CPU Energy-Aware Parallel Real-Time Scheduling

Both energy-efficiency and real-time performance are critical requirements in many embedded systems applications such as self-driving car, robotic system, disaster response, and security/safety control. These systems entail a myriad of real-time tasks, where each task itself is a parallel task that can utilize multiple computing units at the same time. Driven by the increasing demand for parallel tasks, multi-core embedded processors are inevitably evolving to many-core. Existing work on real-time parallel tasks mostly focused on real-time scheduling without addressing energy consumption. In this paper, we address hard real-time scheduling of parallel tasks while minimizing their CPU energy consumption on multicore embedded systems. Each task is represented as a directed acyclic graph (DAG) with nodes indicating different threads of execution and edges indicating their dependencies. Our technique is to determine the execution speeds of the nodes of the DAGs to minimize the overall energy consumption while meeting all task deadlines. It incorporates a frequency optimization engine and the dynamic voltage and frequency scaling (DVFS) scheme into the classical real-time scheduling policies (both federated and global) and makes them energy-aware. The contributions of this paper thus include the first energy-aware online federated scheduling and also the first energy-aware global scheduling of DAGs. Evaluation using synthetic workload through simulation shows that our energy-aware real-time scheduling policies can achieve up to 68% energy-saving compared to classical (energy-unaware) policies. We have also performed a proof of concept system evaluation using physical hardware demonstrating the energy efficiency through our proposed approach

Optimizing Embedded Software of Self-Powered IoT Edge Devices for Transient Computing

IoT edge computing becomes increasingly popular as it can mitigate the burden of cloud servers significantly by offloading tasks from the cloud to the edge which contains the majority of IoT devices. Currently, there are trillions of edge devices all over the world, and this number keeps increasing. A vast amount of edge devices work under power-constrained scenarios such as for outdoor environmental monitoring. Considering the cost and sustainability, in the long run, self-powering through energy harvesting technology is preferred for these IoT edge devices. Nevertheless, a common and critical drawback of self-powered IoT edge devices is that their runtime states in volatile memory such as SRAM will be lost during the power outage. Thanks to the state-of-the-art non-volatile processor (NVP), the runtime volatile states can be saved into the on-chip non-volatile memory before the power outage and recovered when harvesting power becomes available. Yet the potential of a self-powered IoT edge device is still hindered by the intrinsic low energy efficiency and reliability. In order to fully exert the potentials of existing self-powered IoT edge devices, this dissertation aims at optimizing the energy efficiency and reliability of self-powered IoT edge devices through several software approaches. First, to prevent execution progress loss during the power outage, NVP-aware task schedulers are proposed to maximize the overall task execution progress especially for the atomic tasks of which the unfinished progress is subjected to loss regardless of having been checkpointed. Second, to minimize both the time and energy overheads of checkpointing operations on non-volatile memory, an intelligent checkpointing scheme is proposed which can not only ensure a successful checkpointing but also predict the necessity of conducting checkpointing to avoid excessive checkpointing overhead. Third, to avoid inappropriate runtime CPU clock frequency with low energy utility, a CPU frequency modulator is proposed which adjusts the runtime CPU clock frequency adaptively. Finally, to thrive in ultra-low harvesting power scenarios, a light-weight software paradigm is proposed to help maximize the energy extraction rate of the energy harvester and power regulator bundle. Besides, checkpointing is also optimized for more energy-efficient and light-weight operation

Memory Management for Emerging Memory Technologies

The Memory Wall, or the gap between CPU speed and main memory latency, is ever increasing. The latency of Dynamic Random-Access Memory (DRAM) is now of the order of hundreds of CPU cycles. Additionally, the DRAM main memory is experiencing power, performance and capacity constraints that limit process technology scaling. On the other hand, the workloads running on such systems are themselves changing due to virtualization and cloud computing demanding more performance of the data centers. Not only do these workloads have larger working set sizes, but they are also changing the way memory gets used, resulting in higher sharing and increased bandwidth demands. New Non-Volatile Memory technologies (NVM) are emerging as an answer to the current main memory issues. This thesis looks at memory management issues as the emerging memory technologies get integrated into the memory hierarchy. We consider the problems at various levels in the memory hierarchy, including sharing of CPU LLC, traffic management to future non-volatile memories behind the LLC, and extending main memory through the employment of NVM. The first solution we propose is “Adaptive Replacement and Insertion" (ARI), an adaptive approach to last-level CPU cache management, optimizing the cache miss rate and writeback rate simultaneously. Our specific focus is to reduce writebacks as much as possible while maintaining or improving miss rate relative to conventional LRU replacement policy, with minimal hardware overhead. ARI reduces writebacks on benchmarks from SPEC2006 suite on average by 32.9% while also decreasing misses on average by 4.7%. In a PCM based memory system, this decreases energy consumption by 23% compared to LRU and provides a 49% lifetime improvement beyond what is possible with randomized wear-leveling. Our second proposal is “Variable-Timeslice Thread Scheduling" (VATS), an OS kernel-level approach to CPU cache sharing. With modern, large, last-level caches (LLC), the time to fill the LLC is greater than the OS scheduling window. As a result, when a thread aggressively thrashes the LLC by replacing much of the data in it, another thread may not be able to recover its working set before being rescheduled. We isolate the threads in time by increasing their allotted time quanta, and allowing larger periods of time between interfering threads. Our approach, compared to conventional scheduling, mitigates up to 100% of the performance loss caused by CPU LLC interference. The system throughput is boosted by up to 15%. As an unconventional approach to utilizing emerging memory technologies, we present a Ternary Content-Addressable Memory (TCAM) design with Flash transistors. TCAM is successfully used in network routing but can also be utilized in the OS Virtual Memory applications. Based on our layout and circuit simulation experiments, we conclude that our FTCAM block achieves an area improvement of 7.9× and a power improvement of 1.64× compared to a CMOS approach. In order to lower the cost of Main Memory in systems with huge memory demand, it is becoming practical to extend the DRAM in the system with the less-expensive NVMe Flash, for a much lower system cost. However, given the relatively high Flash devices access latency, naively using them as main memory leads to serious performance degradation. We propose OSVPP, a software-only, OS swap-based page prefetching scheme for managing such hybrid DRAM + NVM systems. We show that it is possible to gain about 50% of the lost performance due to swapping into the NVM and thus enable the utilization of such hybrid systems for memory-hungry applications, lowering the memory cost while keeping the performance comparable to the DRAM-only system

Memory Management for Emerging Memory Technologies

The Memory Wall, or the gap between CPU speed and main memory latency, is ever increasing. The latency of Dynamic Random-Access Memory (DRAM) is now of the order of hundreds of CPU cycles. Additionally, the DRAM main memory is experiencing power, performance and capacity constraints that limit process technology scaling. On the other hand, the workloads running on such systems are themselves changing due to virtualization and cloud computing demanding more performance of the data centers. Not only do these workloads have larger working set sizes, but they are also changing the way memory gets used, resulting in higher sharing and increased bandwidth demands. New Non-Volatile Memory technologies (NVM) are emerging as an answer to the current main memory issues. This thesis looks at memory management issues as the emerging memory technologies get integrated into the memory hierarchy. We consider the problems at various levels in the memory hierarchy, including sharing of CPU LLC, traffic management to future non-volatile memories behind the LLC, and extending main memory through the employment of NVM. The first solution we propose is “Adaptive Replacement and Insertion" (ARI), an adaptive approach to last-level CPU cache management, optimizing the cache miss rate and writeback rate simultaneously. Our specific focus is to reduce writebacks as much as possible while maintaining or improving miss rate relative to conventional LRU replacement policy, with minimal hardware overhead. ARI reduces writebacks on benchmarks from SPEC2006 suite on average by 32.9% while also decreasing misses on average by 4.7%. In a PCM based memory system, this decreases energy consumption by 23% compared to LRU and provides a 49% lifetime improvement beyond what is possible with randomized wear-leveling. Our second proposal is “Variable-Timeslice Thread Scheduling" (VATS), an OS kernel-level approach to CPU cache sharing. With modern, large, last-level caches (LLC), the time to fill the LLC is greater than the OS scheduling window. As a result, when a thread aggressively thrashes the LLC by replacing much of the data in it, another thread may not be able to recover its working set before being rescheduled. We isolate the threads in time by increasing their allotted time quanta, and allowing larger periods of time between interfering threads. Our approach, compared to conventional scheduling, mitigates up to 100% of the performance loss caused by CPU LLC interference. The system throughput is boosted by up to 15%. As an unconventional approach to utilizing emerging memory technologies, we present a Ternary Content-Addressable Memory (TCAM) design with Flash transistors. TCAM is successfully used in network routing but can also be utilized in the OS Virtual Memory applications. Based on our layout and circuit simulation experiments, we conclude that our FTCAM block achieves an area improvement of 7.9× and a power improvement of 1.64× compared to a CMOS approach. In order to lower the cost of Main Memory in systems with huge memory demand, it is becoming practical to extend the DRAM in the system with the less-expensive NVMe Flash, for a much lower system cost. However, given the relatively high Flash devices access latency, naively using them as main memory leads to serious performance degradation. We propose OSVPP, a software-only, OS swap-based page prefetching scheme for managing such hybrid DRAM + NVM systems. We show that it is possible to gain about 50% of the lost performance due to swapping into the NVM and thus enable the utilization of such hybrid systems for memory-hungry applications, lowering the memory cost while keeping the performance comparable to the DRAM-only system

Embedded System Design

A unique feature of this open access textbook is to provide a comprehensive introduction to the fundamental knowledge in embedded systems, with applications in cyber-physical systems and the Internet of things. It starts with an introduction to the field and a survey of specification models and languages for embedded and cyber-physical systems. It provides a brief overview of hardware devices used for such systems and presents the essentials of system software for embedded systems, including real-time operating systems. The author also discusses evaluation and validation techniques for embedded systems and provides an overview of techniques for mapping applications to execution platforms, including multi-core platforms. Embedded systems have to operate under tight constraints and, hence, the book also contains a selected set of optimization techniques, including software optimization techniques. The book closes with a brief survey on testing. This fourth edition has been updated and revised to reflect new trends and technologies, such as the importance of cyber-physical systems (CPS) and the Internet of things (IoT), the evolution of single-core processors to multi-core processors, and the increased importance of energy efficiency and thermal issues