Enrico Bini
Skip Abstract Section
Abstract
This article presents a general framework to analyze and design embedded systems minimizing the energy consumption without violating timing requirements. A set of realistic assumptions is considered in the model in order to apply the results in practical real-time applications. The processor is assumed to have as a set of discrete operating modes, each characterized by speed and power consumption. The energy overhead and the transition delay incurred during mode switches are considered. Task computation times are modeled with a part that scales with the speed and a part having a fixed duration, to take I/O operations into account.
The proposed method allows to compute the optimal sequence of voltage/speed changes that approximates the minimum continuous speed, which guarantees the feasibility of a given set of real-time tasks, without violating the deadline constraints. The analysis is performed both under fixed and dynamic priority assignments.
- AbouGhazaleh, N., Mossé, D., Childers, B., and Melhem, R. 2002. Toward the placement of power management points in real-time applications. In Compilers and Operating Systems for Low-Power. Kluwer Academic Publishers, Norwell, MA, 37--52. Google Scholar
Digital Library
- Almeida, L., Pedreiras, P., and Fonseca, J. A. G. 2002. The FTT-CAN protocol: Why and how. IEEE Trans. Ind. Electron. 49, 6, 1189--1201.Google ScholarCross Ref
- Aydin, H., Devadas, V., and Zhu, D. 2006. System-level energy management for periodic real-time tasks. In Proceedings of the 27th IEEE International Real-Time Systems Symposium. IEEE, Los Alamitos, 313--322. Google ScholarDigital Library
- Aydin, H., Melhem, R., Mossé, D., and Mejía-Alvarez, P. 2004. Power-aware scheduling for periodic real-time tasks. IEEE Trans. Comput. 53, 5, 584--600. Google ScholarDigital Library
- Baruah, S. K., Howell, R., and Rosier, L. 1990. Algorithms and complexity concerning the preemptive scheduling of periodic, real-time tasks on one processor. Real-Time Syst. 2, 301--324. Google ScholarDigital Library
- Bini, E. 2004. The design domain of real-time system. Ph.D. Thesis, Scuola Superiore Sant'Anna, Pisa, Italy. http://retis.sssup.it/~bini/thesis/Google Scholar
- Bini, E., Buttazzo, G., and Lipari, G. 2005. Speed modulation in energy-aware real-time systems. In Proceedings of the 17th Euromicro Conference on Real-Time Systems. IEEE, Los Alamitos, CA, 3--10. Google ScholarDigital Library
- Buttazzo, G. C. 2004. Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications 2nd Ed. Springer-Verlag, Berlin, Germany. Google ScholarDigital Library
- Chandrakasan, A. P. and Brodersen, R. W. 1995. Low-Power Digital CMOS Design. Kluwer Academic Publishers, Norwell, MA. Google ScholarDigital Library
- Feng, X. and Mok, A. K. 2002. A model of hierarchical real-time virtual resources. In Proceedings of the 23rd IEEE Real-Time Systems Symposium. IEEE, Los Alamitos, CA, 26--35. Google ScholarDigital Library
- Gresser, K. 1993. An event model for deadline verification of hard real-time systems. In Proceedings of the 5th Euromicro Workshop on Real-Time Systems. IEEE, Los Alamitos, CA, 118--123.Google ScholarCross Ref
- Hong, I., Qu, G., Potkonjak, M., and Srivastava, M. B. 1998. Synthesis techniques for low-power hard real-time systems on variable voltage processors. In Proceedings of the 19th IEEE Real-Time Systems Symposium. IEEE, Los Alamitos, CA, 178--187. Google ScholarDigital Library
- Irani, S., Shukla, S., and Gupta, R. 2003. Algorithms for power savings. In Proceedings of the 14th Annual ACM-SIAM Symposium on Discrete Algorithms. ACM, New York, 37--46. Google ScholarDigital Library
- Ishihara, T. and Yasuura, H. 1998. Voltage scheduling problem for dynamically variable voltage processors. In Proceedings of the International Symposium on Low-Power Electronics and Design. ACM, New York, 197--202. Google ScholarDigital Library
- Jejurikar, R. and Gupta, R. 2004. Dynamic voltage scaling for systemwide energy minimization in real-time embedded systems. In Proceedings of the International Symposium on Low-Power Electronics and Design. ACM, New York, 78--81. Google ScholarDigital Library
- Lee, S. and Sakurai, T. 2000. Run-time voltage hopping for low-power real-time systems. In Proceedings of the 37th Design Automation Conference. IEEE, Los Alamitos, CA, 806--809. Google ScholarDigital Library
- Lehoczky, J. P., Sha, L., and Ding, Y. 1989. The rate-monotonic scheduling algorithm: Exact characterization and average case behavior. In Proceedings of the 10th IEEE Real-Time Systems Symposium. IEEE, Los Alamitos, CA, 166--171.Google Scholar
- Lipari, G. and Bini, E. 2003. Resource partitioning among real-time applications. In Proceedings of the 15th Euromicro Conference on Real-Time Systems. IEEE, Los Alamitos, CA, 151--158.Google Scholar
- Liu, C. L. and Layland, J. W. 1973. Scheduling algorithms for multi-programming in a hard real-time environment. J. Assoc. Comput. Machin. 20, 1, 46--61. Google ScholarDigital Library
- Liu, Y. and Mok, A. K. 2003. An integrated approach for applying dynamic voltage scaling to hard real-time systems. In Proceedings of the 9th IEEE Real-Time and Embedded Technology and Applications Symposium. IEEE, Los Alamitos, CA, 116--123. Google ScholarDigital Library
- Mochocki, B., Hu, X. S., and Quan, G. 2002. A realistic variable voltage scheduling model for real-time applications. In Proceedings of the International Conference on Computer-Aided Design. 726--731. Google ScholarDigital Library
- Pillai, P. and Shin, K. G. 2001. Real-time dynamic voltage scaling for low-power embedded operating systems. In Proceedings of the 18th ACM Symposium on Operating System Principles. ACM, New York, 89--102. Google ScholarDigital Library
- Qadi, A., Goddard, S., and Farritor, S. 2003. A dynamic voltage scaling algorithm for sporadic tasks. In Proceedings of the 24th Real-Time Systems Symposium. 52--62. Google ScholarDigital Library
- Quan, G., Niu, L., Hu, X. S., and Mochocki, B. 2004. Fixed priority-based real-time scheduling for reducing energy on variable voltage processors. In Proceedings of the 25th IEEE Real-Time Systems Symposium. 309--318. Google ScholarDigital Library
- Rabaey, J. M., Chandrakasan, A., and Nikolic, B. 2002. Digital Integrated Circuits 2nd Ed. Prentice Hall. Google ScholarDigital Library
- Richter, K. and Ernst, R. 2002. Event model interfaces for heterogeneous system analysis. In Proceedings of the Design, Automation and Test in Europe. 506--513. Google ScholarDigital Library
- Ripoll, I., Crespo, A., and Mok, A. K. 1996. Improvement in feasibility testing for real-time tasks. Real-Time Syst. 11, 1, 19--39. Google ScholarDigital Library
- Saewong, S. and Rajkumar, R. 2003. Practical voltage-scaling for fixed-priority RT-systems. In Proceedings of the 9th IEEE Real-Time and Embedded Technology and Applications Symposium. IEEE, Los Alamitos, CA, 106--114. Google ScholarDigital Library
- Scordino, C. and Lipari, G. 2006. A resource reservation algorithm for power-aware scheduling of periodic and aperiodic real-time tasks. IEEE Trans. Comput. 55, 12, 1509--1522. Google ScholarDigital Library
- Seth, K., Anantaraman, A., Mueller, F., and Rotenberg, E. 2003. FAST: Frequency-aware static timing analysis. In Proceedings of the 24th IEEE Real-Time Systems Symposium. IEEE, Los Alamitos, CA, 40--51. Google ScholarDigital Library
- Shin, I. and Lee, I. 2003. Periodic resource model for compositional real-time guarantees. In Proceedings of the 24th Real-Time Systems Symposium. 2--13. Google ScholarDigital Library
- Tal, J. and Person, E. K. 1978. Pulsewidth modulated amplifier for dc servo system. DC motor and control systems. http://icat.snu.ac.kr:3333/ww/pdf/ww_1993_30.pdf.Google Scholar
- Yao, F., Demers, A., and Shenker, S. 1995. A scheduling model for reduced CPU energy. In Proceedings of the 36th Annual Symposium on Foundations of Computer Science. 374--382. Google ScholarDigital Library
- Zhuo, J. and Chakrabarti, C. 2005. System-level energy-efficient dynamic task scheduling. In Proceedings of the 42nd on Design Automation Conference. IEEE, Los Alamitos, CA, 628--631. Google ScholarDigital Library
Index Terms
- Minimizing CPU energy in real-time systems with discrete speed management
Recommendations
THE RTSC: MIGRATING EVENT-TRIGGERED SYSTEMS TO TIME-TRIGGERED SYSTEMS
In this paper, we present a prototype of the Real-Time Systems Compiler (RTSC). The RTSC is a compiler-based tool that enables the migration from event-triggered to time-triggered real-time systems. This is achieved by replacing the real-time systems ...
CPU scheduling for statistically-assured real-time performance and improved energy efficiency
CODES+ISSS '04: Proceedings of the 2nd IEEE/ACM/IFIP international conference on Hardware/software codesign and system synthesisWe present a CPU scheduling algorithm, called Energy-efficient Utility Accrual Algorithm (or EUA), for battery-powered, embedded real-time systems. We consider an embedded software application model where repeatedly occurring application activities are ...
Comments