Embedded electronic systems driven by run-time reconfigurable hardware

Abstract This doctoral thesis addresses the design of embedded electronic systems based on run-time reconfigurable hardware technology –available through SRAM-based FPGA/SoC devices– aimed at contributing to enhance the life quality of the human beings. This work does research on the conception of the system architecture and the reconfiguration engine that provides to the FPGA the capability of dynamic partial reconfiguration in order to synthesize, by means of hardware/software co-design, a given application partitioned in processing tasks which are multiplexed in time and space, optimizing thus its physical implementation –silicon area, processing time, complexity, flexibility, functional density, cost and power consumption– in comparison with other alternatives based on static hardware (MCU, DSP, GPU, ASSP, ASIC, etc.). The design flow of such technology is evaluated through the prototyping of several engineering applications (control systems, mathematical coprocessors, complex image processors, etc.), showing a high enough level of maturity for its exploitation in the industry.Resumen Esta tesis doctoral abarca el diseño de sistemas electrónicos embebidos basados en tecnología hardware dinámicamente reconfigurable –disponible a través de dispositivos lógicos programables SRAM FPGA/SoC– que contribuyan a la mejora de la calidad de vida de la sociedad. Se investiga la arquitectura del sistema y del motor de reconfiguración que proporcione a la FPGA la capacidad de reconfiguración dinámica parcial de sus recursos programables, con objeto de sintetizar, mediante codiseño hardware/software, una determinada aplicación particionada en tareas multiplexadas en tiempo y en espacio, optimizando así su implementación física –área de silicio, tiempo de procesado, complejidad, flexibilidad, densidad funcional, coste y potencia disipada– comparada con otras alternativas basadas en hardware estático (MCU, DSP, GPU, ASSP, ASIC, etc.). Se evalúa el flujo de diseño de dicha tecnología a través del prototipado de varias aplicaciones de ingeniería (sistemas de control, coprocesadores aritméticos, procesadores de imagen, etc.), evidenciando un nivel de madurez viable ya para su explotación en la industria.Resum Aquesta tesi doctoral està orientada al disseny de sistemes electrònics empotrats basats en tecnologia hardware dinàmicament reconfigurable –disponible mitjançant dispositius lògics programables SRAM FPGA/SoC– que contribueixin a la millora de la qualitat de vida de la societat. S’investiga l’arquitectura del sistema i del motor de reconfiguració que proporcioni a la FPGA la capacitat de reconfiguració dinàmica parcial dels seus recursos programables, amb l’objectiu de sintetitzar, mitjançant codisseny hardware/software, una determinada aplicació particionada en tasques multiplexades en temps i en espai, optimizant així la seva implementació física –àrea de silici, temps de processat, complexitat, flexibilitat, densitat funcional, cost i potència dissipada– comparada amb altres alternatives basades en hardware estàtic (MCU, DSP, GPU, ASSP, ASIC, etc.). S’evalúa el fluxe de disseny d’aquesta tecnologia a través del prototipat de varies aplicacions d’enginyeria (sistemes de control, coprocessadors aritmètics, processadors d’imatge, etc.), demostrant un nivell de maduresa viable ja per a la seva explotació a la indústria

Efficient runtime management for enabling sustainable performance in real-world mobile applications

Mobile devices have become integral parts of our society. They handle our diverse computing needs from simple daily tasks (i.e., text messaging, e-mail) to complex graphics and media processing under a limited battery budget. Mobile system-on-chip (SoC) designs have become increasingly sophisticated to handle performance needs of diverse workloads and to improve user experience. Unfortunately, power and thermal constraints have also emerged as major concerns. Increased power densities and temperatures substantially impair user experience due to frequent throttling as well as diminishing device reliability and battery life. Addressing these concerns becomes increasingly challenging due to increased complexities at both hardware (e.g., heterogeneous CPUs, accelerators) and software (e.g., vast number of applications, multi-threading). Enabling sustained user experience in face of these challenges requires (1) practical runtime management solutions that can reason about the performance needs of users and applications while optimizing power and temperature; (2) tools for analyzing real-world mobile application behavior and performance. This thesis aims at improving sustained user experience under thermal limitations by incorporating insights from real-world mobile applications into runtime management. This thesis first proposes thermally-efficient and Quality-of-Service (QoS) aware runtime management techniques to enable sustained performance. Our work leverages inherent QoS tolerance of users in real-world applications and introduces QoS-temperature tradeoff as a viable control knob to improve user experience under thermal constraints. We present a runtime control framework, QScale, which manages CPU power and scheduling decisions to optimize temperature while strictly adhering to given QoS targets. We also design a framework, Maestro, which provides autonomous and application-aware management of QoS-temperature tradeoffs. Maestro uses our thermally-efficient QoS control framework, QScale, as its foundation. This thesis also presents tools to facilitate studies of real-world mobile applications. We design a practical record and replay system, RandR, to generate repeatable executions of mobile applications. RandR provides this capability by automatically reproducing non-deterministic input sources in mobile applications such as user inputs and network events. Finally, we focus on the non-deterministic executions in Android malware which seek to evade analysis environments. We propose the Proteus system to identify the instruction-level inputs that reveal analysis environments

Predictable and composable system-on-chip memory controllers

Contemporary System-on-Chip (SoC) become more and more complex, as increasing integration results in a larger number of concurrently executing applications. These applications consist of tasks that are mapped on heterogeneous multi-processor platforms with distributed memory hierarchies, where SRAMs and SDRAMs are shared by a variety of arbiters. Some applications have real-time requirements, meaning that they must perform a particular computation before a deadline to guarantee functional correctness, or to prevent quality degradation. Mapping the applications on the platform such that all real-time requirements are satisfied is very challenging. The number of possible mappings of tasks to processing elements and data structures to memories may be large, and appropriate configuration settings must be determined once the mapping is chosen. Verifying that a particular mapping satisfies all application requirements is typically done by system-level simulation. However, resource sharing causes interference between applications, making their temporal behaviors inter-dependent. All concurrently executing applications must hence be verified together, causing the verification complexity of the system to increase exponentially with the number of applications. Together these factors contribute to making the integration and verification process a dominant part of SoC development, both in terms of time and money. Predictable and composable systems are proposed to manage the increasing verification complexity. Predictable systems provide lower bounds on application performance, while applications in composable systems are completely isolated and cannot affect each other’s temporal behavior by even a single clock cycle. Predictable systems enable formal verification that covers all possible interactions with the platform. However, this assumes that the behavior of an application is captured in a performance model, which is not the case for many applications. Composability offers a complementary verification approach by letting these applications be verified independently by simulation with linear verification complexity. A limitation of current predictable and composable systems is that there are no memory controllers supporting the concepts in a general way. Current SRAM controllers can be shared in a predictable way with a variety of arbiters, but are only composable if statically scheduled or shared using time-division multiplexing. Existing SDRAM controllers are not composable, and are either unpredictable or limited to applications that are statically scheduled. This thesis addresses the limitations of current predictable and composable systems by proposing a general predictable and composable memory controller, thereby addressing the mapping and verification problem in embedded systems. The proposed memory controller is divided into a front-end and a back-end. The back-end is specific for DDR2/DDR3 SDRAM and makes the memory behave in a predictable manner using precomputed memory patterns that are dynamically combined at run time. The front-end contains buffering and an arbiter in the class of Latency-Rate (LR) servers, which is a class with many well-known predictable arbiters. We extend this class with a Credit-Controlled Static-Priority (CCSP) arbiter that is developed specifically for shared resources with latency-critical requestors and high loads, such as memories. Three key features of CCSP are: 1) It accommodates latency-critical requestors with low bandwidth requirements without wasting bandwidth. 2) Over-allocated bandwidth can be made negligible at an increased area cost, without affecting latency. 3) It has a small implementation that runs fast enough to keep up with most DDR2/DDR3 memories. The proposed front-end is general and can be used with other predictable resources, such as SRAM controllers. The proposed memory controller hence supports multiple arbiter and memory types, thus addressing the diversity in modern SoCs. The combination of front-end and predictable memory behaves like a LR server, which is the shared resource abstraction used in this work. In essence, a LR server guarantees a requestor a minimum bandwidth and a maximum latency, enabling formal verification of real-time requirements. The LR server model is compatible with several commonly used formal analysis frameworks, such as network calculus and data-flow analysis. Our memory controller hence allows any combination of predictable memory and LR arbiter to be used transparently for formal verification of applications with any of these frameworks. Sharing a predictable memory at run-time results in interference between requestors, making the memory controller non-composable. This is addressed by adding a Delay Block to the front-end that delays all signals sent from the front-end to a requestor to always emulate worst-case interference. This makes requestors unable to affect each other’s temporal behavior, which is sufficient to guarantee composability on the level of applications. Our predictable memory controller hence offers composable service with a variety of memory and arbiter types, which widely extends the scope of composable platforms. Another benefit of this approach is that it enables composable service to be dynamically enabled and disabled, enabling requestors that do not require composable service to use slack bandwidth to improve performance. The predictable and composable memory controller is supported by a configuration flow that automatically computes memory patterns and arbiter settings to satisfy given bandwidth and latency requirements. The flow uses abstraction to separate the configuration of the memory and the arbiter, enabling settings to be computed in a streamlined fashion for all supported memories and arbiters

Doctor of Philosophy

dissertationEmerging trends such as growing architectural diversity and increased emphasis on energy and power efficiency motivate the need for code that adapts to its execution context (input dataset and target architecture). Unfortunately, writing such code remains difficult, and is typically attempted only by a small group of motivated expert programmers who are highly knowledgeable about the relationship between software and its hardware mapping. In this dissertation, we introduce novel abstractions and techniques based on automatic performance tuning that enable both experts and nonexperts (application developers) to produce adaptive code. We present two new frameworks for adaptive programming: Nitro and Surge. Nitro enables expert programmers to specify code variants, or alternative implementations of the same computation, together with meta-information for selecting among them. It then utilizes supervised classification to select an optimal code variant at runtime based on characteristics of the execution context. Surge, on the other hand, provides a high-level nested data-parallel programming interface for application developers to specify computations. It then employs a two-level mechanism to automatically generate code variants and then tunes them using Nitro. The resulting code performs on par with or better than handcrafted reference implementations on both CPUs and GPUs. In addition to abstractions for expressing code variants, this dissertation also presents novel strategies for adaptively tuning them. First, we introduce a technique for dynamically selecting an optimal code variant at runtime based on characteristics of the input dataset. On five high-performance GPU applications, variants tuned using this strategy achieve over 93% of the performance of variants selected through exhaustive search. Next, we present a novel approach based on multitask learning to develop a code variant selection model on a target architecture from training on different source architectures. We evaluate this approach on a set of six benchmark applications and a collection of six NVIDIA GPUs from three distinct architecture generations. Finally, we implement support for combined code variant and frequency selection based on multiple objectives, including power and energy efficiency. Using this strategy, we construct a GPU sorting implementation that provides improved energy and power efficiency with less than a proportional drop in sorting throughput

On Co-Optimization Of Constrained Satisfiability Problems For Hardware Software Applications

Manufacturing technology has permitted an exponential growth in transistor count and density. However, making efficient use of the available transistors in the design has become exceedingly difficult. Standard design flow involves synthesis, verification, placement and routing followed by final tape out of the design. Due to the presence of various undesirable effects like capacitive crosstalk, supply noise, high temperatures, etc., verification/validation of the design has become a challenging problem. Therefore, having a good design convergence may not be possible within the target time, due to a need for a large number of design iterations. Capacitive crosstalk is one of the major causes of design convergence problems in deep sub-micron era. With scaling, the number of crosstalk violations has been increasing because of reduced inter-wire distances. Consequently only the most severe crosstalk faults are fixed pre-silicon while the rest are tested post-silicon. Testing for capacitive crosstalk involves generation of input patterns which can be applied post-silicon to the integrated circuit and comparison of the output response. These patterns are generated at the gate/ Register Transfer Level (RTL) of abstraction using Automatic Test Pattern Generation (ATPG) tools. In this dissertation, anInteger Linear Programming (ILP) based ATPG technique for maximizing crosstalk induced delay increase at the victim net, for multiple aggressor crosstalk faults, is presented. Moreover, various solutions for pattern generation considering both zero as well as unit delay models is also proposed. With voltage scaling, power supply switching noise has become one of the leading causes of signal integrity related failures in deep sub-micron designs. Hence, during power supply network design and analysis of power supply switching noise, computation of peak supply current is an essential step. Traditional peak current estimation approaches involve addition of peak current associated with all the CMOS gates which are switching in a combinational circuit. Consequently, this approach does not take the Boolean and temporal relationships of the circuit into account. This work presents an ILP based technique for generation of an input pattern pair which maximizes switching supply currents for a combinational circuit in the presence of integer gate delays. The input pattern pair generated using the above approach can be applied post-silicon for power droop testing. With high level of integration, Multi-Processor Systems on Chip (MPSoC) feature multiple processor cores and accelerators on the same die, so as to exploit the instruction level parallelism in the application. For hardware-software co-design, application programming model is based on a Task Graph, which represents task dependencies and execution/transfer times for various threads and processes within an application. Mapping an application to an MPSoC traditionally involves representing it in the form of a task graph and employing static scheduling in order to minimize the schedule length. Dynamic system behavior is not taken into consideration during static scheduling, while dynamic scheduling requires the knowledge of task graph at runtime. A run-time task graph extraction heuristic to facilitate dynamic scheduling is also presented here. A novel game theory based approach uses this extracted task graph to perform run-time scheduling in order to minimize total schedule length. With increase in transistor density, power density has gone up substantially. This has lead to generation of regions with very high temperature called Hotspots. Hotspots lead to reliability and performance issues and affect design convergence. In current generation Integrated Circuits (ICs) temperature is controlled by reducing power dissipation using Dynamic Thermal Management (DTM) techniques like frequency and/or voltage scaling. These techniques are reactive in nature and have detrimental effects on performance. Here, a look-ahead based task migration technique is proposed, in order to utilize the multitude of cores available in an MPSoC to eliminate thermal emergencies. Our technique is based on temperature prediction, leveraging upon a novel wavelet based thermal modeling approach. Hence, this work addresses several optimization problems that can be reduced to constrained max-satisfiability, involving integer as well as Boolean constraints in hardware and software domains. Moreover, it provides domain specific heuristic solutions for each of them

The state of adoption and the challenges of systematic variability management in industry

Handling large-scale software variability is still a challenge for many organizations. After decades of research on variability management concepts, many industrial organizations have introduced techniques known from research, but still lament that pure textbook approaches are not applicable or efficient. For instance, software product line engineering—an approach to systematically develop portfolios of products—is difficult to adopt given the high upfront investments; and even when adopted, organizations are challenged by evolving their complex product lines. Consequently, the research community now mainly focuses on re-engineering and evolution techniques for product lines; yet, understanding the current state of adoption and the industrial challenges for organizations is necessary to conceive effective techniques. In this multiple-case study, we analyze the current adoption of variability management techniques in twelve medium- to large-scale industrial cases in domains such as automotive, aerospace or railway systems. We identify the current state of variability management, emphasizing the techniques and concepts they adopted. We elicit the needs and challenges expressed for these cases, triangulated with results from a literature review. We believe our results help to understand the current state of adoption and shed light on gaps to address in industrial practice.This work is supported by Vinnova Sweden, Fond Unique Interminist´eriel (FUI) France, and the Swedish Research Council. Open access funding provided by University of Gothenbur

Energy Awareness and Scheduling in Mobile Devices and High End Computing

In the context of the big picture as energy demands rise due to growing economies and growing populations, there will be greater emphasis on sustainable supply, conservation, and efficient usage of this vital resource. Even at a smaller level, the need for minimizing energy consumption continues to be compelling in embedded, mobile, and server systems such as handheld devices, robots, spaceships, laptops, cluster servers, sensors, etc. This is due to the direct impact of constrained energy sources such as battery size and weight, as well as cooling expenses in cluster-based systems to reduce heat dissipation. Energy management therefore plays a paramount role in not only hardware design but also in user-application, middleware and operating system design. At a higher level Datacenters are sprouting everywhere due to the exponential growth of Big Data in every aspect of human life, the buzz word these days is Cloud computing. This dissertation, focuses on techniques, specifically algorithmic ones to scale down energy needs whenever the system performance can be relaxed. We examine the significance and relevance of this research and develop a methodology to study this phenomenon. Specifically, the research will study energy-aware resource reservations algorithms to satisfy both performance needs and energy constraints. Many energy management schemes focus on a single resource that is dedicated to real-time or nonreal-time processing. Unfortunately, in many practical systems the combination of hard and soft real-time periodic tasks, a-periodic real-time tasks, interactive tasks and batch tasks must be supported. Each task may also require access to multiple resources. Therefore, this research will tackle the NP-hard problem of providing timely and simultaneous access to multiple resources by the use of practical abstractions and near optimal heuristics aided by cooperative scheduling. We provide an elegant EAS model which works across the spectrum which uses a run-profile based approach to scheduling. We apply this model to significant applications such as BLAT and Assembly of gene sequences in the Bioinformatics domain. We also provide a simulation for extending this model to cloud computing to answers “what if” scenario questions for consumers and operators of cloud resources to help answers questions of deadlines, single v/s distributed cluster use and impact analysis of energy-index and availability against revenue and ROI

Energy Efficiency and Performance in Multiprocessors Systems on Chip

As process technology shrinks, the transistor count on CPUs has increased. The breakdown of Dennard scaling has led to diminishing returns in terms of performance per power. A trend which promises to impact future CPU designs. This breakdown is due in part to the increase in transistor leakage driven static power. We, now, have constrained energy and power budgets. Thus, energy consumption has to be justified by an increased in performance. Simultaneously, architects have shifted to chip multiprocessors(CMPs) designs with large shared last level cache(LLC) to mitigate the cost of long latency off-chip memory access. A primary reason for that shift is the power efficiency of CMPs. Additionally, technology scaling has allowed the integration of platform components on the chip; a design referred to as multiprocessors system on chip (MpSoC). This integration improves the system performance as the communication latency between the components is reduced. Memory subsystems are essential to CPUs performance. Larger caches provide the CPU faster access to a larger data set. Consequently, the size of last level caches have increased to become a significant leakage power dissipation source. We propose a technique to facilitate power gating a partition of the LLC by migrating the high temporal blocks to a live partition; Thus reducing the performance impact. Given the high latency of memory subsystems, prefetching improves CPU performance by speculating future memory accesses and requesting the data ahead of the demand. In the context of CMPs running multiple concurrent processes, prefetching accuracy is critical to prevent cache pollution effects. Furthermore, given the current constraint energy environment, there is a need for lightweight prefetchers with high accuracy. To this end, we present BFetch a lightweight and accurate prefetcher driven by control flow predictions and effective address speculation. MpSoCs have mostly been used in mobile devices. The energy constraint is more pronounced in MpSoCs-based, battery powered mobile devices. The need to address the energy consumption in MpSoCs is further accentuated by the proliferation of mobile devices. This dissertation presents a framework to optimize the energy in MpSoCs. The proposed framework minimizes the energy consumption while meeting performance and power budgets constraints. We first apply this framework to the CPU then extend it to accommodate the GPU

Dependable Embedded Systems

This Open Access book introduces readers to many new techniques for enhancing and optimizing reliability in embedded systems, which have emerged particularly within the last five years. This book introduces the most prominent reliability concerns from today’s points of view and roughly recapitulates the progress in the community so far. Unlike other books that focus on a single abstraction level such circuit level or system level alone, the focus of this book is to deal with the different reliability challenges across different levels starting from the physical level all the way to the system level (cross-layer approaches). The book aims at demonstrating how new hardware/software co-design solution can be proposed to ef-fectively mitigate reliability degradation such as transistor aging, processor variation, temperature effects, soft errors, etc. Provides readers with latest insights into novel, cross-layer methods and models with respect to dependability of embedded systems; Describes cross-layer approaches that can leverage reliability through techniques that are pro-actively designed with respect to techniques at other layers; Explains run-time adaptation and concepts/means of self-organization, in order to achieve error resiliency in complex, future many core systems