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A New Universal-Environment Adaptive Multi-processor Scheduler for Autonomous Cyber-Physical System

A New Universal-Environment Adaptive Multi-processor Schedul...

引用

international conference on Computer and Information Science (ACIS)

作者： Kailong Zhang Yuan Yao Ouassila Labanni Zhou Lu Xiao Wu Northwestern Polytechnical University Xi'an Shaanxi CN Universite de Bourgogne Dijon Bourgogne FR

Robot, spaceship and other applications that can be called autonomous Cyber-Physical systems (CPS) are all smart embedded systems, which usually run in open environment by themselves with inhered intelligent capabilities. Besides the application intelligence, the researches of adaptive platform for such systems have also become topics recently. Based on the analysis of current work, a new environment adaptive scheduler (α-S) for multiprocessor platform of a cyber-physical system is proposed in this article. And then, its related structures, models, and reasoning methods are studied deeply. Different from the existing ones, α-S can schedule all tasks according to the environment change by two layered functions. the upper one uses not only the properties of a task but also the state of environment and system resources as input variables, which is defined as Universal Environment (UE), and then calculates the Quality of Scheduling of all tasks with a customized fuzzy logic. the lower one allocates these tasks onto processors automatically under the dynamic performance evaluation of computing resources, such as load and success rate of each processor. Further, some allocation policies are studied and defined to make α-S be more flexible to adapt different requirements. Finally, studied methods are simulated and then experimented on an obstacle-avoiding robot system.

关键词： Quality of service Program processors Cognition Adaptation models Resource management Processor scheduling real time systems

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Partition/aggregate in commodity 10G ethernet software-defined networking

Partition/aggregate in commodity 10G ethernet software-defin...

引用

ieee Workshop on High Performance Switching and Routing

作者： R. Birke D. Crisan K. Barabash A. Levin C. DeCusatis C. Minkenberg M. Gusat IBM Research Zürich Research Laboratory Rüschlikon Switzerland IBM Research Lab in Haifa Haifa University Campus Haifa Israel IBM Systems and Technology Group Poughkeepsie NY USA

One of the prevalent trends in emerging large scale multi-tenant datacenters is network virtualization using overlays. Here we investigate application performance degradation in such an overlay applied to commodity 10 Gigabit Ethernet networks. We have adopted partition/aggregate as a representative commercial workload that today is deployed on bare metal servers and is notoriously sensitive to latency and TCP incast congestion. Using query completion time as the primary metric, we evaluate the degree to which a software-defined network (SDN) overlay impacts this application's behavior, the performance bounds of partition/aggregate with an SDN overlay, and whether active queue management (AQM) such as random early detection (RED) can benefit this environment. We introduce a generic SDN overlay framework, which we measure in hardware and simulate using a real TCP stack extracted from FreeBSD v9, running over a detailed Layer 2 commodity 10G Ethernet fabric network simulator. To further alleviate TCP incast congestion and support legacy congestion control, we propose an AQM translation scheme called v-RED. Finally, we report results concerning SDN's benefits in addressing TCP incast. Contrary to our expectations, we found that latency-sensitive applications do not necessarily suffer from performance degradation when deployed over SDN overlays.

关键词： Switches Aggregates Encapsulation Delay Servers Adaptation models

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real-World Constraints of GPUs in real-time systems

Real-World Constraints of GPUs in Real-Time Systems

引用

1st international Workshop on Cyber-Physical systems, Networks, and applications (CPSNA) held during 17th ieee international conference on embedded and real-time computing systems and applications (RTCSA)

作者： Elliott, Glenn A. Anderson, James H. Univ North Carolina Chapel Hill Dept Comp Sci Chapel Hill NC 27514 USA

ISBN: (纸本)9780769545028

Graphics processing units (GPUs) are becoming increasingly important in today's platforms as their increased generality allows for them to be used as powerfill co-processors. In this paper;we explore possible applications for GPUs in real-time systems, discuss the limitations and constraints imposed by current GPU technology, and present a summary of our research addressing many such constraints.

关键词： Containers Cyber-Physical systems GPGPU GPU GPU Graphics processing unit Hardware Linux Protocols real time systems real-time systems Vehicles automotive coprocessors coprocessors graphics processing units real-time systems real-time systems real-world constraint

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A Loadable Task Execution Recorder for Hierarchical Scheduling in Linux

A Loadable Task Execution Recorder for Hierarchical Scheduli...

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作者： Asberg, Mikael Nolte, thomas Kato, Shinpei MRTC Malardalen Univ POB 883 SE-72123 Vasteras Sweden Carnegie Mellon Univ Dept Elect & Comp Engn Pittsburgh PA 15213 USA

ISBN: (纸本)9780769545028

this paper presents a Hierarchical Scheduling Framework (HSF) recorder for Linux-based operating systems. the HSF recorder is a loadable kernel module that is capable of recording tasks and servers without requiring any kernel modifications. Hence, it complies with the reliability and stability requirements in the area of embedded systems where proven versions of Linux are preferred. the recorder is built upon the loadable real-time scheduler framework RESCH (real-time SCHeduler). We evaluate our recorder by comparing the overhead of this solution against another (patched) recorder. Also, the tracing accuracy of the HSF recorder is tested by running a media-processing task together with periodic real-time Linux tasks in combination with servers. the tests are recorded with the HSF recorder, and the Ftrace recorder, in order to show the correctness of the experiments and the HSF recorder itself.

关键词： real-time systems hierarchical scheduling replay debugging execution visualization

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Dynamic Voltage and Frequency Scaling for real-time Scheduling on a Prioritized SMT Processor

Dynamic Voltage and Frequency Scaling for Real-Time Scheduli...

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作者： Fujii, Kei Chishiro, Hiroyuki Matsutani, Hiroki Yamasaki, Nobuyuki Keio Univ Dept Comp Sci Grad Sch Sci & Technol Yokohama Kanagawa Japan

ISBN: (纸本)9780769545028

Cyber Physical systems are composed of many embedded systems which monitor and control the physical processes for tight integrations of computation and physical processes. Such embedded systems require not only real-time capabilities but also high throughput and low power consumption. High throughput is mainly achieved by parallel architectures such as Simultaneous Multithreading (SMT) and Chip Multiprocessor (CMP), and low power consumption is mainly achieved by real-time Dynamic Voltage and Frequency Scaling (RT-DVFS) under the real-time constraint. In this paper, we present a RT-DVFS algorithm called Hetero Efficiency to Logical Processor (HeLP) which can reduce power consumption easily and effectively in prioritized SMT processors. We also present Hetero Efficiency to Logical Processor with Temporal Migration (HeLP-TM) which applies the temporal migration technique to HeLP. Simulation results show that HeLP can reduce power consumption effectively and HeLP-TM is more effective than HeLP.

关键词： real-time Dynamic Voltage and Frequency Scaling Prioritized SMT Processor embedded and real-time systems RMT Processor

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Inline Emulation for Paravirtualization Environment on embedded systems

Inline Emulation for Paravirtualization Environment on Embed...

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作者： Lee, Yuan-Cheng Hsueh, Chih-Wen Chang, Rong-Guey Natl Taiwan Univ Dept Comp Sci & Informat Engn Taipei 106 Taiwan Natl Chung Cheng Univ Dept Comp Sci & Informat Engn Chiayi 621 Taiwan

ISBN: (纸本)9780769545028

Virtualization has been widely adopted on servers for various purposes such as server consolidation, cloud computing, and so on. Recent years, the trend spreads on embedded systems, although it once seemed to be an impractical idea because of the limited capability of embedded processors. To further lower the overhead of adopting virtualization on embedded systems, we design an optimization technique, called inline emulation, to reduce the cost spending on paravirtualizing operating systems. Inline emulation can also be used in various virtualization environments to increase the performance of emulating privileged instructions. We implement inline emulation for ARMv5 architecture and evaluate in Android Emulator. the result shows it runs much faster, up to 7.4 times, than the common paravirtualization technique for cache-related operations and suggests that it not only lowers the development cost but also increases system responsiveness.

关键词： embedded systems inline emulation paravirtualization virtualization embedded systems Virtualization simulating Servers Methyltestosterone Androids

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Enhancing Security of embedded Linux on a Multi-core Processor

Enhancing Security of Embedded Linux on a Multi-core Process...

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作者： Li, Ning Kinebuchi, Yuki Nakajima, Tatsuo Waseda Univ Dept Comp Sci & Engn Tokyo Japan

ISBN: (纸本)9780769545028

While recent embedded systems start to own more and more functionalities, security requirements become more and more important. In this paper we propose an approach to enhance the security of embedded systems. In this approach SPUMONE, a thin virtualization layer, is selected to build a multi-OS environment for its low overhead. Xv6 runs as trusted OS for executing the monitoring service that detects the violation of the integrity of the Linux kernel while Linux as a general purpose OS. the monitoring service checks whether Linux is compromised or not. A secure pager that offers the spatial isolation based on the core-local memory is proposed to protect the integrity of the xv6 kernel located in the main memory, which can make Linux and xv6 run in high security level.

关键词： embedded systems Kernel Linux Linux Monitoring Random access memory SPUMONE Security Virtual machine monitors core-local memory embedded Linux embedded system embedded systems multicore processor multiprocessing systems security security of data security requirements virtualization virtualization layer

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Utilization-controlled Task Consolidation for Power Optimization in Multi-Core real-time systems

Utilization-controlled Task Consolidation for Power Optimiza...

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作者： Fu, Xing Wang, Xiaorui Univ Tennessee Dept Elect Engn & Comp Sci Knoxville TN 37996 USA

ISBN: (纸本)9780769545028

Since multi-core processors have become a primary trend in processor development, new scheduling algorithms are needed to minimize power consumption while achieving the desired timeliness guarantees for multi-core (and many-core) real-time embedded systems. Although various power/energy-efficient scheduling algorithms have recently been proposed, existing studies may have degraded run-time performance in terms of power/energy efficiency and real-time guarantees when applied to real-time embedded systems with uncertain execution times. In this paper, we propose a novel online solution that integrates core-level feedback control with processor-level optimization to minimize both the dynamic and leakage power consumption of a multi-core real-time embedded system. Our solution monitors the utilization of each CPU core in the system and dynamically responds to unpredictable execution time variations by conducting per-core voltage and frequency scaling. We then perform task consolidation on a longer timescale and shut down unused cores for maximized power savings. Both empirical results on a hardware multi-core testbed with well-known benchmarks and simulation results in many-core systems show that our solution provides the desired real-time guarantees while achieving more power savings than three state-of-the-art algorithms.

关键词： Multicore processing real time systems Power demand Optimization embedded systems Resource management Frequency control

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Predictability and efficiency in contemporary Hard RTOS for multiprocessor systems

Predictability and efficiency in contemporary Hard RTOS for ...

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作者： Nogueira, Andre Calha, Mario Fac Sci Large Scale Informat Syst Lab Dept Informat Lisbon Portugal

ISBN: (纸本)9780769545028

Hard real-time operating systems have been mostly designed for uniprocessors. Driven by the high computational demand of real-time systems, these operating systems have been re-designed for multiprocessors. Researchers have been identifying issues that affect the predictability of multiprocessor hard real-time systems. these sources of unpredictability make it difficult to accurately predict safe and tight worst-case execution time bounds of real-time tasks. As a result, the performance of multiprocessor hard real-time systems is compromised. In this paper, we present a middleware architecture that aims to provide predictability and high efficiency for multiprocessor hard real-time systems. the middleware supports hybrid hard real-time tasks, which are adaptive hard real-time services that intend to ensure predictability and performance. We also present a prototype of this architecture. Moreover, we identify and discuss issues that affect the predictability and performance of multiprocessor hard real-time systems.

关键词： Computer architecture Linux Middleware Payloads Processor scheduling Prototypes real time systems adaptive hard real-time services contemporary hard RTOS hard real-time operating system hard real-time operating systems middleware middleware architecture multiprocessing systems multiprocessor hard real-time systems multiprocessor processor architecture multiprocessor systems operating systems (computers) real-time systems scheduling wormhole model worst-case execution time bound

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Control-Quality Driven Task Mapping for Distributed embedded Control systems

Control-Quality Driven Task Mapping for Distributed Embedded...

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作者： Aminifar, Amir Samii, Soheil Eles, Petru Peng, Zebo Linkoping Univ Dept Comp & Informat Sci Linkoping Sweden

ISBN: (纸本)9780769545028

Many embedded control systems are implemented on execution platforms with several computation nodes and communication components. Distributed embedded control systems typically comprise multiple control loops that share the available computation and communication resources of the platform. It is well known that such resource sharing leads to complex delay characteristics that degrade the control quality if not properly taken into account at design time. Scheduling in computation nodes and communication infrastructure, as well as execution periods of the controllers impact the delay characteristics and, consequently, the control quality. In addition, mapping of tasks on computation nodes affect both scheduling of tasks and messages, and the assignment of periods of the control applications. therefore, control synthesis must be considered during mapping, scheduling, and period assignment in order to achieve high control quality. this paper presents a control-quality optimization approach for integrated mapping, scheduling, period selection, and control synthesis for distributed embedded control systems.

关键词： Control Performance embedded Control Task Mapping Quality Control control systems control performance communication components Resource sharing embedding MAPPING(MAthEMATICAL) arithmetic Religious Missions communication resources multiple control Communications infrastructure

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