Dynamic CPU management for real-time, middleware-based systems

technical reportMany real-world distributed, real-time, embedded (DRE) systems, such as multi-agent military applications, are built using commercially available operating systems, middleware, and collections of pre-existing software. The complexity of these systems makes it difficult to ensure that they maintain high quality of service (QoS). At design time, the challenge is to introduce coordinated QoS controls into multiple software elements in a non-invasive manner. At run time, the system must adapt dynamically to maintain high QoS in the face of both expected events, such as application mode changes, and unexpected events, such as resource demands from other applications. In this paper we describe the design and implementation of a CPU Broker for these types of DRE systems. The CPU Broker mediates between multiple real-time tasks and the facilities of a real-time operating system: using feedback and other inputs, it adjusts allocations over time to ensure that high application-level QoS is maintained. The broker connects to its monitored tasks in a non-invasive manner, is based on and integrated with industry-standard middleware, and implements an open architecture for new CPU management policies. Moreover, these features allow the broker to be easily combined with other QoS mechanisms and policies, as part of an overall end-to-end QoS management system. We describe our experience in applying the CPU Broker to a simulated DRE military system. Our results show that the broker connects to the system transparently and allows it to function in the face of run-time CPU resource contention

Dynamic CPU management for real-time, middleware-based systems

Journal ArticleMany real-world distributed, real-time, embedded (DRE) systems, such as multi-agent military applications, are built using commercially available operating systems, middleware, and collections of pre-existing software. The complexity of these systems makes it difficult to ensure that they maintain high quality of service (QOS). At design time, the challenge is to introduce coordinated QOS controls into multiple software elements in a non-invasive manner. At run time, the system must adapt dynamically to maintain high QOS in the face of both expected events, such as application mode changes, and unexpected events, such as resource demands from other applications. In this paper we describe the design and implementation of a CPU Broker for these types of DRE systems. The CPU Broker mediates between multiple real-time tasks and the facilities of a real-time operating system: using feedback and other inputs, it adjusts allocations over time to ensure that high application-level QOS is maintained. The broker connects to its monitored tasks in a non-invasive manner, is based on and integrated with industry-standard middleware, and implements an open architecture for new CPU management policies. Moreover, these features allow the broker to be easily combined with other QOS mechanisms and policies, as part of an overall end-to-end QOS management system. We describe our experience in applying the CPU Broker to a simulated DRE military system. Our results show that the broker connects to the system transparently and allows it to function in the face of run-time CPU resource contention

Multi-resource management in embedded real-time systems

This thesis addresses the problem of online multi-resource management in embedded real-time systems. It focuses on three research questions. The first question concentrates on how to design an efficient hierarchical scheduling framework for supporting independent development and analysis of component based systems, to provide temporal isolation between components. The second question investigates how to change the mapping of resources to tasks and components during run-time efficiently and predictably, and how to analyze the latency of such a system mode change in systems comprised of several scalable components. The third question deals with the scheduling and analysis of a set of parallel-tasks with real-time constraints which require simultaneous access to several different resources. For providing temporal isolation we chose a reservation-based approach. We first focused on processor reservations, where timed events play an important role. Common examples are task deadlines, periodic release of tasks, budget replenishment and budget depletion. Efficient timer management is therefore essential. We investigated the overheads in traditional timer management techniques and presented a mechanism called Relative Timed Event Queues (RELTEQ), which provides an expressive set of primitives at a low processor and memory overhead. We then leveraged RELTEQ to create an efficient, modular and extensible design for enhancing a real-time operating system with periodic tasks, polling, idling periodic and deferrable servers, and a two-level fixed-priority Hierarchical Scheduling Framework (HSF). The HSF design provides temporal isolation and supports independent development of components by separating the global and local scheduling, and allowing each server to define a dedicated scheduler. Furthermore, the design addresses the system overheads inherent to an HSF and prevents undesirable interference between components. It limits the interference of inactive servers on the system level by means of wakeup events and a combination of inactive server queues with a stopwatch queue. Our implementation is modular and requires only a few modifications of the underlying operating system. We then investigated scalable components operating in a memory-constrained system. We first showed how to reduce the memory requirements in a streaming multimedia application, based on a particular priority assignment of the different components along the processing chain. Then we investigated adapting the resource provisions to tasks during runtime, referred to as mode changes. We presented a novel mode change protocol called Swift Mode Changes, which relies on Fixed Priority with Deferred preemption Scheduling to reduce the mode change latency bound compared to existing protocols based on Fixed Priority Preemptive Scheduling. We then presented a new partitioned parallel-task scheduling algorithm called Parallel-SRP (PSRP), which generalizes MSRP for multiprocessors, and the corresponding schedulability analysis for the problem of multi-resource scheduling of parallel tasks with real-time constraints. We showed that the algorithm is deadlock-free, derived a maximum bound on blocking, and used this bound as a basis for a schedulability test. We then demonstrated how PSRP can exploit the inherent parallelism of a platform comprised of multiple heterogeneous resources. Finally, we presented Grasp, which is a visualization toolset aiming to provide insight into the behavior of complex real-time systems. Its flexible plugin infrastructure allows for easy extension with custom visualization and analysis techniques for automatic trace verification. Its capabilities include the visualization of hierarchical multiprocessor systems, including partitioned and global multiprocessor scheduling with migrating tasks and jobs, communication between jobs via shared memory and message passing, and hierarchical scheduling in combination with multiprocessor scheduling. For tracing distributed systems with asynchronous local clocks Grasp also supports the synchronization of traces from different processors during the visualization and analysis

Model-based estimation and control methods for batch cooling crystallizers

This thesis addresses the problem of online multi-resource management in embedded real-time systems. It focuses on three research questions. The first question concentrates on how to design an efficient hierarchical scheduling framework for supporting independent development and analysis of component based systems, to provide temporal isolation between components. The second question investigates how to change the mapping of resources to tasks and components during run-time efficiently and predictably, and how to analyze the latency of such a system mode change in systems comprised of several scalable components. The third question deals with the scheduling and analysis of a set of parallel-tasks with real-time constraints which require simultaneous access to several different resources. For providing temporal isolation we chose a reservation-based approach. We first focused on processor reservations, where timed events play an important role. Common examples are task deadlines, periodic release of tasks, budget replenishment and budget depletion. Efficient timer management is therefore essential. We investigated the overheads in traditional timer management techniques and presented a mechanism called Relative Timed Event Queues (RELTEQ), which provides an expressive set of primitives at a low processor and memory overhead. We then leveraged RELTEQ to create an efficient, modular and extensible design for enhancing a real-time operating system with periodic tasks, polling, idling periodic and deferrable servers, and a two-level fixed priority Hierarchical Scheduling Framework (HSF). The HSF design provides temporal isolation and supports independent development of components by separating the global and local scheduling, and allowing each server to define a dedicated scheduler. Furthermore, the design addresses the system overheads inherent to an HSF and prevents undesirable interference between components. It limits the interference of inactive servers on the system level by means of wakeup events and a combination of inactive server queues with a stopwatch queue. Our implementation is modular and requires only a few modifications of the underlying operating system. We then investigated scalable components operating in a memory-constrained system. We first showed how to reduce the memory requirements in a streaming multimedia application, based on a particular priority assignment of the different components along the processing chain. Then we investigated adapting the resource provisions to tasks during runtime, referred to as mode changes. We presented a novel mode change protocol called Swift Mode Changes, which relies on Fixed Priority with Deferred preemption Scheduling to reduce the mode change latency bound compared to existing protocols based on Fixed Priority Preemptive Scheduling. We then presented a new partitioned parallel-task scheduling algorithm called Parallel-SRP (PSRP), which generalizes MSRP for multiprocessors, and the corresponding schedulability analysis for the problem of multi-resource scheduling of parallel tasks with real-time constraints. We showed that the algorithm is deadlock-free, derived a maximum bound on blocking, and used this bound as a basis for a schedulability test. We then demonstrated how PSRP can exploit the inherent parallelism of a platform comprised of multiple heterogeneous resources. Finally, we presented Grasp, which is a visualization toolset aiming to provide insight into the behavior of complex real-time systems. Its flexible plugin infrastructure allows for easy extension with custom visualization and analysis techniques for automatic trace verification. Its capabilities include the visualization of hierarchical multiprocessor systems, including partitioned and global multiprocessor scheduling with migrating tasks and jobs, communication between jobs via shared memory and message passing, and hierarchical scheduling in combination with multiprocessor scheduling. For tracing distributed systems with asynchronous local clocks Grasp also supports the synchronization of traces from different processors during the visualization and analysis

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

Flexible Scheduling in Middleware for Distributed rate-based real-time applications - Doctoral Dissertation, May 2002

Distributed rate-based real-time systems, such as process control and avionics mission computing systems, have traditionally been scheduled statically. Static scheduling provides assurance of schedulability prior to run-time overhead. However, static scheduling is brittle in the face of unanticipated overload, and treats invocation-to-invocation variations in resource requirements inflexibly. As a consequence, processing resources are often under-utilized in the average case, and the resulting systems are hard to adapt to meet new real-time processing requirements. Dynamic scheduling offers relief from the limitations of static scheduling. However, dynamic scheduling offers relief from the limitations of static scheduling. However, dynamic scheduling often has a high run-time cost because certain decisions are enforced on-line. Furthermore, under conditions of overload tasks can be scheduled dynamically that may never be dispatched, or that upon dispatch would miss their deadlines. We review the implications of these factors on rate-based distributed systems, and posits the necessity to combine static and dynamic approaches to exploit the strengths and compensate for the weakness of either approach in isolation. We present a general hybrid approach to real-time scheduling and dispatching in middleware, that can employ both static and dynamic components. This approach provides (1) feasibility assurance for the most critical tasks, (2) the ability to extend this assurance incrementally to operations in successively lower criticality equivalence classes, (3) the ability to trade off bounds on feasible utilization and dispatching over-head in cases where, for example, execution jitter is a factor or rates are not harmonically related, and (4) overall flexibility to make more optimal use of scarce computing resources and to enforce a wider range of application-specified execution requirements. This approach also meets additional constraints of an increasingly important class of rate-based systems, those with requirements for robust management of real-time performance in the face of rapidly and widely changing operating conditions. To support these requirements, we present a middleware framework that implements the hybrid scheduling and dispatching approach described above, and also provides support for (1) adaptive re-scheduling of operations at run-time and (2) reflective alternation among several scheduling strategies to improve real-time performance in the face of changing operating conditions. Adaptive re-scheduling must be performed whenever operating conditions exceed the ability of the scheduling and dispatching infrastructure to meet the critical real-time requirements of the system under the currently specified rates and execution times of operations. Adaptive re-scheduling relies on the ability to change the rates of execution of at least some operations, and may occur under the control of a higher-level middleware resource manager. Different rates of execution may be specified under different operating conditions, and the number of such possible combinations may be arbitrarily large. Furthermore, adaptive rescheduling may in turn require notification of rate-sensitive application components. It is therefore desirable to handle variations in operating conditions entirely within the scheduling and dispatching infrastructure when possible. A rate-based distributed real-time application, or a higher-level resource manager, could thus fall back on adaptive re-scheduling only when it cannot achieve acceptable real-time performance through self-adaptation. Reflective alternation among scheduling heuristics offers a way to tune real-time performance internally, and we offer foundational support for this approach. In particular, run-time observable information such as that provided by our metrics-feedback framework makes it possible to detect that a given current scheduling heuristic is underperforming the level of service another could provide. Furthermore we present empirical results for our framework in a realistic avionics mission computing environment. This forms the basis for guided adaption. This dissertation makes five contributions in support of flexible and adaptive scheduling and dispatching in middleware. First, we provide a middle scheduling framework that supports arbitrary and fine-grained composition of static/dynamic scheduling, to assure critical timeliness constraints while improving noncritical performance under a range of conditions. Second, we provide a flexible dispatching infrastructure framework composed of fine-grained primitives, and describe how appropriate configurations can be generated automatically based on the output of the scheduling framework. Third, we describe algorithms to reduce the overhead and duration of adaptive rescheduling, based on sorting for rate selection and priority assignment. Fourth, we provide timely and efficient performance information through an optimized metrics-feedback framework, to support higher-level reflection and adaptation decisions. Fifth, we present the results of empirical studies to quantify and evaluate the performance of alternative canonical scheduling heuristics, across a range of load and load jitter conditions. These studies were conducted within an avionics mission computing applications framework running on realistic middleware and embedded hardware. The results obtained from these studies (1) demonstrate the potential benefits of reflective alternation among distinct scheduling heuristics at run-time, and (2) suggest performance factors of interest for future work on adaptive control policies and mechanisms using this framework

FPGA-based smart camera mote for pervasive wireless network

International audienceSmart camera networks raise challenging issues in many fields of research, including vision processing, communication protocols, distributed algorithms or power management. The ever increasing resolution of image sensors entails huge amounts of data, far exceeding the bandwidth of current networks and thus forcing smart camera nodes to process raw data into useful information. Consequently, on-board processing has become a key issue for the expansion of such networked systems. In this context, FPGA-based platforms, supporting massive, fine grain data parallelism, offer large opportunities. Besides, the concept of a middleware, providing services for networking, data transfer, dynamic loading or hardware abstraction, has emerged as a means of harnessing the hardware and software complexity of smart camera nodes. In this paper, we prospect the development of a new kind of smart cameras, wherein FPGAs provide high performance processing and general purpose processors support middleware services. In this approach, FPGA devices can be reconfigured at run-time through the network both from explicit user request and transparent middleware decision. An embedded real-time operating system is in charge of the communication layer, and thus can autonomously decide to use a part of the FPGA as an available processing resource. The classical programmability issue, a significant obstacle when dealing with FPGAs, is addressed by resorting to a domain specific high-level programming language (CAPH) for describing operations to be implemented on FPGAs

Grid Infrastructure for Domain Decomposition Methods in Computational ElectroMagnetics

The accurate and efficient solution of Maxwell's equation is the problem addressed by the scientific discipline called Computational ElectroMagnetics (CEM). Many macroscopic phenomena in a great number of fields are governed by this set of differential equations: electronic, geophysics, medical and biomedical technologies, virtual EM prototyping, besides the traditional antenna and propagation applications. Therefore, many efforts are focussed on the development of new and more efficient approach to solve Maxwell's equation. The interest in CEM applications is growing on. Several problems, hard to figure out few years ago, can now be easily addressed thanks to the reliability and flexibility of new technologies, together with the increased computational power. This technology evolution opens the possibility to address large and complex tasks. Many of these applications aim to simulate the electromagnetic behavior, for example in terms of input impedance and radiation pattern in antenna problems, or Radar Cross Section for scattering applications. Instead, problems, which solution requires high accuracy, need to implement full wave analysis techniques, e.g., virtual prototyping context, where the objective is to obtain reliable simulations in order to minimize measurement number, and as consequence their cost. Besides, other tasks require the analysis of complete structures (that include an high number of details) by directly simulating a CAD Model. This approach allows to relieve researcher of the burden of removing useless details, while maintaining the original complexity and taking into account all details. Unfortunately, this reduction implies: (a) high computational effort, due to the increased number of degrees of freedom, and (b) worsening of spectral properties of the linear system during complex analysis. The above considerations underline the needs to identify appropriate information technologies that ease solution achievement and fasten required elaborations. The authors analysis and expertise infer that Grid Computing techniques can be very useful to these purposes. Grids appear mainly in high performance computing environments. In this context, hundreds of off-the-shelf nodes are linked together and work in parallel to solve problems, that, previously, could be addressed sequentially or by using supercomputers. Grid Computing is a technique developed to elaborate enormous amounts of data and enables large-scale resource sharing to solve problem by exploiting distributed scenarios. The main advantage of Grid is due to parallel computing, indeed if a problem can be split in smaller tasks, that can be executed independently, its solution calculation fasten up considerably. To exploit this advantage, it is necessary to identify a technique able to split original electromagnetic task into a set of smaller subproblems. The Domain Decomposition (DD) technique, based on the block generation algorithm introduced in Matekovits et al. (2007) and Francavilla et al. (2011), perfectly addresses our requirements (see Section 3.4 for details). In this chapter, a Grid Computing infrastructure is presented. This architecture allows parallel block execution by distributing tasks to nodes that belong to the Grid. The set of nodes is composed by physical machines and virtualized ones. This feature enables great flexibility and increase available computational power. Furthermore, the presence of virtual nodes allows a full and efficient Grid usage, indeed the presented architecture can be used by different users that run different applications