基于多处理器嵌入式系统调度算法的研究

本文浅析了在多处理器体系结构上的调度实时任务的各种不同方法.我们首先比较了这些不同的解决方案,然后描述了一种调度任务集的方法.该方法基于端对端的任务调度,考虑任务间的线性优先约束以及任务对资源的需求.同时-这种调度方法的另外一个目的是尽量减少处理器间的通信代价.这个模型也考虑了不同处理器之间的不同通信带宽以及各种处理器拥有不同的处理性能.     

一个调度Fork-Join任务图的新算法

任务调度是影响工作站网络效率的关键因素之一.Fork-Join任务图可以代表很多并行结构,但其他已有调度Fork-Join任务图算法忽略了在非全互连工作站网络环境中通信之间不能并行执行的问题,有些效率高的算法又没有考虑节省处理器个数的问题.因此,专门针对该任务图,综合考虑调度长度、非并行通信和节省处理器个数问题,提出了一个基于任务复制的静态调度算法TSA_FJ.通过随机产生任务的执行时间和通信时间,生成了多个Fork-Join任务图,并且采用TSA_FJ算法和其他调度算法对生成的任务图进行调度.结果表明,     

线性网络上分布式任务调度算法

针对一种已有的分布式计算理论模型(单位长度的任务由处理器独立产生，没有全局控制，彼此通信需要花费时间)，研究了在线性网络上的任务有效调度问题．通过考虑算法中任务处理时间和通信时间之间的平衡，给出了一个近似比为5．88的分布式算法，该算法无需全局信息，且处理策略简单．对该问题的近似比下界也做了研究，证明了该问题不存在近似比小于1．16的算法．     

分布式控制系统中多种混合任务的容错调度

分布式控制系统中存在有强实时、软实时和非实时等多种实时性的任务,其中强实时任务必须在其时限前完成,否则会出现灾难性后果,因此必须为分布式控制系统提供一定的容错能力。首先给出了用于调度多种实时性任务的单处理器调度算法——双优先级队列调度算法,并分析算法的可调度性条件。针对分布式控制系统,考虑基版本与副版本的执行时间不同时,结合版本复制技术和单处理器调度算法提出了一种新的容错调度算法。分析了算法的可调度行,给出了可任务集的可调度条件判断方法和基版本任务时限的设置方法。在此基础上,采用启发式静态任务分配算法,保证各处理器的负载均衡。本算法在保证任务容错可调度的条件下,可提高系统中各处理器的利用率,仿真结果表明该算法是有效的。     

实时控制任务的模糊反馈调度系统研究

分析了实时控制任务的控制性能在不同控制阶段与处理器利用率需求间的关系,提出一种实时控制任务的模糊反馈调度系统.模糊控制器通过监测实时控制任务的误差及其变化率,查询模糊决策表,动态决定任务的优先级,反馈调度器根据优先级分配任务的利用率.仿真结果表明，在计算资源有限时，该方法能有效改善实时控制任务的控制性能.     

多核处理平台上任务图模型的并行调度策略研究

凭借着高性能,低功耗的特性,多核处理器已经占据了目前的主要市场.提出一种多核处理平台上基于任务图模型的调度策略.建立了多核平台上任务图的空间与时间并行调度模型;针对任务图的空间并行与时间并行调度模型提出了并行节点合并、分配的优化算法与流水线并行的优化算法.最后,提出将优化的空间与时间并行调度技术相结合的并行调度策略.通过实验验证,本文提出的算法比其他多核并行调度算法降低了处理器核心间的通信与同步开销,提高了系统的计算效率与吞吐量.     

考虑通信竞争的任意处理机网络表调度算法

任务调度是高性能计算系统中的基本问题之一。解决此类NP难问题的经典启发式算法都假定目标处理机全互连,调度任务时可忽略节点间通信,这显然与实际计算环境不符。为此,文中提出一种在调度任务时同时考虑通信边调度的表调度算法。在边调度时,提出了一种基于最短路径搜索算法的最早通信完成路径查找算法(EFCS),并采用插入式链路策略实现通信边的动态调度,而对处理机网络异构环境下的任务优先级计算问题,受HEFT算法启发,提出异构系统递归优先权计算方法,按非升序排列获得各任务优先级。为了降低算法的执行时间,文中还提出了理论加速比为O(PPE)的并行算法。以随机产生程序任务图和DSP应用程序实例为数据源,在两类不同任意处理机网络目标系统上进行的模拟实验结果表明:本算法明显优于考虑通信竞争的静态表调度算法和不考虑通信竞争的表调度算法,特别是在高通信率应用程序中优势更明显。     

一种调度In-Tree任务图的算法

In-Tree任务图可用来表示归并、求和等分治算法的很多问题,该文针对这种任务图提出一种分层调度算法,利用队列存放被调度的任务,在同层任务调度中,优先把前驱不为空的任务调度到其一个前驱处理器上执行,只有前驱为空的任务才考虑是否分配新的处理器。实验表明,与以前的算法相比,该算法在调度长度相当的情况下,使用了更少的处理器。     

云计算中一种带任务重复机制的任务划分策略

提出了一种带任务重复的任务划分策略算法D-ITPS(Improved task partitioning Strategy with duplication),该算法首先将DAG图中的一些满足归并条件的任务进行归并,然后将所有的任务按照划分策略划分为一个个包,将包按照Max-Min策略整体调度到处理器上执行,在完成基本的映射后,检测每个染色体是否可以通过任务重复来减少通信时间,若可以则在处理器的空闲时间隙重复任务以减少总调度长度。     

网格资源管理中的局部性调度

考虑通信实体之间的距离、可用带宽以及通信和资源使用费用,提出了抽象距离的数学模型,并结合网格资源和网格应用模型,设计了局部性网格资源调度算法,该算法在选择资源时首先考虑在同一节点的资源,其次通过抽象距离选择邻近的节点。实验表明,局部性调度在通信开销、成本、任务完成时间以及任务执行的成功率等方面都得到了改善。     

Enhancing the Schedulability of Real-Time Heterogeneous Networks of Workstations (NOWs)

This paper proposes a realtime duplication based algorithm (RT-DBA) for scheduling precedence-related periodic tasks with hard deadlines on networks of workstations (NOWs). We have utilized selective subtask duplication that enables some tasks to have earlier start times, which enables additional tasks (and, hence, task sets) to finish before their deadlines, thereby increasing the schedulability of a real-time application. We strongly believe that duplication can be used as a tool for obtaining a better quality of service (QoS) from the real-time heterogeneous system, and this is our major contribution. We have taken both the computation and the communication heterogeneities into account while modeling such a system. Both data and control dependencies between the tasks have also been considered. Our algorithm exhibits scalability, fully exploits the underlying parallelism, and is capable of scheduling an application, even if the available number of processors is less than the required number of processors. Based on extensive simulation studies, we observe that RT-DBA offers an enhanced success ratio as compared to other scheduling schemes when communication is a dominant factor.     

Scheduling in and out forests in the presence of communicationdelays

We consider the problem of scheduling tasks on multiprocessor architectures in the presence of communication delays. Given a set of dependent tasks, the scheduling problem is to allocate the tasks to processors such that the pre-specified precedence constraints among the tasks are obeyed and certain cost-measures (such as the computation time) are minimized. Several cases of the scheduling problem have been proven to be NP-complete. Nevertheless, there are polynomial time algorithms for interesting special cases of the general scheduling problem. Most of these results, however, do not take into consideration the delays due to message passing among processors. In this paper we study the increase in time complexity of scheduling problems due to the introduction of communication delays. In particular, we address the open problem of scheduling Out-forests (In-forests) in a multiprocessor system of m identical processors when communication delays are considered. The corresponding problem of scheduling Out-forests (In-forests) without communication delays admits an elegant polynomial time solution as presented first by Hu in 1961; however, the problem in the presence of communication delays has remained unsolved. We present here first known polynomial time algorithms for the computation of the optimal schedule when the number of available processors is given and bounded and both computation and communication delays are assumed to take one unit of time. Furthermore, we present a linear-time algorithm for computing a near-optimal schedule for unit-delay out-forests. The schedule's length exceeds the optimum by no more than (m-2) time units, where m is the number of processors. Hence for two processors the computed schedule is strictly optimum     

A high performance algorithm for static task scheduling in heterogeneous distributed computing systems

Effective task scheduling is essential for obtaining high performance in heterogeneous distributed computing systems (HeDCSs). However, finding an effective task schedule in HeDCSs requires the consideration of both the heterogeneity of processors and high interprocessor communication overhead, which results from non-trivial data movement between tasks scheduled on different processors. In this paper, we present a new high-performance scheduling algorithm, called the longest dynamic critical path (LDCP) algorithm, for HeDCSs with a bounded number of processors. The LDCP algorithm is a list-based scheduling algorithm that uses a new attribute to efficiently select tasks for scheduling in HeDCSs. The efficient selection of tasks enables the LDCP algorithm to generate high-quality task schedules in a heterogeneous computing environment. The performance of the LDCP algorithm is compared to two of the best existing scheduling algorithms for HeDCSs: the HEFT and DLS algorithms. The comparison study shows that the LDCP algorithm outperforms the HEFT and DLS algorithms in terms of schedule length and speedup. Moreover, the improvement in performance obtained by the LDCP algorithm over the HEFT and DLS algorithms increases as the inter-task communication cost increases. Therefore, the LDCP algorithm provides a practical solution for scheduling parallel applications with high communication costs in HeDCSs.     

Contention-aware scheduling with task duplication

Finding an efficient schedule for a task graph on several processors is a trade-off between maximising concurrency and minimising interprocessor communication. Task duplication is a technique that has been employed to reduce or avoid interprocessor communication. Certain tasks are duplicated on several processors to produce the data locally and avoid the communication among processors. Most of the algorithms using task duplication have been proposed for the classic scheduling model, which allows concurrent communication and ignores contention for communication resources. It is increasingly recognised that this classic model is unrealistic and does not permit creating accurate and efficient schedules. The recently proposed contention model introduces contention awareness into task scheduling by assigning the edges of the task graph to the links of the communication network. It is intuitive that scheduling under such a model benefits even more from task duplication, yet no such algorithm has been proposed as it is not trivial to duplicate tasks under the contention model. This paper proposes a contention-aware task duplication scheduling algorithm. We investigate the fundamentals for task duplication in the contention model and propose an algorithm that is based on state-of-the-art techniques found in task duplication and contention-aware algorithms. An extensive experimental evaluation demonstrates the significant improvements to the speedup of the produced schedules.     

Benchmark-problem instances for static scheduling of task graphs with communication delays on homogeneous multiprocessor systems

Scheduling program tasks on processors is at the core of the efficient use of multiprocessor systems. Most task-scheduling problems are known to be NP-Hard and, thus, heuristics are the method of choice in all but the simplest cases. The utilization of acknowledged sets of benchmark-problem instances is essential for the correct comparison and analysis of heuristics. Yet, such sets are not available for several important classes of scheduling problems, including multiprocessor scheduling problem with communication delays (MSPCD) where one is interested in scheduling dependent tasks onto homogeneous multiprocessor systems, with processors connected in an arbitrary way, while explicitly accounting for the time required to transfer data between tasks allocated to different processors. We propose test-problem instances for the MSPCD that are representative in terms of number of processors, type of multiprocessor architecture, number of tasks to be scheduled, and task graph characteristics (task execution times, communication costs, and density of dependencies between tasks). Moreover, we define our task-graph generators in a way appropriate to ensure that the corresponding problem instances obey the theoretical principles recently proposed in the literature.     

Parallel computation of symbolic robot models and control laws: Theory and application to transputer networks

New computer architectures based on large numbers of processors are now used in various application areas ranging from embedded systems to supercomputers. Efficient parallel processing algorithms are applied in a wide variety of applications such as simulation, robot control, and image synthesis. This article presents two novel parallel algorithms for computing robot inverse dynamics (as well as control laws) starting from customized symbolic robot models. To gain the most benefit from the concurrent processor architecture, the whole job is divided into a large number of simple tasks, each involving only a single floating-point operation. Although requiring sophisticated scheduling schemes, fine granularity of tasks was the key factor for achieving nearly maximum efficiency and speedup. The first algorithm resolves the scheduling problem for an array of pipelined processors. The second one is devoted to parallel processors connected by a complete crossbar interconnection network. The main feature of the proposed algorithms is that they take into account the communication delays between processors and minimize both the execution time and communication cost. To prove the theoretical results, the algorithms have been verified by experiments on an INMOS T800 transputer-based system. We used four transputers in serial and parallel configurations. The experimental results show that the most complicated dynamic control laws can be executed in a submilisecond time interval. © 1993 John Wiley & Sons, Inc.     

基于任务复制的处理器预分配算法

基于任务复制的调度算法比无任务复制的调度算法具有较好的性能．文章在分析了基于任务复制的几个典型算法(如TDS，OSA等算法)及其假设条件后，提出了以使调度长度最短作为主要目标、减少处理机数目作为次要目标的处理器预分配算法PPA．该算法对任务计算时间与任务间通信时间未做任何限制(即不考虑任务粒度)．通过与相关工作的比较可以看出：PPA算法在调度长度与处理器使用数目上均优于其它算法或与其它算法相当，同时，该算法具有与TDS，OSA相同的时间复杂度．这对嵌入式实时分布系统具有重要的意义。     

On exploiting task duplication in parallel program scheduling

One of the main obstacles in obtaining high performance from message-passing multicomputer systems is the inevitable communication overhead which is incurred when tasks executing on different processors exchange data. Given a task graph, duplication-based scheduling can mitigate this overhead by allocating some of the tasks redundantly on more than one processor. In this paper, we focus on the problem of using duplication in static scheduling of task graphs on parallel and distributed systems. We discuss five previously proposed algorithms and examine their merits and demerits. We describe some of the essential principles for exploiting duplication in a more useful manner and, based on these principles, propose an algorithm which outperforms the previous algorithms. The proposed algorithm generates optimal solutions for a number of task graphs. The algorithm assumes an unbounded number of processors. For scheduling on a bounded number of processors, we propose a second algorithm which controls the degree of duplication according to the number of available processors. The proposed algorithms are analytically and experimentally evaluated and are also compared with the previous algorithms     

非完全互连同构系统上的静态任务调度

在分布式内存多处理机DMM(distributed memory multiprocessor)系统中,不同处理机上运行的任务之间的通信开销仍然很大,有时甚至抵消了多处理机并行所带来的好处.为了使并行程序在DMM系统上能得以高效的执行,必须采用合理的调度技术将任务分配给处理机.文章首先分别给出了任务调度系统中的任务模型、处理机模型以及调度问题的形式化描述,然后在此基础上研究了任务调度中3个最重要的问题,即(1) 如何顺序选择参与调度的任务,(2) 如何选择路由,(3) 如何分配任务给处理机.其中,路由选择