock granularity of the buffer management and energy consumption. We develop a prototype software with energy-aware scheduling algorithm. In our experiment, proposed algorithm can reduce the energy consumption to one fourth if we use energy-aware disk scheduling algorithm. However, energy-aware disk scheduling algorithm increases buffer requirement significantly, e.g., from 4 to 140 KByte. We carefully argue that the buffer overhead is still justifiable given the cost of DRAM chip and importance of energy management in modern mobile devices. The result of our work not only provides the energy efficient scheduling algorithm but also provides an important guideline in capacity planning of future energy efficient mobile devices. This paper is funded by KOSEF through Statistical Research Paper for Complex System at Seoul National University.     

Race-to-halt energy saving strategies

Energy consumption is one of the major issues for modern embedded systems. Early, power saving approaches mainly focused on dynamic power dissipation, while neglecting the static (leakage) energy consumption. However, technology improvements resulted in a case where static power dissipation increasingly dominates. Addressing this issue, hardware vendors have equipped modern processors with several sleep states. We propose a set of leakage-aware energy management approaches that reduce the energy consumption of embedded real-time systems while respecting the real-time constraints. Our algorithms are based on the race-to-halt strategy that tends to run the system at top speed with an aim to create long idle intervals, which are used to deploy a sleep state. The effectiveness of our algorithms is illustrated with an extensive set of simulations that show an improvement of up to 8% reduction in energy consumption over existing work at high utilization. The complexity of our algorithms is smaller when compared to state-of-the-art algorithms. We also eliminate assumptions made in the related work that restrict the practical application of the respective algorithms. Moreover, a novel study about the relation between the use of sleep intervals and the number of pre-emptions is also presented utilizing a large set of simulation results, where our algorithms reduce the experienced number of pre-emptions in all cases. Our results show that sleep states in general can save up to 30% of the overall number of pre-emptions when compared to the sleep-agnostic earliest-deadline-first algorithm.     

开销敏感的多处理器最优节能实时调度算法

嵌入式多处理器系统的能耗问题变得日益重要,如何减少能耗同时满足实时约束成为多处理器系统节能实时调度中的一个重要问题.目前绝大多数研究基于关键速度降低处理器的频率以减少动态能耗,采用关闭处理器的方法减少静态能耗.虽然这种方法可以实现节能,但是不能保证最小化能耗.而现有最优的节能实时调度未考虑处理器状态切换的时间和能量开销,因此在切换开销不可忽视的实际平台中不再是最优的.文中针对具有独立动态电压频率调节和动态功耗管理功能的多处理器系统,考虑处理器切换开销,提出一种基于帧任务模型的最优节能实时调度算法.该算法根据关键速度来判断系统负载情况,确定具有最低能耗值的活跃处理器个数,然后根据状态切换开销来确定最优调度序列.该算法允许实时任务在处理器之间任意迁移,计算复杂度小,易于实现.数学分析证明了该算法的最优性.     

抢占阈值调度的功耗优化

DVS(Dynamic Voltage Scaling)技术的应用使得任务执行时间延长进而使得处理器的静态功耗(由CMOS电路的泄露电流引起)迅速增加.延迟调度(Procrastination Scheduling)算法是近年提出用于减少静态功耗的有效方法,它通过推迟任务的正常执行来尽可能长时间地让处理器处于睡眠或关闭状态,从而避免过多的静态功耗泄露.文中针对可变电压处理器上运用抢占阈值调度策略的周期性任务集合,将节能调度和延迟调度结合起来,提出一种两阶段节能调度算法,先使用离线算法来计算每个任务的最优处理器执行速度,而后使用在线模拟调度算法来计算每个任务的延迟时间,从而动态判定处理器开启/关闭时刻.实例研究和仿真实验表明,作者的方法能够进一步降低抢占阈值任务调度算法的功耗.     

A DVS-assisted hard real-time I/O device scheduling algorithm

The I/O subsystem has become a major source of energy consumption in a hard real-time monitoring and control system. To reduce its energy consumption without missing deadlines, a dynamic power management (DPM) policy must carefully consider the power parameters of a device, such as its break-even time and wake-up latency, when switching off idle devices. This problem becomes extremely complicated when dynamic voltage scaling (DVS) is applied to change the execution time of a task. In this paper, we present COLORS, a composite low-power scheduling framework that includes DVS in a DPM policy to maximize the energy reduction on the I/O subsystem. COLORS dynamically predicts the earliest-access time of a device and switches off idle devices. It makes use of both static and dynamic slack time to extend the execution time of a task by DVS, in order to create additional switch-off opportunities. Task workloads, processor profiles, and device characteristics all impact the performance of a low-power real-time algorithm. We also identify a key metric that primarily determines its performance. The experimental results show that, compared with previous work, COLORS achieves additional energy reduction up to 20%, due to the efficient utilization of slack time.

Energy aware fixed priority scheduling in mixed-criticality systems

Most of studies about energy management for MC systems are based on dynamic priority scheme. The disadvantages of dynamic priority scheme are high system overhead and poor predictability. Unlike previous studies, we focus on the problem of scheduling mixed-criticality (MC) periodic tasks with minimizing energy consumption in MC systems based on fixed priority scheme. Firstly, we explain a criticality rate monotonic scheduling (CRMS) and propose the sufficient schedulability condition of CRMS. Secondly, we compute the energy minimization uniform scaled speed and present an optimal static solution algorithm based on CRMS. The extra workload of the high criticality level (HI) task executes with the maximum processor speed in the high criticality mode (HI-mode). But this algorithm does not exploit the slack time generated from the HI task in the low criticality mode (LO-mode). For energy efficiency, we propose a dynamic fixed priority energy minimization algorithm which exploits the slack time generated from the HI task in LO-mode to save energy. In addition, it combines a dynamic voltage and frequency scaling technique and a dynamic power management technique to reduce energy consumption. Finally, the experiments are applied to evaluate the performance of the proposed algorithm and the experimental results show that the proposed algorithm can save up 23.89% energy compared with other existing algorithms.     

#br# 基于遗传算法的大数据节能优化模型

摘要：针对云计算环境下能源消耗严重以及服务器能耗相对较高的问题,本文基于遗传算法提出一种大数据节能优化模型对任务调度进行优化,从而降低服务器能耗,并设计相关的算法对模型进行形式化描述,最后设计相关实验对本文所提算法进行验证。实验结果表明,本文所提出的模型和算法能够有效降低服务器能耗开销,极大地提高系统的资源利用率。     

基于软件的无线网绿色代理系统

提出了一种基于软件架构的无线网绿色节能代理系统.针对无线网络的特点,通过在代理服务端创建网内其他终端的虚拟网卡和虚拟镜像,配合针对终端移动的代理服务器切换机制与重发机制,使得无线终端在节能时快速进入休眠状态,在响应请求时快速、有效地被唤醒.该软件系统不对原有网络拓扑或硬件系统做任何改变,所以具有普适性和可移植性强的特点.该系统被实际部署到一个包括11台有线与无线上网的计算机测试平台上通过长时间的监测,整个网络功耗节省了超过60％,充分说明了该系统在实际应用中的经济价值.     

An Energy-Aware Heuristic Scheduling for Data-Intensive Workflows in Virtualized Datacenters

With the development of cloud computing, more and more data-intensive workflows have been deployed on virtualized datacenters. As a result, the energy spent on massive data accessing grows rapidly. In this paper, an energy-aware scheduling algorithm is proposed, which introduces a novel heuristic called Minimal Data-Accessing Energy Path for scheduling data-intensive workflows aiming to reduce the energy consumption of intensive data accessing. Extensive experiments based on both synthetical and real workloads are conducted to investigate the effectiveness and performance of the proposed scheduling approach. The experimental results show that the proposed heuristic scheduling can significantly reduce the energy consumption of storing/retrieving intermediate data generated during the execution of data-intensive workflow. In addition, it exhibits better robustness than existing algorithms when cloud systems are in presence of I/O- intensive workloads.     

分层学习的边缘计算资源调度粒子群优化算法

由于存在诸如CPU运算速度慢,电池容量低等问题,智能移动设备本身无法执行计算需求大的应用程序,需要借助边缘计算技术来降低程序对移动设备硬件的要求。然而将部分计算任务从移动设备传输给边缘服务器,会带来额外的传输能耗和服务器计算能耗。综合考虑影响移动设备和服务器,以及数据传输能耗值的四个因素,即移动设备的计算速度,下载数据功耗,数据卸载百分比和剩余网络带宽占,提出一种基于分层学习的粒子群算法,优化每台移动设备对于这四个参数的取值,更合理分配计算资源使得总能耗最小。对计算资源建模时,还考虑了最大能耗、计算周期、存储、带宽和延迟约束条件。与其他算法进行对比实验发现,通过分层学习优化的粒子群算法,能更快速地获得满足约束条件具有更低能耗的资源调度最优解。     

Energy efficient fault-tolerant earliest deadline first scheduling for hard real-time systems

Aggressive technology scaling has dramatically increased the power density and degraded the reliability of embedded real-time systems. The goal of our research in this paper is to develop effective scheduling methods that can minimize the energy consumption and, at the same time, tolerate up to \(K\) transient faults when executing a hard real-time system scheduled according to the EDF policy. Three scheduling algorithms are presented in this paper. The first algorithm is an extension of a well-known fault oblivious low-power scheduling algorithm. The second algorithm intends to minimize the energy consumption under the fault-free situation while reserving adequate resources for recovery when faults strike. The third algorithm improves upon the first two by sharing the reserved resources and thus can achieve better energy efficiency. Simulation results show that the proposed algorithms consistently outperform other related approaches in energy savings.     

Low-Power Design for Real-Time Systems

Real-time Systems often are located in the special environments where the power consumption is a big concern. Upon presence of timing constraints, the low power design on the real-time systems has significant impact on the performance as well as the schedulability of the systems. The system developers are facing the challenges for reducing the power consumption and meeting the timing constraints in the real-time systems.This paper represents one of few attempts to address the issue of the low power design on real-time systems. We present two power reduction methods: one is at the software compilation level and the other at the operating system level. Given a real-time program, an inter-instruction power reduction technique is proposed to transform the program to another one with lower power consumption. In addition, a scheduling algorithm for real-time operating systems is proposed to reschedule real-time programs when the execution time of the programs is changed. Therefore, the proposed scheduling algorithm works together with the proposed power reduction technique to make sure all programs meet their deadlines and to improve the system schedulability. We also evaluate the performance of the proposed inter-instruction reduction method by comparing it with the cold scheduling algorithm and show that the proposed method outperforms the cold scheduling algorithm and reduces more energy power.     

一种能量收集嵌入式系统自适应调度算法

能量收集嵌入式系统(energy harvesting embedded system,简称EHES)的任务调度算法需要考虑能量收集单元的能量输出、能量存储单元的能量水平和能量消耗单元的能耗.实时任务在满足能量约束的条件下,才可能满足时间约束.在这个背景下,传统固定优先级调度算法不再适用于EHES.提出一种基于分组的自适应任务调度算法,它能根据能量收集单元由于能量输出的不确定性而造成的非能量约束情况和能量约束情况,自适应地选择任务调度算法.在非能量约束的情况下,减少任务抢占次数,增强任务的可调度性;在能量约束情况下,减少电池模式切换次数,提高能量存储单元的平均能量水平,从而降低系统能量约束.在一个可进行大范围任务集合仿真的实验环境下对提出的算法进行验证,并将基于分组的自适应调度算法与现有的两个经典算法进行了对比.     

基于马尔科夫决策过程的高能效任务调度算法

在移动群智感知系统中,智能手机承担着许多不同的感知任务,这些任务需要来自不同传感器的数据。从传感器收集数据是非常耗能的,智能手机的电池限制了这些感知设备的可用性。如何在完成群智感知任务时降低设备能量消耗是参与者迫切需要的。针对以上问题,提出基于马尔可夫决策过程(MDP)的高能效任务调度算法。根据设备的电流负载、剩余能量和充电概率,马尔科夫决策过程迭代计算出最佳任务调度序列,并保证能耗最小化和感知精度最大化获得平衡。大量的仿真结果表明,该算法在任务调度过程中具有显著的节能效果,与广泛使用的现有算法相比,平均节省能量75%以上。     

Energy Efficient Scheduling of Real-Time Tasks on Multicore Processors

Multicore processors deliver a higher throughput at lower power consumption than unicore pro- cessors. In the near future, they will thus be widely used in mobile real-time systems. There have been many research on energy-efficient scheduling of real-time tasks using DVS. These approaches must be modified for multicore processors, however, since normally all the cores in a chip must run at the same performance level. Thus blindly adopting existing DVS algorithms which do not consider the restriction will result in a waste of energy. This article suggests Dynamic Repartitioning algorithm based on existing partitioning approaches of multiprocessor systems. The algorithm dynamically balances the task loads of multiple cores to optimize power consumption during execution. We also suggest Dynamic Core Scaling algorithm which adjusts the number of active cores to reduce leakage power consumption under low load conditions. Simulation results show that Dynamic Repartitioning can produce energy savings of about 8% even with the best energy-efficient partitioning algorithm. The results also show that Dynamic Core Scaling can reduce energy consumption by about 26% under low load conditions.     

一种适用于多任务多资源移动边缘计算环境下的改进粒子群算力卸载算法

为了研究移动设备在多资源复杂环境下的能量消耗问题,提出一种针对移动边缘设备计算卸载的改进粒子群算法。首先基于多环境的移动设备能耗提出一种移动设备能量消耗的计算模型;其次针对计算资源分配问题设计一种可以用于衡量分配方案优劣的适应度算法;最后提出一种改进的粒子群算法,用于求解进一步降低移动边缘设备能耗分配方案的最优解。通过使用模拟仿真软件对多种卸载策略下移动设备能耗、系统响应时间等关键指标对比表明,本文算法在满足用户响应时间的前提下,在求解降低移动设备能耗调度分配方案最优解的过程中具有更优的表现。     

一种采用动态电压调整的实时节能调度算法

较高的能量消耗会导致处理器热量的增加及系统可靠性的降低,合理运用动态电压调整技术有效降低实时任务运行所需的能耗成为一个研究热点.提出一种动态实时节能调度算法MSF,以最大空闲时间优先调度为基础,结合动态调整技术,使得实时任务在其截止期内完成的同时能够最大限度地降低整个系统的能量消耗.实验结果表明, 该方法能够充分利用任务的不同能量特性和动态空闲时间,更有效的实现节能,优于其它算法.     

Leakage-Aware Modulo Scheduling for Embedded VLIW Processors

As semi-conductor technologies move down to the nanometer scale, leakage power has become a significant component of the total power consumption. In this paper, we present a leakage-aware modulo scheduling algorithm to achieve leakage energy saving for applications with loops on Very Long Instruction Word (VLIW) architectures. The proposed algorithm is designed to maximize the idleness of function units integrated with the dual-threshold domino logic, and reduce the number of transitions between the active and sleep modes. We have implemented our technique in the Trimaran compiler and conducted experiments using a set of embedded benchmarks from DSPstone and Mibench on the cycle-accurate VLIW simulator of Trimaran. The results show that our technique achieves significant leakage energy saving compared with a previously published DAG-based (Directed Acyclic Graph) leakage-aware scheduling algorithm.     

Scheduling with dynamic voltage/speed adjustment using slack reclamation in multiprocessor real-time systems

The high power consumption of modern processors becomes a major concern because it leads to decreased mission duration (for battery-operated systems), increased heat dissipation, and decreased reliability. While many techniques have been proposed to reduce power consumption for uniprocessor systems, there has been considerably less work on multiprocessor systems. In this paper, based on the concept of slack sharing among processors, we propose two novel power-aware scheduling algorithms for task sets with and without precedence constraints executing on multiprocessor systems. These scheduling techniques reclaim the time unused by a task to reduce the execution speed of future tasks and, thus, reduce the total energy consumption of the system. We also study the effect of discrete voltage/speed levels on the energy savings for multiprocessor systems and propose a new scheme of slack reservation to incorporate voltage/speed adjustment overhead in the scheduling algorithms. Simulation and trace-based results indicate that our algorithms achieve substantial energy savings on systems with variable voltage processors. Moreover, processors with a few discrete voltage/speed levels obtain nearly the same energy savings as processors with continuous voltage/speed, and the effect of voltage/speed adjustment overhead on the energy savings is relatively small.