A Survey of Techniques For Improving Energy Efficiency in Embedded Computing Systems

Recent technological advances have greatly improved the performance and features of embedded systems. With the number of just mobile devices now reaching nearly equal to the population of earth, embedded systems have truly become ubiquitous. These trends, however, have also made the task of managing their power consumption extremely challenging. In recent years, several techniques have been proposed to address this issue. In this paper, we survey the techniques for managing power consumption of embedded systems. We discuss the need of power management and provide a classification of the techniques on several important parameters to highlight their similarities and differences. This paper is intended to help the researchers and application-developers in gaining insights into the working of power management techniques and designing even more efficient high-performance embedded systems of tomorrow

Optimizing the flash-RAM energy trade-off in deeply embedded systems

Deeply embedded systems often have the tightest constraints on energy consumption, requiring that they consume tiny amounts of current and run on batteries for years. However, they typically execute code directly from flash, instead of the more energy efficient RAM. We implement a novel compiler optimization that exploits the relative efficiency of RAM by statically moving carefully selected basic blocks from flash to RAM. Our technique uses integer linear programming, with an energy cost model to select a good set of basic blocks to place into RAM, without impacting stack or data storage. We evaluate our optimization on a common ARM microcontroller and succeed in reducing the average power consumption by up to 41% and reducing energy consumption by up to 22%, while increasing execution time. A case study is presented, where an application executes code then sleeps for a period of time. For this example we show that our optimization could allow the application to run on battery for up to 32% longer. We also show that for this scenario the total application energy can be reduced, even if the optimization increases the execution time of the code

Power-Efficient and Low-Latency Memory Access for CMP Systems with Heterogeneous Scratchpad On-Chip Memory

The gradually widening speed disparity of between CPU and memory has become an overwhelming bottleneck for the development of Chip Multiprocessor (CMP) systems. In addition, increasing penalties caused by frequent on-chip memory accesses have raised critical challenges in delivering high memory access performance with tight power and latency budgets. To overcome the daunting memory wall and energy wall issues, this thesis focuses on proposing a new heterogeneous scratchpad memory architecture which is configured from SRAM, MRAM, and Z-RAM. Based on this architecture, we propose two algorithms, a dynamic programming and a genetic algorithm, to perform data allocation to different memory units, therefore reducing memory access cost in terms of power consumption and latency. Extensive and intensive experiments are performed to show the merits of the heterogeneous scratchpad architecture over the traditional pure memory system and the effectiveness of the proposed algorithms

Dynamic Binary Translation for Embedded Systems with Scratchpad Memory

Embedded software development has recently changed with advances in computing. Rather than fully co-designing software and hardware to perform a relatively simple task, nowadays embedded and mobile devices are designed as a platform where multiple applications can be run, new applications can be added, and existing applications can be updated. In this scenario, traditional constraints in embedded systems design (i.e., performance, memory and energy consumption and real-time guarantees) are more difficult to address. New concerns (e.g., security) have become important and increase software complexity as well. In general-purpose systems, Dynamic Binary Translation (DBT) has been used to address these issues with services such as Just-In-Time (JIT) compilation, dynamic optimization, virtualization, power management and code security. In embedded systems, however, DBT is not usually employed due to performance, memory and power overhead. This dissertation presents StrataX, a low-overhead DBT framework for embedded systems. StrataX addresses the challenges faced by DBT in embedded systems using novel techniques. To reduce DBT overhead, StrataX loads code from NAND-Flash storage and translates it into a Scratchpad Memory (SPM), a software-managed on-chip SRAM with limited capacity. SPM has similar access latency as a hardware cache, but consumes less power and chip area. StrataX manages SPM as a software instruction cache, and employs victim compression and pinning to reduce retranslation cost and capture frequently executed code in the SPM. To prevent performance loss due to excessive code expansion, StrataX minimizes the amount of code inserted by DBT to maintain control of program execution. When a hardware instruction cache is available, StrataX dynamically partitions translated code among the SPM and main memory. With these techniques, StrataX has low performance overhead relative to native execution for MiBench programs. Further, it simplifies embedded software and hardware design by operating transparently to applications without any special hardware support. StrataX achieves sufficiently low overhead to make it feasible to use DBT in embedded systems to address important design goals and requirements

Management of Scratchpad Memory Using Programming Techniques

Consuming the conventional approaches, processors are incapable to achieve effective energy reduction. In upcoming processors on-chip memory system will be the major restriction. On-chip memories are managed by the software SMCs (Software Managed Chips), and are work with caches (on-chip), where inside a block of caches software can explicitly read as well as write specific or complete memory references, or work separately just like scratchpad memory. In embedded systems Scratch memory is generally used as an addition to caches or as a substitute of cache, but due to their comprehensive ease of programmability cache containing architectures are still to be chosen in numerous applications. In contrast to conventional caches in embedded schemes because of their better energy and silicon range effectiveness SPM (Scratch-Pad Memories) are being progressively used. Power consumption of ported applications can significantly be lower as well as portability of scratchpad architectures will be advanced with the language agnostic software management method which is suggested in this manuscript. To enhance the memory configuration and optimization on relevant architectures based on SPM, the variety of current methods are reviewed for finding the chances of optimizations and usage of new methods as well as their applicability to numerous schemes of memory management are also discussed in this paper

Efficient and Effective Multi-Objective Optimization for Real-Time Multi-Task Systems

Embedded real-time multi-task systems must often not only comply with timing constraints but also need to meet energy requirements. However, optimizing energy consumption might lead to higher Worst-Case Execution Time (WCET), leading to an un-schedulable system, as frequently executed code can easily differ from timing-critical code. To handle such an impasse in this paper, we formulate a Metaheuristic Algorithm-based Multi-objective Optimization (MAMO) for multi-task real-time systems. But, performing multiple WCET, energy, and schedulability analyses to solve a MAMO poses a bottleneck concerning compilation times. Therefore, we propose two novel approaches - Path-based Constraint Approach (PCA) and Impact-based Constraint Approach (ICA) - to reduce the solution search space size and to cope with this problem. Evaluations showed that PCA and ICA reduced compilation times by 85.31% and 77.31%, on average, over MAMO. For all the task sets, out of all solutions found by ICA-FPA, on average, 88.89% were on the final Pareto front

Memory Power Optimization of Java-Based Embedded Systems Exploiting Garbage Collection Information

Nowadays, Java is used in all types of embedded devices. For these memory-constrained systems, the automatic dynamicmemorymanager (Garbage Collector or GC) has been always a key factor in terms of the Java Virtual Machine (JVM) performance. Moreover, in current embedded platforms, power consumption is becoming as important as performance. Thus, in this paper we present an exploration, from an energy viewpoint, of the different possibilities of memory hierarchies for high-performance embedded systems when used by state-of-the-art GCs. This is a starting point for a better understanding of the interactions between the Java applications, the memory hierarchy and the GC. Hence, we subsequently present two techniques to reduce energy consumption on Java-based embedded systems, based on exploiting GC information. The first technique uses GC execution behavior to reduce leakage energy consumption taking advantage of the low-power mode of actual multi-banked SDRAM memories and it is intended for generational collectors. This technique can achieve a reduction up to 50% of SDRAM memory leakage. The second technique involves the inclusion of a software-controlled (scratchpad) memory that stores GC instructions under the JVM control to reduce the active energy consumption and also improve the performance of the target embedded system and it is aimed at all kind of garbage collectors. For this last technique we have experimented with two different approaches for selecting the GC code to be stored in the scratchpad memory: one static and one dynamic. Our experimental results show that the proposed dynamic scratchpad management approach for GCs enables up to 63% energy consumption reduction and 25% performance improvement during the collector phase, which means, in terms of JVM execution, a global reduction of 29% and 17% for energy and cycles respectively. Overall, this work outlines that the key for an efficient low-power implementation of Java Virtual Machines for high-performance embedded systems is the synergy between the GC choice, the memory architecture tuning, and the inclusion of power management schemes controlled by the JVM, exploiting knowledge of the GC behavior

Implementing time-predictable load and store operations

Scratchpads have been widely proposed as an alternative to caches for embedded systems. Advantages of scratchpads in-clude reduced energy consumption in comparison to a cache and access latencies that are independent of the preceding memory access pattern. The latter property makes memory accesses time-predictable, which is useful for hard real-time tasks as the worst-case execution time (WCET) must be safely estimated in order to check that the system will meet timing requirements. However, data must be explicitly moved between scratch-pad and external memory as a task executes in order to make best use of the limited scratchpad space. When dy-namic data is moved, issues such as pointer aliasing and pointer invalidation become problematic. Previous work has proposed solutions that are not suitable for hard real-time tasks because memory accesses are not time-predictable. This paper proposes the scratchpad memory management unit (SMMU) as an enhancement to scratchpad technol-ogy. The SMMU implements an alternative solution to the pointer aliasing and pointer invalidation problems which (1) does not require whole-program pointer analysis and (2) makes every memory access operation time-predictable. This allows WCET analysis to be applied to hard-real time tasks which use a scratchpad and dynamic data, but results are also applicable in the wider context of minimizing en-ergy consumption or average execution time. Experiments using C software show that the combination of an SMMU and scratchpad compares favorably with the best and worst case performance of a conventional data cache