skip to main content
10.1145/2516821.2516839acmotherconferencesArticle/Chapter ViewAbstractPublication PagesrtnsConference Proceedingsconference-collections
research-article

A scheduling algorithm to reduce the static energy consumption of multiprocessor real-time systems

Authors Info & Claims
Published:16 October 2013Publication History

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.

References

  1. ARM Cortex-A9 MPCore Technical Reference Manual.Google ScholarGoogle Scholar
  2. FreeScale MPC5510 Microcontroller Family Reference Manual.Google ScholarGoogle Scholar
  3. ST Microelectronics STM32L151xx and STM32L152xx advanced ARM-based 32-bit MCUs Reference Manual.Google ScholarGoogle Scholar
  4. T. Austin, D. Blaauw, S. Mahlke, T. Mudge, C. Chakrabarti, and W. Wolf. Mobile supercomputers. Computer, 37(5):81--83, May 2004. Google ScholarGoogle ScholarDigital LibraryDigital Library
  5. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  6. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  7. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  8. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  9. 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 ScholarGoogle Scholar
  10. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  11. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  12. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  13. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  14. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  15. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  16. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  17. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  18. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  19. 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 ScholarGoogle ScholarCross RefCross Ref
  20. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  21. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  22. 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 ScholarGoogle Scholar
  23. 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 ScholarGoogle Scholar
  24. 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 ScholarGoogle Scholar
  25. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  26. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  27. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  28. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  29. P. Parkinson. Safety, security and multicore. In Advances in Systems Safety, pages 215--232. 2011.Google ScholarGoogle ScholarCross RefCross Ref
  30. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  31. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  32. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  33. 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 ScholarGoogle ScholarDigital LibraryDigital Library
  1. A scheduling algorithm to reduce the static energy consumption of multiprocessor real-time systems

                    Recommendations

                    Comments

                    Login options

                    Check if you have access through your login credentials or your institution to get full access on this article.

                    Sign in
                    • Published in

                      cover image ACM Other conferences
                      RTNS '13: Proceedings of the 21st International conference on Real-Time Networks and Systems
                      October 2013
                      298 pages
                      ISBN:9781450320580
                      DOI:10.1145/2516821

                      Copyright © 2013 ACM

                      Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

                      Publisher

                      Association for Computing Machinery

                      New York, NY, United States

                      Publication History

                      • Published: 16 October 2013

                      Permissions

                      Request permissions about this article.

                      Request Permissions

                      Check for updates

                      Qualifiers

                      • research-article

                      Acceptance Rates

                      RTNS '13 Paper Acceptance Rate29of62submissions,47%Overall Acceptance Rate119of255submissions,47%

                    PDF Format

                    View or Download as a PDF file.

                    PDF

                    eReader

                    View online with eReader.

                    eReader