Preference-oriented real-time scheduling and its application in fault-tolerant systems

In this paper, we consider a set of real-time periodic tasks where some tasks are preferably executed as soon as possible (ASAP) and others as late as possible (ALAP) while still meeting their deadlines. After introducing the idea of preference-oriented (PO) execution, we formally define the concept of PO-optimality. For fully-loaded systems (with 100% utilization), we first propose a PO-optimal scheduler, namely ASAP-Ensured Earliest Deadline (SEED), by focusing on ASAP tasks where the optimality of ALAP tasks’ preference is achieved implicitly due to the harmonicity of the PO-optimal schedules for such systems. Then, for under-utilized systems (with less than 100% utilization), we show the discrepancies between different PO-optimal schedules. By extending SEED, we propose a generalized Preference-Oriented Earliest Deadline (POED) scheduler that can obtain a PO-optimal schedule for any schedulable task set. The application of the POED scheduler in a dual-processor fault-tolerant system is further illustrated. We evaluate the proposed PO-optimal schedulers through extensive simulations. The results show that, comparing to that of the well-known EDF scheduler, the scheduling overheads of SEED and POED are higher (but still manageable) due to the additional consideration of tasks’ preferences. However, SEED and POED can achieve the preference-oriented execution objectives in a more successful way than EDF.     

Exploiting primary/backup mechanism for energy efficiency in dependable real-time systems

Primary/Backup has been well studied as an effective fault-tolerance technique. In this paper, with the objectives of tolerating a single permanent fault and maintaining system reliability with respect to transient faults, we study dynamic-priority based energy-efficient fault-tolerance scheduling algorithms for periodic real-time tasks running on multiprocessor systems by exploiting the primary/backup technique while considering the negative effects of the widely deployed Dynamic Voltage and Frequency Scaling (DVFS) on transient faults. Specifically, by separating primary and backup tasks on their dedicated processors, we first devise two schemes based on the idea of Standby-Sparing (SS): For Paired-SS, processors are organized as groups of two (i.e., pairs) and the existing SS scheme is applied within each pair of processors after partitioning tasks to the pairs. In Generalized-SS, processors are divided into two groups (of potentially different sizes), which are denoted as primary and secondary processor groups, respectively. The main (backup) tasks are scheduled on the primary (secondary) processor group under the partitioned-EDF (partitioned-EDL) with DVFS (DPM) to save energy. Moreover, we propose schemes that allocate primary and backup tasks in a mixed manner to better utilize system slack on all processors for more energy savings. On each processor, the Preference-Oriented Earliest Deadline (POED) scheduler is adopted to run primary tasks at scaled frequencies as soon as possible (ASAP) and backup tasks at the maximum frequency as late as possible (ALAP) to save energy. Our empirical evaluations show that, for systems with a given number of processors, there normally exists a configuration for Generalized-SS with different number of processors in primary and backup groups, which leads to better energy savings when compared to that of the Paired-SS scheme. Moreover, the POED-based schemes normally have more stable performance and can achieve better energy savings.     

Response modeling runtime schedulers for timing analysis of self-timed dataflow graphs

Constituent tasks of modern day Embedded Streaming Applications (ESAs), such as engine control systems, multimedia and software defined radios often exhibit execution behaviors that do not conform to conventional task models. ESAs consist of iterative, pipelined sequences of tasks that are conditioned by intra- and inter-iteration dependencies, and often have strict throughput and latency requirements. We model ESAs as dataflow graphs, where actors represent computational units, and directed edges represent communication channels between actors. Due to practical constraints like cost-effectiveness, power consumption and chip-area, multiple ESAs are run on a shared (multi-processor) platform. Thus rigorous timing analysis is required to verify whether individual ESAs meet their respective timing requirements.We look at response modeling, a compositional timing analysis approach wherein the local worst-case influence of runtime scheduling is represented within the constructs provided in dataflow. These local representations (called response models) can be composed together to construct a global understanding of an ESA’s worst-case execution which is then used to verify whether its real-time requirements are met. This paper proposes a generic response modeling technique for runtime scheduling of ESAs. We focus on preemptive Fixed Priority Scheduling (FPS) but also demonstrate that we can apply our technique to a wide range of runtime schedulers. In our experiments, we present academic and industrial case-studies that highlight the effectiveness of our approach in the timing analysis of ESAs with unconventional execution behavior.     

云计算中主任务调度算法的优化研究

针对ASAP和ALAP算法的缺陷,将生态捕食者—被捕食者模型应用于云计算的主任务调度算法中,建立一种基于生态捕食者—被捕食者模型的主任务调度算法,该算法通过生态差分方程动态调整节点内采用相应算法的任务数量,经过仿真试验证明了算法的有效性.     

Dynamic slack allocation algorithms for energy minimization on parallel machines

We explore novel algorithms for DVS (Dynamic Voltage Scaling) based energy minimization of DAG (Directed Acyclic Graph) based applications on parallel and distributed machines in dynamic environments. Static DVS algorithms for DAG execution use the estimated execution time. The estimated time in practice is overestimated or underestimated. Therefore, many tasks may be completed earlier or later than expected during the actual execution. For overestimation, the extra available slack can be added to future tasks so that energy requirements can be reduced. For underestimation, the increased time may cause the application to miss the deadline. Slack can be reduced for future tasks to reduce the possibility of not missing the deadline. In this paper, we present novel dynamic scheduling algorithms for reallocating the slack for future tasks to reduce energy and/or satisfy deadline constraints. Experimental results show that our algorithms are comparable to static algorithms applied at runtime in terms of energy minimization and deadline satisfaction, but require considerably smaller computational overhead.     

Dynamic Dispatching of Cyclic Real-Time Tasks with Relative Timing Constraints

In some hard real-time systems, relative timing constraints may be imposed on task executions, in addition to the release time and deadline constraints. Relative timing constraints such as separation or relative deadline constraints may be given between start or finish times of tasks (Gerber et al., 1995; Han and Lin, 1989; Han et al., 1992; Han and Lin, 1992; Han et al., 1996).One approach in real-time scheduling is to find a total order on a set of N tasks in a scheduling window, and cyclically use this order at run time to execute tasks. However, in the presence of relative timing constraints, if the task execution times are nondeterministic with defined lower and upper bounds, it is not always possible to statically assign task start times at pre-runtime for a given task ordering (Gerber et al., 1995).We develop a technique called dynamic cyclic dispatching as an extension of a parametric dispatching mechanism in (Gerber et al., 1995). An ordered set of N tasks is assumed to be given in a scheduling window and this schedule(ordering) is cyclically repeated at runtime in consecutive scheduling windows. Relative timing constraints between tasks may be defined across scheduling window boundaries as well as within one scheduling window. A task set is defined to be dispatchable if there exists any way in which the tasks can be dispatched with all their timing constraints satisfied. An off-line algorithm is presented to check the dispatchability of a task set and to obtain parametric lower and upper bound functions for task start times if the task set is dispatchable. These parametric bound functions are evaluated at runtime to obtain a valid time interval during which a task can be started. The complexity of this off-line component is shown to be O(n ² N ³) where n is the number of tasks in a scheduling window that have relative timing constraints with tasks in the next scheduling window. An online algorithm can evaluate these bounds in O(N) time.Unlike static approaches which assign fixed start times to tasks in the scheduling window, our approach allows us to flexibly manage the slack times at runtime without sacrificing the dispatchability of tasks. Also, a wider class of relative timing constraints can be imposed to the task set compared to the traditional approaches.     

An integrated fine-grain runtime system for MPI

Fine-grain MPI (FG-MPI) extends the execution model of MPI to allow for interleaved execution of multiple concurrent MPI processes inside an OS-process. It provides a runtime that is integrated into the MPICH2 middleware and uses light-weight coroutines to implement an MPI-aware scheduler. In this paper we describe the FG-MPI runtime system and discuss the main design issues in its implementation. FG-MPI enables expression of function-level parallelism, which along with a runtime scheduler, can be used to simplify MPI programming and achieve performance without adding complexity to the program. As an example, we use FG-MPI to re-structure a typical use of non-blocking communication and show that the integrated scheduler relieves the programmer from scheduling computation and communication inside the application and brings the performance part outside of the program specification into the runtime.     

Sm@rtConfig: A context-aware runtime and tuning system using an aspect-oriented approach for data intensive engineering applications

Distributing the workload upon all available Processing Units (PUs) of a high-performance heterogeneous platform (e.g., PCs composed by CPU–GPUs) is a challenging task, since the execution cost of a task on distinct PUs is non-deterministic and affected by parameters not known a priori. This paper presents Sm@rtConfig, a context-aware runtime and tuning system based on a compromise between reducing the execution time of engineering applications and the cost of tasks' scheduling on CPU–GPUs' platforms. Using Model-Driven Engineering and Aspect Oriented Software Development, a high-level specification and implementation for Sm@rtConfig has been created, aiming at improving modularization and reuse in different applications. As case study, the simulation subsystem of a CFD application has been developed using the proposed approach. These system's tasks were designed considering only their functional concerns, whereas scheduling and other non-functional concerns are handled by Sm@rtConfig aspects, improving tasks modularity. Although Sm@rtConfig supports multiple PUs, in this case study, these tasks have been scheduled to execute on an platform composed by one CPU and one GPU. Experimental results show an overall performance gain of 21.77% in comparison to the static assignment of all tasks only to the GPU.     

基于层次化的网格资源三层调度模型

在分析现有的资源调度方案及模型的基础上,提出了基于层次化的网格资源三层调度模型．它由主调度器、次级调度器和计算节点组成。主调度器根据任务的性质和需求,并参考下层次级调度器的执行情况,将部分任务分发到各次级调度器上,实现了主调度器与次级调度器之间的并行工作。基于该模型提出轮循任务分发策略。通过分析和模拟．该资源调度模型及任务分发策略在调度性能上明显优于集中式调度方案。     

SLA-aware energy-efficient scheduling scheme for Hadoop YARN

Apache Hadoop becomes ubiquitous for cloud computing which provides resources as services for multi-tenant applications. YARN (a.k.a. MapReduce 2.0) is one of the key features in the second-generation Hadoop, which provides resource management and scheduling for large-scale MapReduce environments. Two enormous challenges in the YARN scheduler are the abilities to automatically tailor and control resource allocations to different jobs for achieving their Service Level Agreements (SLAs), and minimize energy consumption of the overall cloud computing system. In this work, we propose an SLA-aware energy-efficient scheduling scheme which allocates appropriate amount of resources to MapReduce applications with YARN architecture. In our task scheduling policy, We consider the data locality information to save the MapReduce network traffic. Furthermore, the slack time between the actual execution time of completed tasks and expected completion time of the application is utilized to improve the energy-efficiency of the system. An online userspace governor-based dynamic voltage and frequency scaling (DVFS) scheme is designed in the YARN per-application ApplicationMaster to dynamically change the CPU frequency for upcoming tasks given the slack time from previous completed tasks. Experimental evaluation shows that our proposed scheme outperforms the existing MapReduce scheduling policies in terms of both resource ultization and energy-efficiency.     

Partition oriented frame based fair scheduler

Proportionate fair schedulers provide an effective methodology for scheduling recurrent real-time tasks on multiprocessors. However, a drawback in these schedulers is that they ignore a task’s affinity towards the processor where it was executed last, causing frequent inter-processor task migrations which ultimately results in increased execution times. This paper presents Partition Oriented Frame Based Fair Scheduler (POFBFS), an efficient proportional fair scheduler for periodic firm and soft real-time tasks that ensures a bounded number of task migrations. Experimental results reveal that POFBFS can achieve 3 to 100 times reduction in the number of migrations suffered with respect to the General-ERfair algorithm (for a set of 25 to 100 tasks running on 2 to 8 processors) while simultaneously maintaining high fairness accuracy.     

采用配置完成优先策略的可重构任务调度算法

如何隐藏和减少配置时间是相依性可重构任务调度的关键问题.提出一种采用配置完成优先策略的相依性可重构任务调度算法,通过基于预配置优先级的列表调度算法,实现将后续任务的配置时间隐藏于前驱任务的运行时间中,并采用基于配置完成优先策略的配置重用机制,减少了任务调度后的配置过程,从而在总体上缩短了相依性任务集合的运行时间.仿真结果表明,该调度算法能有效避免调度死锁,并可减少相依性可重构任务的整体运行时间.     

TDCS: a new scheduling framework for real-time multimedia OS

ABSTRACT

The emerging real-time hyper-physical system (CPS), such as autonomous vehicle and live interactive media application, requires time deterministic behaviour. This is challenging to achieve by using the traditional general purpose operating system (GPOS). This paper presents a new design of the real-time operating system (OS) scheduling mechanism called ‘time deterministic cyclic scheduling’ (TDCS) mainly for live multimedia tasks processing. This new scheduler shares a similar philosophy as classic cyclic execution but with flexibility and dynamic configuration. This hybrid design is based on both time-reserved based cyclic execution and priority-based pre-emptive scheduling for mixed criticality applications. The simulation results show that this scheduling scheme can achieve predictable timing behaviour of task delay and jitter under high CPU utilisation. This shows that the proposed scheme is promising for low latency high-performance multimedia censoring tasks that occur in a periodic manner.     

Configuration Reusing in On-Line Task Scheduling for Reconfigurable Computing Systems

Reconfigurable computing systems can be reconfigured at runtime and support partial reconfigurability which makes us able to execute tasks in a true multitasking manner.To manage such systems at runtime,a reconfigurable operating system is needed.The main part of this operating system is resource management unit which performs on-line scheduling and placement of hardware tasks at runtime.Reconfiguration overhead is an important obstacle that limits the performance of on-line scheduling algorithms in reconfigurable computing systems and increases the overall execution time.Configuration reusing (task reusing) can decrease reconfiguration overhead considerably,particularly in periodic applications or the applications in which the probability of tasks recurrence is high.In this paper,we present a technique called reusing-based scheduling (RBS),for on-line scheduling and placement in which configuration reusing is considered as a main characteristic in order to reduce reconfiguration overhead and decrease total execution time of the tasks.Several experiments have been conducted on the proposed algorithm.Obtained results show considerable improvement in overall execution time of the tasks.     

Revisiting conventional task schedulers to exploit asymmetry in multi-core architectures for dense linear algebra operations

Dealing with asymmetry in the architecture opens a plethora of questions related with the performance- and energy-efficient scheduling of task-parallel applications. While there exist early attempts to tackle this problem, for example via ad-hoc strategies embedded in a runtime framework, in this paper we take a different path, which consists in addressing the asymmetry at the library-level by developing a few asymmetry-aware fundamental kernels. The appealing consequence is that the architecture heterogeneity remains then hidden from the task scheduler.In order to illustrate the advantage of our approach, we employ two well-known matrix factorizations, key to the solution of dense linear systems of equations. From the perspective of the architecture, we consider two low-power processors, one of them equipped with ARM big.LITTLE technology; furthermore, we include in the study a different scenario, in which the asymmetry arises when the cores of an Intel Xeon server operate at two distinct frequencies. For the specific domain of dense linear algebra, we show that dealing with asymmetry at the library-level is not only possible but delivers higher performance than a naive approach based on an asymmetry-oblivious scheduler. Furthermore, this solution is also competitive in terms of performance compared with an ad-hoc asymmetry-aware scheduler furnished with sophisticated scheduling techniques.     

Global scheduling based reliability-aware power management for multiprocessor real-time systems

Reliability-aware power management (RAPM) has been a recent research focus due to the negative effects of the popular power management technique dynamic voltage and frequency scaling (DVFS) on system reliability. As a result, several RAPM schemes have been studied for uniprocessor real-time systems. In this paper, for a set of frame-based independent real-time tasks running on multiprocessor systems, we study global scheduling based RAPM (G-RAPM) schemes. Depending on how recovery blocks are scheduled and utilized, both individual-recovery and shared-recovery based G-RAPM schemes are investigated. An important dimension of the G-RAPM problem is how to select the appropriate subset of tasks for energy and reliability management (i.e., scale down their executions while ensuring that they can be recovered from transient faults). We show that making such decision optimally (i.e., the static G-RAPM problem) is NP-hard. Then, for the individual-recovery based approach, we study two efficient heuristics, which rely on local and global task selections, respectively. For the shared-recovery based approach, a linear search based scheme is proposed. The schemes are shown to guarantee the timing constraints. Moreover, to reclaim the dynamic slack generated at runtime from early completion of tasks and unused recoveries, we also propose online G-RAPM schemes which exploit the slack-sharing idea studied in previous work. The proposed schemes are evaluated through extensive simulations. The results show the effectiveness of the proposed schemes in yielding energy savings while simultaneously preserving system reliability and timing constraints. For the static version of the problem, the shared-recovery based scheme is shown to provide better energy savings compared to the individual-recovery based scheme, in virtue of its ability to leave more slack for DVFS. Moreover, by reclaiming the dynamic slack generated at runtime, online G-RAPM schemes are shown to yield better energy savings.     

减少Hadoop集群中网络队头阻塞的调度算法

大数据分析系统的用户希望任务的执行时间尽可能短.然而,在任务执行期间,网络与计算时刻都可能成为阻碍任务执行的资源瓶颈.通过对大数据分析系统的观察与分析,得出如下结论:1)根据当前资源瓶颈的不同,数据并行框架应当在多种工作模式之间切换;2)子任务的调度应当充分考虑将来可能到达的新任务,而不能仅考虑当前已经提交的任务.基于...     

Workflow-and-Platform Aware task clustering for scientific workflow execution in Cloud environment

A scientific workflow, usually consists of a good mix of fine and coarse computational granularity tasks displaying varied runtime requirements. It has been observed that fine grained tasks incur more scheduling overhead than their execution time, when executed on widely distributed platforms. Task clustering is extensively used, in such situations, as a runtime optimization method which involves combining multiple short duration tasks into a cluster, to be scheduled on a single resource. This helps in minimizing the scheduling overheads of the fine grained tasks. However, tasks grouping curtails the degree of parallelism and hence needs to be done optimally. Though a number of task clustering techniques have been developed to reduce the impact of system overheads, they fail to identify the appropriate number of clusters at each level of workflow in order to achieve maximum possible parallelism. This work proposes a level based autonomic Workflow-and-Platform Aware (WPA) task clustering technique which takes into consideration both; the workflow structure and the underlying resource set size for task clustering. It aims to achieve maximum possible parallelism among the tasks at a level of a workflow while minimizing the system overheads and resource wastage. A comparative study with current state of the art task clustering approaches on four well-known scientific workflows show that the proposed method significantly reduces the overall workflow execution time and at the same time is able to consolidate the load onto minimum possible resources.     

<Emphasis FontCategory="NonProportional">rt-muse</Emphasis>: measuring real-time characteristics of execution platforms

Operating systems code is often developed according to principles like simplicity, low overhead, and low memory footprint. Schedulers are no exceptions. A scheduler is usually developed with flexibility in mind, and this restricts the ability to provide real-time guarantees. Moreover, even when schedulers can provide real-time guarantees, it is unlikely that these guarantees are properly quantified using theoretical analysis that carries on to the implementation. To be able to analyze the guarantees offered by operating systems’ schedulers, we developed a publicly available tool that analyzes timing properties extracted from the execution of a set of threads and computes the lower and upper bounds to the supply function offered by the execution platform, together with information about migrations and statistics on execution times. rt-muse evaluates the impact of many application and platform characteristics including the scheduling algorithm, the amount of available resources, the usage of shared resources, and the memory access overhead. Using rt-muse, we show the impact of Linux scheduling classes, shared data and application parallelism, on the delivered computing capacity. The tool provides useful insights on the runtime behavior of the applications and scheduler. In the reported experiments, rt-muse detected some issues arising with the real-time Linux scheduler: despite having available cores, Linux does not migrate SCHED_RR threads which are enqueued behind SCHED_FIFO threads with the same priority.