DVSleak: combining leakage reduction and voltage scaling in feedback EDF scheduling

Recent trends in CMOS fabrication have the demand to conserve power of processors. While dynamic voltage scaling (DVS) is effective in reducing dynamic power, microprocessors produced in ever smaller fabrication processes are increasingly dominated bystatic power. For such processors, voltage/frequency pairs below acritical speed result in higher energy per cycle than entering a processor sleep mode. Yet, computational demand above this critical speed is best met by DVS techniques while still conserving power. We develop a novel combined leakage and DVS scheduling algorithm forreal-time systems, DVS leak, based on earliest-deadline-first scheduling (EDF). Our method trades off DVS with leakage, where the former slows down execution while the latter intelligently defers dispatching of jobs when sleeping is beneficial. We further capitalize on feedback knowledge about actual execution times to anticipate computational demands without sacrificing deadline guarantees. As such, we contribute a novel feedback delay policy for leakage awareness, which addresses structural limitations of prior approaches. Experiments show that this combined DVS/leakage algorithm results in an average of (a) 50% additional energy savings over a leakage-oblivious DVS algorithm, (b) 20% more energy savings over a more simplistic combination of DVS and sleep policies and (c) 8.5% or more over dynamic slack reclamation with procrastination. Particularly task sets with periods shorter than ten milliseconds profit from our approach with 15% energy savings over best prior schemes. This makes DVS leak the best combined DVS/leakage regulation approach for real-time systems that we know of.