ABSTRACT
Energy consumption of real-time embedded systems is a growing concern. It includes both static and dynamic consumption and is now dominated by static consumption as the semiconductor technology moves to deep sub-micron scale. In this paper, we propose a new approach to efficiently use the low-power states of multiprocessor embedded hard real-time systems in order to reduce their static consumption. In a low-power state, the processor is not active and the deeper the low-power state is, the lower is the energy consumption but the higher is the transition delay to come back to the active state. Our approach increases the duration of the idle periods to allow the activation of deeper low-power states. Offline, we use an additional task to model the idle time and we use mixed integer linear programming to reduce its number of preemptions. Online, we extend an existing scheduling algorithm to increase the length of the idle periods. To the best of our knowledge, this is the first optimal multiprocessor scheduling algorithm minimizing static consumption. Simulations show that the energy consumption while processors are idle is dramatically reduced with our solution compared to existing multiprocessor real-time scheduling algorithms.
- ARM Cortex-A9 MPCore Technical Reference Manual.Google Scholar
- FreeScale MPC5510 Microcontroller Family Reference Manual.Google Scholar
- ST Microelectronics STM32L151xx and STM32L152xx advanced ARM-based 32-bit MCUs Reference Manual.Google Scholar
- T. Austin, D. Blaauw, S. Mahlke, T. Mudge, C. Chakrabarti, and W. Wolf. Mobile supercomputers. Computer, 37(5):81--83, May 2004. Google ScholarDigital Library
- M. Awan and S. Petters. Enhanced race-to-halt: A leakage-aware energy management approach for dynamic priority systems. In Proc. of the 23rd Euromicro Conf. on Real-Time Systems, pages 92--101, 2011. Google ScholarDigital Library
- M. A. Awan and S. M. Petters. Energy-aware partitioning of tasks onto a heterogeneous multi-core platform. In Proc. of the 19th IEEE Real-Time & Embedded Technology & Applications Symp., pages 205--214, 2013. Google ScholarDigital Library
- H. Aydin, P. Mejía-Alvarez, D. Mossé, and R. Melhem. Dynamic and aggressive scheduling techniques for power-aware real-time systems. In Proc. of the 22nd IEEE Real-Time Systems Symp., pages 95--, 2001. Google ScholarDigital Library
- A. Bastoni, B. B. Brandenburg, and J. H. Anderson. An empirical comparison of global, partitioned, and clustered multiprocessor edf schedulers. In Proc. of the 31st Real-Time Systems Symp., pages 14--24, 2010. Google ScholarDigital Library
- M. Bhatti, M. Farooq, C. Belleudy, and M. Auguin. Controlling energy profile of rt multiprocessor systems by anticipating workload at runtime. In SYMPosium en Architectures nouvelles de machines, 2009.Google Scholar
- E. Bini and G. C. Buttazzo. Biasing effects in schedulability measures. In Proc. of the 16th Euromicro Conf. on Real-Time Systems, pages 196--203, 2004. Google ScholarDigital Library
- A. Carroll and G. Heiser. An analysis of power consumption in a smartphone. In Proc. of the 2010 USENIX conference on USENIX annual technical conference, pages 21--21, 2010. Google ScholarDigital Library
- D. Chabrol, D. Roux, V. David, M. Jan, M. A. Hmid, P. Oudin, and G. Zeppa. Time- and angle-triggered real-time kernel for powertrain applications. In Proc. of the Design, Automation Test in Europe Conference Exhibition, pages 1060--1063, 2013. Google ScholarDigital Library
- J.-J. Chen, H.-R. Hsu, and T.-W. Kuo. Leakage-aware energy-efficient scheduling of real-time tasks in multiprocessor systems. In Proc. of the 12th IEEE Real-Time & Embedded Technology & Applications Symp., pages 408--417, 2006. Google ScholarDigital Library
- J.-J. Chen and C.-F. Kuo. Energy-efficient scheduling for real-time systems on dynamic voltage scaling (dvs) platforms. In Proc. of the 13th IEEE Int. Conf. on Embedded and Real-Time Computing Systems and Applications, pages 28--38, 2007. Google ScholarDigital Library
- R. Davis and A. Burns. Fpzl schedulability analysis. In Proc. of the 17th IEEE Real-Time and Embedded Technology and Applications Symp., pages 245--256, 2011. Google ScholarDigital Library
- R. Davis and A. Burns. Improved priority assignment for global fixed priority pre-emptive scheduling in multiprocessor real-time systems. Real-Time Syst., 47(1):1--40, Jan. 2011. Google ScholarDigital Library
- H. Huang, F. Xia, J. Wang, S. Lei, and G. Wu. Leakage-aware reallocation for periodic real-time tasks on multicore processors. In Proc. of the 5th Intl. Conf. on Frontier of Computer Science and Technology, pages 85--91, 2010. Google ScholarDigital Library
- K. Huang, L. Santinelli, J.-J. Chen, L. Thiele, and G. C. Buttazzo. Applying real-time interface and calculus for dynamic power management in hard real-time systems. Real-Time Syst., 47, March 2011. Google ScholarDigital Library
- M. Jan, V. David, J. Lalande, and M. Pitel. Usage of the safety-oriented real-time OASIS approach to build deterministic protection relays. In Proc. of the 5th Intl. Symp. on Industrial Embedded Systems, pages 128--135, 2010.Google ScholarCross Ref
- R. Jejurikar, C. Pereira, and R. Gupta. Leakage aware dynamic voltage scaling for real-time embedded systems. In Proc. of the 41st annual Design Automation Conf., pages 275--280, 2004. Google ScholarDigital Library
- E. Le Sueur and G. Heiser. Dynamic voltage and frequency scaling: The laws of diminishing returns. In Proc. of the Workshop on Power Aware Computing and Systems, pages 1--8, 2010. Google ScholarDigital Library
- Y.-H. Lee, K. Reddy, and C. Krishna. Scheduling techniques for reducing leakage power in hard real-time systems. In Proc. of the 15th Euromicro Conf. on Real-Time Systems, pages 105--112, 2003.Google Scholar
- V. Legout, M. Jan, and L. Pautet. Mixed-criticality multiprocessor real-time systems: Energy consumption vs deadline misses. In 1st workshop on Real-Time Mixed Criticality Systems, 2013.Google Scholar
- V. Legout, M. Jan, and L. Pautet. An off-line multiprocessor real-time scheduling algorithm to reduce static energy consumption. In First Workshop on Highly-Reliable Power-Efficient Embedded Designs, 2013.Google Scholar
- M. Lemerre, V. David, C. Aussaguès, and G. Vidal-Naquet. Equivalence between schedule representations: Theory and applications. In Proc. of the IEEE Real-Time and Embedded Technology and Applications Symp., pages 237--247, 2008. Google ScholarDigital Library
- T. Megel, R. Sirdey, and V. David. Minimizing task preemptions and migrations in multiprocessor optimal real-time schedules. In Proc. of the 31st IEEE Real-Time Systems Symp., pages 37--46, 2010. Google ScholarDigital Library
- G. Nelissen, V. Berten, J. Goossens, and D. Milojevic. Reducing preemptions and migrations in real-time multiprocessor scheduling algorithms by releasing the fairness. In Proc. of the 17th Intl. Conf. on Embedded and Real-Time Computing Systems and Applications, pages 15--24, 2011. Google ScholarDigital Library
- L. Niu and G. Quan. Reducing both dynamic and leakage energy consumption for hard real-time systems. In Proc. of the Intl. Conf. on compilers, architecture, and synthesis for embedded systems, pages 140--148, 2004. Google ScholarDigital Library
- P. Parkinson. Safety, security and multicore. In Advances in Systems Safety, pages 215--232. 2011.Google ScholarCross Ref
- P. Regnier, G. Lima, E. Massa, G. Levin, and S. Brandt. Run: Optimal multiprocessor real-time scheduling via reduction to uniprocessor. In Proc. of the IEEE 32nd Real-Time Systems Symp., pages 104--115, 2011. Google ScholarDigital Library
- E. Seo, J. Jeong, S. Park, and J. Lee. Energy efficient scheduling of real-time tasks on multicore processors. IEEE Trans. Parallel Distrib. Syst., 19(11):1540--1552, 2008. Google ScholarDigital Library
- T. Šimunić, L. Benini, and G. De Micheli. Cycle-accurate simulation of energy consumption in embedded systems. In Proc. of the 36th annual ACM/IEEE Design Automation Conference, pages 867--872, 1999. Google ScholarDigital Library
- H.-W. Wei, Y.-H. Chao, S.-S. Lin, K.-J. Lin, and W.-K. Shih. Current results on EDZL scheduling for multiprocessor real-time systems. In Proc. of the 13th IEEE Intl. Conf. on Embedded and Real-Time Computing Systems and Applications, pages 120--130, 2007. Google ScholarDigital Library
- A scheduling algorithm to reduce the static energy consumption of multiprocessor real-time systems
Recommendations
Scheduling algorithms to reduce the static energy consumption of real-time systems
Energy consumption is an important concern when designing embedded systems. Static consumption now dominates dynamic consumption as the semiconductor technology moves to deep sub-micron scale. This has lead to the availability of energy efficient low-...
Comments