Efficient implementation of resource-constrained cyber-physical systems using multi-core parallelism

The quest for more performance of applications and systems became more challenging in the recent years. Especially in the cyber-physical and mobile domain, the performance requirements increased significantly. Applications, previously found in the high-performance domain, emerge in the area of resource-constrained domain. Modern heterogeneous high-performance MPSoCs provide a solid foundation to satisfy the high demand. Such systems combine general processors with specialized accelerators ranging from GPUs to machine learning chips. On the other side of the performance spectrum, the demand for small energy efficient systems exposed by modern IoT applications increased vastly. Developing efficient software for such resource-constrained multi-core systems is an error-prone, time-consuming and challenging task. This thesis provides with PA4RES a holistic semiautomatic approach to parallelize and implement applications for such platforms efficiently. Our solution supports the developer to find good trade-offs to tackle the requirements exposed by modern applications and systems. With PICO, we propose a comprehensive approach to express parallelism in sequential applications. PICO detects data dependencies and implements required synchronization automatically. Using a genetic algorithm, PICO optimizes the data synchronization. The evolutionary algorithm considers channel capacity, memory mapping, channel merging and flexibility offered by the channel implementation with respect to execution time, energy consumption and memory footprint. PICO's communication optimization phase was able to generate a speedup almost 2 or an energy improvement of 30% for certain benchmarks. The PAMONO sensor approach enables a fast detection of biological viruses using optical methods. With a sophisticated virus detection software, a real-time virus detection running on stationary computers was achieved. Within this thesis, we were able to derive a soft real-time capable virus detection running on a high-performance embedded system, commonly found in today's smart phones. This was accomplished with smart DSE algorithm which optimizes for execution time, energy consumption and detection quality. Compared to a baseline implementation, our solution achieved a speedup of 4.1 and 87\% energy savings and satisfied the soft real-time requirements. Accepting a degradation of the detection quality, which still is usable in medical context, led to a speedup of 11.1. This work provides the fundamentals for a truly mobile real-time virus detection solution. The growing demand for processing power can no longer satisfied following well-known approaches like higher frequencies. These so-called performance walls expose a serious challenge for the growing performance demand. Approximate computing is a promising approach to overcome or at least shift the performance walls by accepting a degradation in the output quality to gain improvements in other objectives. Especially for a safe integration of approximation into existing application or during the development of new approximation techniques, a method to assess the impact on the output quality is essential. With QCAPES, we provide a multi-metric assessment framework to analyze the impact of approximation. Furthermore, QCAPES provides useful insights on the impact of approximation on execution time and energy consumption. With ApproxPICO we propose an extension to PICO to consider approximate computing during the parallelization of sequential applications

Real-Time neural signal decoding on heterogeneous MPSocs based on VLIW ASIPs

An important research problem, at the basis of the development of embedded systems for neuroprosthetic applications, is the development of algorithms and platforms able to extract the patient's motion intention by decoding the information encoded in neural signals. At the state of the art, no portable and reliable integrated solutions implementing such a decoding task have been identified. To this aim, in this paper, we investigate the possibility of using the MPSoC paradigm in this application domain. We perform a design space exploration that compares different custom MPSoC embedded architectures, implementing two versions of a on-line neural signal decoding algorithm, respectively targeting decoding of single and multiple acquisition channels. Each considered design points features a different application configuration, with a specific partitioning and mapping of parallel software tasks, executed on customized VLIW ASIP processing cores. Experimental results, obtained by means of FPGA-based prototyping and post-floorplanning power evaluation on a 40nm technology library, assess the performance and hardware-related costs of the considered configurations. The reported power figures demonstrate the usability of the MPSoC paradigm within the processing of bio-electrical signals and show the benefits achievable by the exploitation of the instruction-level parallelism within tasks

A Power-Efficient Methodology for Mapping Applications on Multi-Processor System-on-Chip Architectures

This work introduces an application mapping methodology and case study for multi-processor on-chip architectures. Starting from the description of an application in standard sequential code (e.g. in C), first the application is profiled, parallelized when possible, then its components are moved to hardware implementation when necessary to satisfy performance and power constraints. After mapping, with the use of hardware objects to handle concurrency, the application power consumption can be further optimized by a task-based scheduler for the remaining software part, without the need for operating system support. The key contributions of this work are: a methodology for high-level hardware/software partitioning that allows the designer to use the same code for both hardware and software models for simulation, providing nevertheless preliminary estimations for timing and power consumption; and a task-based scheduling algorithm that does not require operating system support. The methodology has been applied to the co-exploration of an industrial case study: an MPEG4 VGA real-time encoder

mAPN: Modeling, Analysis, and Exploration of Algorithmic and Parallelism Adaptivity

Using parallel embedded systems these days is increasing. They are getting more complex due to integrating multiple functionalities in one application or running numerous ones concurrently. This concerns a wide range of applications, including streaming applications, commonly used in embedded systems. These applications must implement adaptable and reliable algorithms to deliver the required performance under varying circumstances (e.g., running applications on the platform, input data, platform variety, etc.). Given the complexity of streaming applications, target systems, and adaptivity requirements, designing such systems with traditional programming models is daunting. This is why model-based strategies with an appropriate Model of Computation (MoC) have long been studied for embedded system design. This work provides algorithmic adaptivity on top of parallelism for dynamic dataflow to express larger sets of variants. We present a multi-Alternative Process Network (mAPN), a high-level abstract representation in which several variants of the same application coexist in the same graph expressing different implementations. We introduce mAPN properties and its formalism to describe various local implementation alternatives. Furthermore, mAPNs are enriched with metadata to Provide the alternatives with quantitative annotations in terms of a specific metric. To help the user analyze the rich space of variants, we propose a methodology to extract feasible variants under user and hardware constraints. At the core of the methodology is an algorithm for computing global metrics of an execution of different alternatives from a compact mAPN specification. We validate our approach by exploring several possible variants created for the Automatic Subtitling Application (ASA) on two hardware platforms.Comment: 26 PAGES JOURNAL PAPE

Performance Estimation of Task Graphs Based on Path Profiling

Correctly estimating the speed-up of a parallel embedded application is crucial to efficiently compare different parallelization techniques, task graph transformations or mapping and scheduling solutions. Unfortunately, especially in case of control-dominated applications, task correlations may heavily affect the execution time of the solutions and usually this is not properly taken into account during performance analysis. We propose a methodology that combines a single profiling of the initial sequential specification with different decisions in terms of partitioning, mapping, and scheduling in order to better estimate the actual speed-up of these solutions. We validated our approach on a multi-processor simulation platform: experimental results show that our methodology, effectively identifying the correlations among tasks, significantly outperforms existing approaches for speed-up estimation. Indeed, we obtained an absolute error less than 5 % in average, even when compiling the code with different optimization levels

Homogeneous and heterogeneous MPSoC architectures with network-on-chip connectivity for low-power and real-time multimedia signal processing

Two multiprocessor system-on-chip (MPSoC) architectures are proposed and compared in the paper with reference to audio and video processing applications. One architecture exploits a homogeneous topology; it consists of 8 identical tiles, each made of a 32-bit RISC core enhanced by a 64-bit DSP coprocessor with local memory. The other MPSoC architecture exploits a heterogeneous-tile topology with on-chip distributed memory resources; the tiles act as application specific processors supporting a different class of algorithms. In both architectures, the multiple tiles are interconnected by a network-on-chip (NoC) infrastructure, through network interfaces and routers, which allows parallel operations of the multiple tiles. The functional performances and the implementation complexity of the NoC-based MPSoC architectures are assessed by synthesis results in submicron CMOS technology. Among the large set of supported algorithms, two case studies are considered: the real-time implementation of an H.264/MPEG AVC video codec and of a low-distortion digital audio amplifier. The heterogeneous architecture ensures a higher power efficiency and a smaller area occupation and is more suited for low-power multimedia processing, such as in mobile devices. The homogeneous scheme allows for a higher flexibility and easier system scalability and is more suited for general-purpose DSP tasks in power-supplied devices

Adaptive optimization for OpenCL programs on embedded heterogeneous systems

Heterogeneous multi-core architectures consisting of CPUs and GPUs are commonplace in today’s embedded systems. These architectures offer potential for energy efficient computing if the application task is mapped to the right core. Realizing such potential is challenging due to the complex and evolving nature of hardware and applications. This paper presents an automatic approach to map OpenCL kernels onto heterogeneous multi-cores for a given optimization criterion – whether it is faster runtime, lower energy consumption or a trade-off between them. This is achieved by developing a machine learning based approach to predict which processor to use to run the OpenCL kernel and the host program, and at what frequency the processor should operate. Instead of hand-tuning a model for each optimization metric, we use machine learning to develop a unified framework that first automatically learns the optimization heuristic for each metric off-line, then uses the learned knowledge to schedule OpenCL kernels at runtime based on code and runtime information of the program. We apply our approach to a set of representative OpenCL benchmarks and evaluate it on an ARM big.LITTLE mobile platform. Our approach achieves over 93% of the performance delivered by a perfect predictor.We obtain, on average, 1.2x, 1.6x, and 1.8x improvement respectively for runtime, energy consumption and the energy delay product when compared to a comparative heterogeneous-aware OpenCL task mapping scheme

Unleashing Fine-Grained Parallelism on Embedded Many-Core Accelerators with Lightweight OpenMP Tasking

In recent years, programmable many-core accelerators (PMCAs) have been introduced in embedded systems to satisfy stringent performance/Watt requirements. This has increased the urge for programming models capable of effectively leveraging hundreds to thousands of processors. Task-based parallelism has the potential to provide such capabilities, offering high-level abstractions to outline abundant and irregular parallelism in embedded applications. However, efficiently supporting this programming paradigm on embedded PMCAs is challenging, due to the large time and space overheads it introduces. In this paper we describe a lightweight OpenMP tasking runtime environment (RTE) design for a state-of-the-art embedded PMCA, the Kalray MPPA 256. We provide an exhaustive characterization of the costs of our RTE, considering both synthetic workload and real programs, and we compare to several other tasking RTEs. Experimental results confirm that our solution achieves near-ideal parallelization speedups for tasks as small as 5K cycles, and an average speedup of 12 × for real benchmarks, which is 60% higher than what we observe with the original Kalray OpenMP implementation

Multicore development environment for embedded processor in arduino IDE

Internet of things (IoT) technology has found more applications that require complex computation while still preserving power. Embedded processors as the core of the IoT system approaches the need for computation by employing a parallel processor system, namely MPSoC. While various MPSoCs hardware is widely available, there is limited software support form of user-friendly libraries and development platform. There is a need for such a platform to facilitate both the study and development of parallel embedded software. arduino as the widely used embedded development platform is yet to officially support multicore programming. This work proposes an arduino-based development environment that supports multicore programming while maintaining arduino’s simple program structure, targeted at specific low-power MPSoC, the RUMPS401. The environment is fully functional, and while it targets only specific MPSoC, the proposed environment can easily be adopted to other MPSoCs with similar structures with minimal modification