5,751 research outputs found
Energy-Efficient Scheduling for Homogeneous Multiprocessor Systems
We present a number of novel algorithms, based on mathematical optimization
formulations, in order to solve a homogeneous multiprocessor scheduling
problem, while minimizing the total energy consumption. In particular, for a
system with a discrete speed set, we propose solving a tractable linear
program. Our formulations are based on a fluid model and a global scheduling
scheme, i.e. tasks are allowed to migrate between processors. The new methods
are compared with three global energy/feasibility optimal workload allocation
formulations. Simulation results illustrate that our methods achieve both
feasibility and energy optimality and outperform existing methods for
constrained deadline tasksets. Specifically, the results provided by our
algorithm can achieve up to an 80% saving compared to an algorithm without a
frequency scaling scheme and up to 70% saving compared to a constant frequency
scaling scheme for some simulated tasksets. Another benefit is that our
algorithms can solve the scheduling problem in one step instead of using a
recursive scheme. Moreover, our formulations can solve a more general class of
scheduling problems, i.e. any periodic real-time taskset with arbitrary
deadline. Lastly, our algorithms can be applied to both online and offline
scheduling schemes.Comment: Corrected typos: definition of J_i in Section 2.1; (3b)-(3c);
definition of \Phi_A and \Phi_D in paragraph after (6b). Previous equations
were correct only for special case of p_i=d_
Efficient mapping algorithms for scheduling robot inverse dynamics computation on a multiprocessor system
Two efficient mapping algorithms for scheduling the robot inverse dynamics computation consisting of m computational modules with precedence relationship to be executed on a multiprocessor system consisting of p identical homogeneous processors with processor and communication costs to achieve minimum computation time are presented. An objective function is defined in terms of the sum of the processor finishing time and the interprocessor communication time. The minimax optimization is performed on the objective function to obtain the best mapping. This mapping problem can be formulated as a combination of the graph partitioning and the scheduling problems; both have been known to be NP-complete. Thus, to speed up the searching for a solution, two heuristic algorithms were proposed to obtain fast but suboptimal mapping solutions. The first algorithm utilizes the level and the communication intensity of the task modules to construct an ordered priority list of ready modules and the module assignment is performed by a weighted bipartite matching algorithm. For a near-optimal mapping solution, the problem can be solved by the heuristic algorithm with simulated annealing. These proposed optimization algorithms can solve various large-scale problems within a reasonable time. Computer simulations were performed to evaluate and verify the performance and the validity of the proposed mapping algorithms. Finally, experiments for computing the inverse dynamics of a six-jointed PUMA-like manipulator based on the Newton-Euler dynamic equations were implemented on an NCUBE/ten hypercube computer to verify the proposed mapping algorithms. Computer simulation and experimental results are compared and discussed
Energy-efficient algorithms for non-preemptive speed-scaling
We improve complexity bounds for energy-efficient speed scheduling problems
for both the single processor and multi-processor cases. Energy conservation
has become a major concern, so revisiting traditional scheduling problems to
take into account the energy consumption has been part of the agenda of the
scheduling community for the past few years.
We consider the energy minimizing speed scaling problem introduced by Yao et
al. where we wish to schedule a set of jobs, each with a release date, deadline
and work volume, on a set of identical processors. The processors may change
speed as a function of time and the energy they consume is the th power
of its speed. The objective is then to find a feasible schedule which minimizes
the total energy used.
We show that in the setting with an arbitrary number of processors where all
work volumes are equal, there is a approximation algorithm, where
is the generalized Bell number. This is the first constant
factor algorithm for this problem. This algorithm extends to general unequal
processor-dependent work volumes, up to losing a factor of
in the approximation, where is the maximum
ratio between two work volumes. We then show this latter problem is APX-hard,
even in the special case when all release dates and deadlines are equal and
is 4.
In the single processor case, we introduce a new linear programming
formulation of speed scaling and prove that its integrality gap is at most
. As a corollary, we obtain a
approximation algorithm where there is a single processor, improving on the
previous best bound of
when
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Computer-aided programming for multiprocessing systems
As both the number of processors and the complexity of problems to be solved increase, programming multiprocessing systems becomes more difficult and error-prone. This report discusses parallel models of computation and tools for computer-aided programming (CAP). Program development tools are necessary since programmers are not able to develop complex parallel programs efficiently. In particular, a CAP tool, named Hypertool, is described here. It performs scheduling and handles the communication primitive insertion automatically so that many errors are eliminated. It also generates the performance estimates and other program quality measures to help programmers in improving their algorithms and programs. Experiments have shown that up to a 300% performance improvement can be achieved by computer-aided programming
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