Using Imprecise Computing for Improved Real-Time Scheduling

Conventional hard real-time scheduling is often overly pessimistic due to the worst case execution time estimation. The pessimism can be mitigated by exploiting imprecise computing in applications where occasional small errors are acceptable. This leverage is investigated in a few previous works, which are restricted to preemptive cases. We study how to make use of imprecise computing in uniprocessor non-preemptive real-time scheduling, which is known to be more difficult than its preemptive counterpart. Several heuristic algorithms are developed for periodic tasks with independent or cumulative errors due to imprecision. Simulation results show that the proposed techniques can significantly improve task schedulability and achieve desired accuracy– schedulability tradeoff. The benefit of considering imprecise computing is further confirmed by a prototyping implementation in Linux system. Mixed-criticality system is a popular model for reducing pessimism in real-time scheduling while providing guarantee for critical tasks in presence of unexpected overrun. However, it is controversial due to some drawbacks. First, all low-criticality tasks are dropped in high-criticality mode, although they are still needed. Second, a single high-criticality job overrun leads to the pessimistic high-criticality mode for all high-criticality tasks and consequently resource utilization becomes inefficient. We attempt to tackle aforementioned two limitations of mixed-criticality system simultaneously in multiprocessor scheduling, while those two issues are mostly focused on uniprocessor scheduling in several recent works. We study how to achieve graceful degradation of low-criticality tasks by continuing their executions with imprecise computing or even precise computing if there is sufficient utilization slack. Schedulability conditions under this Variable-Precision Mixed-Criticality (VPMC) system model are investigated for partitioned scheduling and global fpEDF-VD scheduling. And a deferred switching protocol is introduced so that the chance of switching to high-criticality mode is significantly reduced. Moreover, we develop a precision optimization approach that maximizes precise computing of low-criticality tasks through 0-1 knapsack formulation. Experiments are performed through both software simulations and Linux proto- typing with consideration of overhead. Schedulability of the proposed methods is studied so that the Quality-of-Service for low-criticality tasks is improved with guarantee of satisfying all deadline constraints. The proposed precision optimization can largely reduce computing errors compared to constantly executing low-criticality tasks with imprecise computing in high-criticality mode

Mixed-Criticality Scheduling to Minimize Makespan

In the mixed-criticality job model, each job is characterized by two execution time parameters, representing a smaller (less conservative) estimate and a larger (more conservative) estimate on its actual, unknown, execution time. Each job is further classified as being either less critical or more critical. The desired execution semantics are that all jobs should execute correctly provided all jobs complete upon being allowed to execute for up to the smaller of their execution time estimates, whereas if some jobs need to execute beyond their smaller execution time estimates (but not beyond their larger execution time estimates), then only the jobs classified as being more critical are required to execute correctly. The scheduling of collections of such mixed-criticality jobs upon identical multiprocessor platforms in order to minimize the makespan is considered here

Integrating Pragmatic Constraints and Behaviors into Real-Time Scheduling Theory

Scheduling theory has been studied and developed extensively in prior research. In some existing scheduling theory results, the focus is primarily on demonstrating interesting theoretical properties, thus these results are not always cognizant of pragmatic constraints. We seek to determine how existing scheduling theory can be improved with respect to pragmatic constraints and behaviors. The goal of this research is to study and design scheduling algorithms for scheduling real-time workload under constraints and behaviors found in real-time systems. Based on our study we derive a scheduling algorithm for partitioning a collection of real-time tasks in a manner that is cognizant of multiple resource constraints. We apply the above scheduling algorithm for partitioning mixed-criticality tasks. In real-time systems the scheduling algorithm must schedule workload such that all timing constraints are met; we verify this using schedulability tests. We describe schedulability tests for each of the scheduling algorithms that we derive. We also propose a new schedulability test for an existing scheduling algorithm that is commonly used in real-time systems research for scheduling tasks with limited-preemptivity. Finally, we propose a scheduling algorithm and schedulability test for scheduling real-time workload on processors that allow dynamic overclocking.Doctor of Philosoph

Real-time scheduling in multicore : time- and space-partitioned architectures

Tese de doutoramento, Informática (Engenharia Informática), Universidade de Lisboa, Faculdade de Ciências, 2014The evolution of computing systems to address size, weight and power consumption (SWaP) has led to the trend of integrating functions (otherwise provided by separate systems) as subsystems of a single system. To cope with the added complexity of developing and validating such a system, these functions are maintained and analyzed as components with clear boundaries and interfaces. In the case of real-time systems, the adopted component-based approach should maintain the timeliness properties of the function inside each individual component, regardless of the remaining components. One approach to this issue is time and space partitioning (TSP)—enforcing strict separation between components in the time and space domains. This allows heterogeneous components (different real-time requirements, criticality, developed by different teams and/or with different technologies) to safely coexist. The concepts of TSP have been adopted in the civil aviation, aerospace, and (to some extent) automotive industries. These industries are also embracing multiprocessor (or multicore) platforms, either with identical or nonidentical processors, but are not taking full advantage thereof because of a lack of support in terms of verification and certification. Furthermore, due to the use of the TSP in those domains, compatibility between TSP and multiprocessor is highly desired. This is not the present case, as the reference TSP-related specifications in the aforementioned industries show limited support to multiprocessor. In this dissertation, we defend that the active exploitation of multiple (possibly non-identical) processor cores can augment the processing capacity of the time- and space-partitioned (TSP) systems, while maintaining a compromise with size, weight and power consumption (SWaP), and open room for supporting self-adaptive behavior. To allow applying our results to a more general class of systems, we analyze TSP systems as a special case of hierarchical scheduling and adopt a compositional analysis methodology.Fundação para a Ciência e a Tecnologia (FCT, SFRH/BD/60193/2009, programa PESSOA, projeto SAPIENT); the European Space Agency Innovation (ESA) Triangle Initiative program through ESTEC Contract 21217/07/NL/CB, Project AIR-II; the European Commission Seventh Framework Programme (FP7) through project KARYON (IST-FP7-STREP-288195)

A Generalized Packing Server for Scheduling Task Graphs on Multiple Resources

This paper presents the generalized packing server. It reduces the problem of scheduling tasks with precedence constraints on multiple processing units to the problem of scheduling independent tasks. The work generalizes our previous contribution made in the specific context of scheduling Map/Reduce workflows. The results apply to the generalized parallel task model, introduced in recent literature to denote tasks described by workflow graphs, where some subtasks may be executed in parallel subject to precedence constraints. Recent literature developed schedulability bounds for the generalized parallel tasks on multiprocessors. The generalized packing server, described in this paper, is a run-time mechanism that packs tasks into server budgets (in a manner that respects precedence constraints) allowing the budgets to be viewed as independent tasks by the underlying scheduler. Consequently, any schedulability results derived for the independent task model on multiprocessors become applicable to generalized parallel tasks. The catch is that the sum of capacities of server budgets exceeds by a certain ratio the sum of execution times of the original generalized parallel tasks. Hence, a scaling factor is derived that converts bounds for independent tasks into corresponding bounds for generalized parallel tasks. The factor applies to any work-conserving scheduling policy in both the global and partitioned multiprocessor scheduling models. We show that the new schedulability bounds obtained for the generalized parallel task model, using the aforementioned conversion, improve in several cases upon the best known bounds in current literature. Hence, the packing server is shown to improve the schedulability of generalized parallel tasks. Evaluation results confirm this observation.Ope