基于优先级的任务调度与负载均衡模型研究

在分布式计算环境下，为了有效地利用计算资源、快速完成协同计算任务，提出了基于优先级的任务调度与负载均衡模型．首先根据就绪任务队列和任务调度器所处的位置以及两者之间的关系，将任务调度划分为集中式任务调度和非集中式任务调度两种方式，在此基础上，利用时间Petri网建模技术，分别给出了采用这两种任务调度方式的、基于优先级的任务调度与负载均衡模型，并对各种模型的特点进行了详细分析．以此模型为基础，可以利用现有的时间Petri分析技术，对采用上述任务调度方式的任务调度算法进行模拟和分析，以便找出满足给定条件的最优的任务调度算法．     

Approximation techniques for response-time analysis of static-priority tasks

We consider sporadic tasks with static priorities and constrained deadlines to be executed upon a uniprocessor platform. Pseudo-polynomial time algorithms are known for computing worst-case response times for this task model. Some applications require to evaluate efficiently upper bounds of response times. For this purpose, we propose parametric algorithms that allow to make a tradeoff between quality of results and computational effort according to an input accuracy parameter. In this paper, we present a parametric polynomial-time algorithm for computing upper bounds of worst-case response times, that is based on an improved fptas (Fully Polynomial Time Approximation Scheme). Then, we show that our bound does not achieve constant error bound in comparison with the exact worst-case response time. However, using the resource augmentation technique, we obtain a performance guarantee that allows to define a compromise between our response-time bound and processor capacity requirements. The algorithm average behavior is then analyzed through numerical experimentations.     

Resource reclaiming in multiprocessor real-time systems

Most real-time scheduling algorithms schedule tasks with regard to their worst case computation times. Resources reclaiming refers to the problem of utilizing the resources left unused by a task when it executes in less than its worst case computation time, or when a task is deleted from the current schedule. Dynamic resource reclaiming algorithms that are effective, avoid any run time anomalies, and have bounded overhead costs that are independent of the number of tasks in the schedule are presented. Each task is assumed to have a worst case computation time, a deadline, and a set of resource requirements. The algorithms utilize the information given in a multiprocessor task schedule and perform online local optimization. The effectiveness of the algorithms is demonstrated through simulation studies     

Low-cost task scheduling for distributed-memory machines

In compile-time task scheduling for distributed-memory systems, list scheduling is generally accepted as an attractive approach, since it pairs low cost with good results. List-scheduling algorithms schedule tasks in order of their priority. This priority can be computed either (1) statically, before the scheduling, or (2) dynamically, during the scheduling. In this paper, we show that list scheduling with statically-computed priorities (LSSP) can be performed at a significantly lower cost than existing approaches, without sacrificing performance. Our approach is general, i.e. it can be applied to any LSSP algorithm. The low complexity is achieved by using low-complexity methods for the most time-consuming parts in list-scheduling algorithms, i.e. processor selection and task selection, preserving the criteria used in the original algorithms. We exemplify our method by applying it to the MCP (Modified Critical Path) algorithm. Using an extension of this method, we can also reduce the time complexity of a particular class of list scheduling with dynamic priorities (LSDP) [including algorithms such as DLS (Dynamic Level Scheduling), ETF (Earliest Task First) and ERT (Earliest Ready Task)]. Our results confirm that the modified versions of the list-scheduling algorithms obtain a performance comparable to their original versions, yet at a significantly lower cost. We also show that the modified versions of the list-scheduling algorithms consistently outperform multi-step algorithms, such as DSC-LLB (Dynamic Sequence Clustering with List Load Balancing), which also have higher complexity and clearly outperform algorithms in the same class of complexity, such as CPM (Critical Path Method)     

Design and Potential Performance of Goal-Oriented Job Scheduling Policies for Parallel Computer Workloads

To balance multiple scheduling performance requirements on parallel computer systems, traditional job schedulers use many parameters that can be configured to define job or queue priorities. Offering many parameters seems flexible, but in reality tuning the values for the parameters is highly challenging. To simplify the task of resource management, we propose goal-oriented policies, which allow system administrators to specify high-level performance objectives, rather than tuning low-level scheduling parameters. We study the design of goal-oriented policies, including (1) appropriate multi-objective models for specifying trade-offs between objectives, (2) efficient search algorithms for searching the best schedule at each scheduling decision point, and (3) appropriate performance measures to be optimized in the objectives with respect to two common performance requirements: preventing starvation and favoring shorter jobs. We compare goal-oriented policies with widely used backfill policies. Policies are evaluated by simulation using ten monthly workloads that ran on a Linux cluster (IA-64) from NCSA. Our results show that by automatically optimizing performance according to the given objectives through search, goal-oriented policies can simultaneously outperform FCFS-backfill and LXF-backfill, which are designed in favor of the maximum wait and average slowdown, respectively.     

静态实时中间件的优先级映射问题

使用截止期单调(DM)调度算法和分布式优先级冲顶资源访问控制协议(DPCP)的实时CORBA系统中,当节点的本地优先级个数不足时,必须将多个全局优先级映射成一个本地优先级.这需要:①判定映射后任务可调度性的充分必要条件;②减少时间复杂度的映射算法.为此,推导出判定条件,确定了DGPM映射算法.该算法在保证系统可调度的前提下分配任务,或者证明映射后系统不可调度.证明了DGPM算法能调度其他直序列优先级映射算法可调度的任务和GCS集合.判定条件和算法在实际项目中得到了应用.     

面向优先级用户的移动边缘计算任务调度策略

随着移动终端处理的数据量及计算规模不断增加,为降低任务处理时延、满足任务的优先级调度需求,结合任务优先级及时延约束,提出了基于任务优先级的改进min-min调度算法（task priority-based min-min,TPMM）。该算法根据任务的处理价值及任务的数据量计算任务的优先级,结合任务截止时间、服务器调度次数制定资源匹配方案,解决了边缘网络中服务器为不同优先级的用户进行计算资源分配的问题。仿真实验结果表明,该算法可以均衡服务器利用率,并有效降低计算处理的时延,提高服务器在任务截止处理时间内完成任务计算的成功率,相比min-min调度算法,TPMM算法最多可降低78.45%的时延,提高80%的计算成功率;相比max-min调度算法,TPMM算法最多可降低80.15%的时延并提高59.7%的计算成功率;相比高优先级（high priority first,HPF）调度算法,TPMM算法最多降低59.49%的时延,提高57.7%的计算成功率。     

An Effective Cloud Workflow Scheduling Approach Combining PSO and Idle Time Slot-Aware Rules

Workflow scheduling is a key issue and remains a challenging problem in cloud computing.Faced with the large number of virtual machine(VM)types offered by cloud providers,cloud users need to choose the most appropriate VM type for each task.Multiple task scheduling sequences exist in a workflow application.Different task scheduling sequences have a significant impact on the scheduling performance.It is not easy to determine the most appropriate set of VM types for tasks and the best task scheduling sequence.Besides,the idle time slots on VM instances should be used fully to increase resources'utilization and save the execution cost of a workflow.This paper considers these three aspects simultaneously and proposes a cloud workflow scheduling approach which combines particle swarm optimization(PSO)and idle time slot-aware rules,to minimize the execution cost of a workflow application under a deadline constraint.A new particle encoding is devised to represent the VM type required by each task and the scheduling sequence of tasks.An idle time slot-aware decoding procedure is proposed to decode a particle into a scheduling solution.To handle tasks'invalid priorities caused by the randomness of PSO,a repair method is used to repair those priorities to produce valid task scheduling sequences.The proposed approach is compared with state-of-the-art cloud workflow scheduling algorithms.Experiments show that the proposed approach outperforms the comparative algorithms in terms of both of the execution cost and the success rate in meeting the deadline.     

A Heuristic Approach to the Inverse Differential Kinematics Problem

Inversion of the kinematics of manipulators is one of the central problems in the field of robot arm control. The iterative use of inverse differential kinematics is a popular method of solving this task. Normally the solution of the problem requires a complex mathematical apparatus. It involves methods for solving equation systems as well as algorithms for optimization. In this paper we introduce a naïve heuristic method which works without the need for complex mathematical algorithms. This method forms a simple basis for the more sophisticated control procedures of our robot manipulator (JANUS).     

Multi-cost job routing and scheduling in Grid networks

A key problem in Grid networks is how to efficiently manage the available infrastructure, in order to satisfy user requirements and maximize resource utilization. This is in large part influenced by the algorithms responsible for the routing of data and the scheduling of tasks. In this paper, we present several multi-cost algorithms for the joint scheduling of the communication and computation resources that will be used by a Grid task. We propose a multi-cost scheme of polynomial complexity that performs immediate reservations and selects the computation resource to execute the task and determines the path to route the input data. Furthermore, we introduce multi-cost algorithms that perform advance reservations and thus also find the starting times for the data transmission and the task execution. We initially present an optimal scheme of non-polynomial complexity and by appropriately pruning the set of candidate paths we also give a heuristic algorithm of polynomial complexity. Our performance results indicate that in a Grid network in which tasks are either CPU- or data-intensive (or both), it is beneficial for the scheduling algorithm to jointly consider the computational and communication problems. A comparison between immediate and advance reservation schemes shows the trade-offs with respect to task blocking probability, end-to-end delay and the complexity of the algorithms.     

Software architecture for hard real-time applications: Cyclic executives vs. fixed priority executives

We contrast the software architecture of a hard real-time application using a fixed priority task structure against the software architecture of the same system using a cyclic executive structure to satisfy hard real-time deadlines in response to a set of embedded system requirements. We identify the perceived and actual advantages and disadvantages of both approaches, consider the types of applications which can take advantage of these approaches, and make recommendations related to the attributes of such applications that might be needed with both approaches. We conclude that the fixed priority approach, when priorities are assigned using rate monotonic priorities, generally dominates the cyclic executive approach for hard real-time systems.     

Cooperative Distributed Algorithms for Dynamic Cycle Prevention

Parallel distributed algorithms are presented for adding and deleting edges in a directed graph without creating a cycle. Such algorithms are useful for a variety of problems in distributed systems such as preventing deadlock or ordering priorities. The algorithms operate in a realistic asynchronous computer network environment in which there are numerous possible interactions among overlapping instances of the algorithms.     

Real-time data dissemination in mobile peer-to-peer networks

Mobile peer-to-peer networks have found many uses such as streaming of audio and video data. There are circumstances, such as emergency situations and disaster recovery, when real-time delivery is a fundamental requirement. The problem is challenging due to the limited network capacity, the variable transmission rates and the unpredictability with respect to the network conditions in the mobile peer-to-peer network.In this paper we address the problem of real-time data dissemination of multimedia streams in mobile peer-to-peer networks. Four routing algorithms are proposed based on a packet's deadline, priority or a combination of these metrics. They are simulated under different setups in a mobile peer-to-peer network with Bluetooth connectivity and nodes broadcasting audio and video streams using different priorities. We compare the performance of the algorithms using a number of metrics. Detailed experimental results are presented. Based on these results, propositions on the usage of the algorithms and the design of network requirements are presented.     

6R机器人实时逆运动学算法研究

提出一套解决各类6R机器人逆运动学问题的实时算法. 一般算法通过矢量计算和16阶矩阵分解得到一般6R机器人的最多16组逆运动学解. 封闭解法直接提取运动学等式求出关节变量的解析解. 组合算法将封闭解法或一般算法的结果作为初始值, 采用牛顿-拉夫森方法迭代出逆运动学精确解, 适用于所有接近满足封闭解条件或一般算法条件的6R机器人. 求解实验结果表明, 整套算法最大算法时间约为2.03 ms, 为任意几何结构的6R机器人应用于强实时系统提供了逆运动学解决方案.     

Research on the collaboration of service selection and resource scheduling for IoT simulation workflows

Cloud resources provide a promising way to efficiently perform the needed simulation tasks for a complex manufacturing process. Most of the existing work focuses only on how to effectively schedule computing resources to execute computing requirements of simulation workflows in Internet of Things (IoT) applications. Research on the scheduling of simulation workflows in consideration of task ordering, service selection, and resource allocation altogether has not been lacking. To fill in this void, this paper proposes a cloud-based 3-stage workflow scheduling model. Before scheduling computing resources to complete task requirements, the order of the tasks is determined and the services that can meet the task requirements are selected. In this model, the workload to satisfy task requirements is not fixed and takes on a different value depending upon the service selected with its unique complexity and accuracy. An optimization function that transforms and integrates makespan, cost, and accuracy in a unique way is proposed. For its solution, the relatively new symbiotic organisms search (SOS) algorithm is modified and two SOS-based optimization strategies are developed, i.e., joint optimization-based SOS (JOSOS) and split optimization-based SOS (SOSOS). The simulation results reveal that SOS-based algorithms, especially the SOSOS method, outperform all compared algorithms. Based on the proposed method, simulation services and computing resources can be rationally selected and scheduled to ensure the requirements of IoT applications.     

Sporadic task scheduling with overload conditions

Hard real-time task scheduling in a dynamic environment has been an important area of research, posing difficult problems. In an overloaded system where periodic and sporadic tasks have computational demands that are greater than the CPU time in that interval, the scheduler faces the question of which tasks must really make their deadlines. Assuming that periodic tasks have priority over sporadic ones, we end up with a system where some sporadic tasks may not make their deadlines. It is known that through the assignment of priorities to tasks based on the earliest deadline policy, there is no way to predict which sporadic task will miss the deadline and which will not. In order to prevent important sporadic tasks from missing their deadlines, we assign each task an importance function that is used by the scheduling algorithm. Generally, the summation of important function values must be maximized to allow the most important tasks to meet their timing constraints. We present two novel scheduling algorithms that try to maximize this summation. We show that these algorithms have better performance compared to related algorithms regarding complexity and benefit optimization.     

一个市场驱动的QoS网格工作流任务调度算法

网格调度关系到整个网格任务运行的效率,因此在网格的研究过程中,已经提出了很多调度算法.但这些算法大部分是对元任务(Meta-task)进行调度,很少是针对关联任务的.在考虑用户QoS(Quality of Service)需求的情况下,提出了一个市场驱动的QoS网格工作流任务调度算法.仿真实验结果表明了该算法的合理性和有效性.     

基于改进深度强化学习的动态移动机器人协同计算卸载

移动边缘计算是解决机器人大计算量任务需求的一种方法。传统算法基于智能算法或凸优化方法,迭代时间长。深度强化学习通过一次前向传递即可求解,但只针对固定数量机器人进行求解。通过对深度强化学习分析研究,在深度强化学习神经网络中输入层前进行输入规整,在输出层后添加卷积层,使得网络能够自适应满足动态移动机器人数量的卸载需求。最后通过仿真实验验证,与自适应遗传算法和强化学习进行对比,验证了所提出算法的有效性及可行性。     

Virtual Memory Behavior of Some Sorting Algorithms

Experimnental results are given about the performance of six sorting algorithms in a virtual memory based on the working set principle. With one exception, the algorithms are general internal sorting algorithms and not especially tuned for virtual memory. Algorithms are compared in terms of their time requirements, space requirements, and space-time integrals. The relative performances of the algorithms vary from one measure to the other. Especially in terms of a space-time integral, quicksort turns out to be the best algorithm, also in a working set virtual memory environment.     

多指手操作:运动学算法和实验

本文探讨了多指手的运动学操作问题，即给出被抓物体所要运动的轨迹，如何用多指手进行操作以实现物体的运动，也即怎样根据物体的运动来确定各手指的运动．我们提出和考察了三种运动学操作算法：广义逆算法、接触轨迹控制算法和抓持优化算法．每种算法各有其特点，可根据具体的操作任务加以采用，甚至可综合用于复杂操作任务的不同阶段．在实验系统ＨＫＵＳＴＨＡＮＤ上以两指手操作蓝球的实验实现了这些算法，考察了其可行性和有效性．