Ordonnancement temps réel multiprocesseur pour la réduction de la consommation énergétique des systèmes embarqués. (Energy-aware real-time scheduling of multiprocessor embedded systems)

Reduire la consommation energetique des systemes temps reel embarques multiprocesseurs est devenu un enjeu important notammentpour augmenter leur autonomie. Nous reduisons la consommation statique des processeurs en exploitant leurs etats basseconsommation. Dans un etat basse-consommation, la consommation energetique est fortement reduite mais un delai de transition et une penalite sont necessaires pour revenir a l'etat actif. Nous proposons dans cette these les premiers algorithmes d'ordonnancement tempsreel multiprocesseurs optimaux pour reduire la consommation energetique des systemes temps reel dur et des systemes temps reel acriticite mixte. Ces algorithmes d'ordonnancement permettent d'activer les etat basse-consommation les plus economes en energie.Chaque algorithme d'ordonnancement est divise en deux parties. La premiere partie hors-ligne genere un ordonnancement en utilisant laprogrammation lineaire en nombres entiers pour minimiser la consommation energetique. La seconde partie est en-ligne et augmente lataille des periodes d'inactivite les tâches terminent leur execution plus tot que prevu. Dans le cadre des systemes temps reel a criticitemixte, nous profitons du fait que les tâches de plus faible criticite peuvent tolerer des depassements d'echeances pour etre plus agressifhors-ligne afin de reduire davantage la consommation energetique. Les resultats montrent que les algorithmes proposes utilisent demaniere plus efficace les etats basse-consommation. La consommation energetique lorsque ceux-ci sont actives est en effet jusqu'a dix fois plus faible qu'avec les algorithmes d'ordonnancement multiprocesseurs existants.

[1]  Vincent David,et al.  Minimizing Task Preemptions and Migrations in Multiprocessor Optimal Real-Time Schedules , 2010, 2010 31st IEEE Real-Time Systems Symposium.

[2]  Feng Xia,et al.  Leakage-Aware Reallocation for Periodic Real-Time Tasks on Multicore Processors , 2010, 2010 Fifth International Conference on Frontier of Computer Science and Technology.

[3]  L. Benini,et al.  Cycle-accurate simulation of energy consumption in embedded systems , 1999, Proceedings 1999 Design Automation Conference (Cat. No. 99CH36361).

[4]  Flavius Gruian,et al.  Energy-Centric Scheduling for Real-Time Systems , 2002 .

[5]  Geoffrey Nelissen,et al.  U-EDF: An Unfair But Optimal Multiprocessor Scheduling Algorithm for Sporadic Tasks , 2012, 2012 24th Euromicro Conference on Real-Time Systems.

[6]  Joseph Y.-T. Leung,et al.  On the complexity of fixed-priority scheduling of periodic, real-time tasks , 1982, Perform. Evaluation.

[7]  Luca Benini,et al.  Dynamic voltage scaling and power management for portable systems , 2001, Proceedings of the 38th Design Automation Conference (IEEE Cat. No.01CH37232).

[8]  Rami Melhem,et al.  Toward the placement of power management points in real-time applications , 2003 .

[9]  Theodore P. Baker,et al.  Multiprocessor EDF and deadline monotonic schedulability analysis , 2003, RTSS 2003. 24th IEEE Real-Time Systems Symposium, 2003.

[10]  Miodrag Potkonjak,et al.  On-line scheduling of hard real-time tasks on variable voltage processor , 1998, ICCAD.

[11]  Alan Burns,et al.  FPZL Schedulability Analysis , 2011, 2011 17th IEEE Real-Time and Embedded Technology and Applications Symposium.

[12]  Lothar Thiele,et al.  Thermal-Aware Global Real-Time Scheduling on Multicore Systems , 2009, 2009 15th IEEE Real-Time and Embedded Technology and Applications Symposium.

[13]  Shekhar Y. Borkar,et al.  Design challenges of technology scaling , 1999, IEEE Micro.

[14]  Björn B. Brandenburg,et al.  Cache-Related Preemption and Migration Delays : Empirical Approximation and Impact on Schedulability ∗ , 2010 .

[15]  James H. Anderson,et al.  Fair Scheduling of Real-Time Tasks on Multiprocessors , 2004, Handbook of Scheduling.

[16]  S. Vestal Preemptive Scheduling of Multi-criticality Systems with Varying Degrees of Execution Time Assurance , 2007, RTSS 2007.

[17]  Sandy Irani,et al.  Competitive analysis of dynamic power management strategies for systems with multiple power saving states , 2002, Proceedings 2002 Design, Automation and Test in Europe Conference and Exhibition.

[18]  David C. Snowdon,et al.  Power measurement as the basis for power management , 2005 .

[19]  Lothar Thiele,et al.  Thermal-aware global real-time scheduling and analysis on multicore systems , 2011, J. Syst. Archit..

[20]  Linwei Niu,et al.  Reducing both dynamic and leakage energy consumption for hard real-time systems , 2004, CASES '04.

[21]  G. Dhiman,et al.  Dynamic Power Management Using Machine Learning , 2006, 2006 IEEE/ACM International Conference on Computer Aided Design.

[22]  Sanjoy K. Baruah,et al.  Proportionate progress: a notion of fairness in resource allocation , 1993, STOC '93.

[23]  Sandy Irani,et al.  Online strategies for dynamic power management in systems with multiple power-saving states , 2003, TECS.

[24]  Joonwon Lee,et al.  Energy Efficient Scheduling of Real-Time Tasks on Multicore Processors , 2008, IEEE Transactions on Parallel and Distributed Systems.

[25]  Bruno Gaujal,et al.  Ordonnancement temps réel et minimisation de la consommation d'énergie , 2006 .

[26]  Sandy Irani,et al.  Algorithmic problems in power management , 2005, SIGA.

[27]  Frédéric Fauberteau,et al.  Sûreté temporelle pour les systèmes temps réel multiprocesseurs. (Temporal safety for real-time multiprocessor systems) , 2011 .

[28]  Alan Burns,et al.  Response-Time Analysis for Mixed Criticality Systems , 2011, 2011 IEEE 32nd Real-Time Systems Symposium.

[29]  Luca Benini,et al.  A survey of design techniques for system-level dynamic power management , 2000, IEEE Trans. Very Large Scale Integr. Syst..

[30]  Tei-Wei Kuo,et al.  Energy-Efficient Real-Time Task Scheduling for a DVS System with a Non-DVS Processing Element , 2006, 2006 27th IEEE International Real-Time Systems Symposium (RTSS'06).

[31]  Yann-Hang Lee,et al.  Scheduling techniques for reducing leakage power in hard real-time systems , 2003, 15th Euromicro Conference on Real-Time Systems, 2003. Proceedings..

[32]  Qi Yang,et al.  Energy-aware partitioning for multiprocessor real-time systems , 2003, Proceedings International Parallel and Distributed Processing Symposium.

[33]  Chung Laung Liu,et al.  Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment , 1989, JACM.

[34]  Giorgio C. Buttazzo,et al.  Biasing effects in schedulability measures , 2004, Proceedings. 16th Euromicro Conference on Real-Time Systems, 2004. ECRTS 2004..

[35]  Alan Burns,et al.  Improved priority assignment for global fixed priority pre-emptive scheduling in multiprocessor real-time systems , 2010, Real-Time Systems.

[36]  Geoffrey Nelissen,et al.  Reducing Preemptions and Migrations in Real-Time Multiprocessor Scheduling Algorithms by Releasing the Fairness , 2011, 2011 IEEE 17th International Conference on Embedded and Real-Time Computing Systems and Applications.

[37]  Steve Goddard,et al.  Online energy-aware I/O device scheduling for hard real-time systems , 2006, Proceedings of the Design Automation & Test in Europe Conference.

[38]  Lothar Thiele,et al.  Applying real-time interface and calculus for dynamic power management in hard real-time systems , 2011, Real-Time Systems.

[39]  F. Frances Yao,et al.  A scheduling model for reduced CPU energy , 1995, Proceedings of IEEE 36th Annual Foundations of Computer Science.

[40]  Rajesh K. Gupta,et al.  Dynamic slack reclamation with procrastination scheduling in real-time embedded systems , 2005, Proceedings. 42nd Design Automation Conference, 2005..

[41]  Rajesh K. Gupta,et al.  Leakage aware dynamic voltage scaling for real-time embedded systems , 2004, Proceedings. 41st Design Automation Conference, 2004..

[42]  Dragomir Milojevic,et al.  Energy-aware real-time scheduling in embedded multiprocessor systems , 2010 .

[43]  Björn Andersson,et al.  Preemptive multiprocessor scheduling anomalies , 2002, Proceedings 16th International Parallel and Distributed Processing Symposium.

[44]  Marko Bertogna,et al.  On the Impact of Runtime Overhead on Energy-Aware Scheduling , 2012 .

[45]  Frank Mueller,et al.  DVSleak: combining leakage reduction and voltage scaling in feedback EDF scheduling , 2007, LCTES.

[46]  Sanjoy K. Baruah,et al.  Mixed-Criticality Real-Time Scheduling for Multicore Systems , 2010, 2010 10th IEEE International Conference on Computer and Information Technology.

[47]  Sanjoy K. Baruah,et al.  Algorithms and complexity concerning the preemptive scheduling of periodic, real-time tasks on one processor , 1990, Real-Time Systems.

[48]  Leon Atkins,et al.  Algorithms for power savings , 2014 .

[49]  Patrick Meumeu Yomsi,et al.  Optimal procrastination interval for constrained deadline sporadic tasks upon uniprocessors , 2013, RTNS '13.

[50]  H. B. Fradj Optimisation de l'énergie dans une architecture mémoire multi-bancs pour des applications multi-tâches temps réel , 2006 .

[51]  Tei-Wei Kuo,et al.  Procrastination for leakage-aware rate-monotonic scheduling on a dynamic voltage scaling processor , 2006, LCTES '06.

[52]  Krste Asanovic,et al.  Reducing power density through activity migration , 2003, ISLPED '03.

[53]  Michel Auguin,et al.  Temperature-aware DVFS-DPM for real-time applications under variable ambient temperature , 2013, 2013 8th IEEE International Symposium on Industrial Embedded Systems (SIES).

[54]  Vincent Nélis,et al.  MORA: An Energy-Aware Slack Reclamation Scheme for Scheduling Sporadic Real-Time Tasks upon Multiprocessor Platforms , 2009, 2009 15th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications.

[55]  Kang G. Shin,et al.  Real-time dynamic voltage scaling for low-power embedded operating systems , 2001, SOSP.

[56]  Yann-Hang Lee,et al.  Voltage-clock-scaling adaptive scheduling techniques for low power in hard real-time systems , 2000, Proceedings Sixth IEEE Real-Time Technology and Applications Symposium. RTAS 2000.

[57]  Laurent Pautet,et al.  A scheduling algorithm to reduce the static energy consumption of multiprocessor real-time systems , 2013, RTNS '13.

[58]  Gernot Heiser,et al.  Dynamic voltage and frequency scaling: the laws of diminishing returns , 2010 .

[59]  Sanjoy Baruah,et al.  Global mixed-criticality scheduling on multiprocessors , 2012 .

[60]  Cécile Belleudy,et al.  An inter-task real time DVFS scheme for multiprocessor embedded systems , 2010, 2010 Conference on Design and Architectures for Signal and Image Processing (DASIP).

[62]  Gernot Heiser,et al.  An Analysis of Power Consumption in a Smartphone , 2010, USENIX Annual Technical Conference.

[63]  Aloysius K. Mok,et al.  Multiprocessor On-Line Scheduling of Hard-Real-Time Tasks , 1989, IEEE Trans. Software Eng..

[64]  Laurent Pautet,et al.  An off-line multiprocessor real-time scheduling algorithm to reduce static energy consumption , 2013 .

[65]  Vinay Devadas,et al.  On the interplay of dynamic voltage scaling and dynamic power management in real-time embedded applications , 2008, EMSOFT '08.

[66]  Krishnendu Chakrabarty,et al.  Pruning-based, energy-optimal, deterministic I/O device scheduling for hard real-time systems , 2005, TECS.

[67]  Thomas Mégel,et al.  Placement, ordonnancement et mécanismes de migration de tâches temps-réel pour des architectures distribuées multicoeurs. (Real-time tasks assignment, scheduling and migration mechanisms for multicore distributed architectures) , 2012 .

[68]  Scott A. Brandt,et al.  RUN: Optimal Multiprocessor Real-Time Scheduling via Reduction to Uniprocessor , 2011, 2011 IEEE 32nd Real-Time Systems Symposium.

[69]  J.A. Stankovic,et al.  Misconceptions about real-time computing: a serious problem for next-generation systems , 1988, Computer.

[70]  Laurent Pautet,et al.  Mixed-Criticality Multiprocessor Real-Time Systems: Energy Consumption vs Deadline Misses , 2013 .

[71]  Liliana Cucu-Grosjean,et al.  Measurement-Based Probabilistic Timing Analysis for Multi-path Programs , 2012, 2012 24th Euromicro Conference on Real-Time Systems.

[72]  Bruno Gaujal,et al.  Dynamic voltage scaling under EDF revisited , 2007, Real-Time Systems.

[73]  Matthieu Lemerre,et al.  Equivalence between Schedule Representations: Theory and Applications , 2008, 2008 IEEE Real-Time and Embedded Technology and Applications Symposium.

[74]  Cécile Belleudy,et al.  Controlling Energy Profile of RT Multiprocessor Systems by Anticipating Workload at Runtime , 2009 .

[75]  Tei-Wei Kuo,et al.  Leakage-Aware Energy-Efficient Scheduling of Real-Time Tasks in Multiprocessor Systems , 2006, 12th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'06).

[76]  Chin-Fu Kuo,et al.  Energy-Efficient Scheduling for Real-Time Systems on Dynamic Voltage Scaling (DVS) Platforms , 2007, 13th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2007).

[77]  Dakai Zhu,et al.  System-Level Energy Management for Periodic Real-Time Tasks , 2006, 2006 27th IEEE International Real-Time Systems Symposium (RTSS'06).

[78]  Cécile Belleudy,et al.  Hybrid power management in real time embedded systems: an interplay of DVFS and DPM techniques , 2011, Real-Time Systems.

[79]  Lothar Thiele,et al.  Proactive Speed Scheduling for Real-Time Tasks under Thermal Constraints , 2009, 2009 15th IEEE Real-Time and Embedded Technology and Applications Symposium.

[80]  Nathan Fisher,et al.  The multiprocessor real-time scheduling of general task systems , 2007 .

[81]  Vinay Devadas,et al.  Real-Time Dynamic Power Management through Device Forbidden Regions , 2008, 2008 IEEE Real-Time and Embedded Technology and Applications Symposium.

[82]  Daniel Moss,et al.  Compiler-assisted dynamic power-aware scheduling for real-time applications , 2000 .

[83]  Scott Shenker,et al.  Scheduling for reduced CPU energy , 1994, OSDI '94.

[84]  Rami G. Melhem,et al.  Multiple-resource periodic scheduling problem: how much fairness is necessary? , 2003, RTSS 2003. 24th IEEE Real-Time Systems Symposium, 2003.

[85]  James H. Anderson,et al.  An Empirical Comparison of Global, Partitioned, and Clustered Multiprocessor EDF Schedulers , 2010, 2010 31st IEEE Real-Time Systems Symposium.

[86]  Stefan M. Petters,et al.  Energy-aware partitioning of tasks onto a heterogeneous multi-core platform , 2013, 2013 IEEE 19th Real-Time and Embedded Technology and Applications Symposium (RTAS).

[87]  Dakai Zhu,et al.  Power Management for Real-Time Embedded Systems on Block-Partitioned Multicore Platforms , 2008, 2008 International Conference on Embedded Software and Systems.

[88]  Wang Yi,et al.  Minimizing Multi-resource Energy for Real-Time Systems with Discrete Operation Modes , 2010, 2010 22nd Euromicro Conference on Real-Time Systems.

[89]  Kiyoung Choi,et al.  Power optimization of real-time embedded systems on variable speed processors , 2000, IEEE/ACM International Conference on Computer Aided Design. ICCAD - 2000. IEEE/ACM Digest of Technical Papers (Cat. No.00CH37140).

[90]  Sanjoy K. Baruah,et al.  Energy-efficient synthesis of periodic task systems upon identical multiprocessor platforms , 2004, 24th International Conference on Distributed Computing Systems, 2004. Proceedings..

[91]  Alan Burns,et al.  A survey of hard real-time scheduling for multiprocessor systems , 2011, CSUR.

[92]  Stefan M. Petters,et al.  Enhanced Race-To-Halt: A Leakage-Aware Energy Management Approach for Dynamic Priority Systems , 2011, 2011 23rd Euromicro Conference on Real-Time Systems.

[93]  David S. Johnson,et al.  Computers and Intractability: A Guide to the Theory of NP-Completeness , 1978 .

[94]  Raymond R. Devillers,et al.  Power-Aware Real-Time Scheduling upon Identical Multiprocessor Platforms , 2008, 2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (sutc 2008).

[95]  David C. Snowdon,et al.  Power Management and Dynamic Voltage Scaling: Myths and Facts , 2005 .

[96]  Rami G. Melhem,et al.  Dynamic and aggressive scheduling techniques for power-aware real-time systems , 2001, Proceedings 22nd IEEE Real-Time Systems Symposium (RTSS 2001) (Cat. No.01PR1420).

[97]  Jakob Engblom,et al.  The worst-case execution-time problem—overview of methods and survey of tools , 2008, TECS.

[98]  Wei-Kuan Shih,et al.  Current Results on EDZL Scheduling for Multiprocessor Real-Time Systems , 2007, 13th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2007).

[99]  Robert I. Davis,et al.  Mixed Criticality Systems - A Review , 2015 .

[100]  Rami Melhem,et al.  Power management points in power-aware real-time systems , 2002 .