Schedulability, Response Time Analysis and New Models of P-FRP Systems

Functional Reactive Programming (FRP) is a declarative approach for modeling and building reactive systems. FRP has been shown to be an expressive formalism for building applications of computer graphics, computer vision, robotics, etc. Priority-based FRP (P-FRP) is a formalism that allows preemption of executing programs and guarantees real-time response. Since functional programs cannot maintain state and mutable data, changes made by programs that are preempted have to be rolled back. Hence in P-FRP, a higher priority task can preempt the execution of a lower priority task, but the preempted lower priority task will have to restart after the higher priority task has completed execution. This execution paradigm is called Abort-and-Restart (AR). Current real-time research is focused on preemptive of non-preemptive models of execution and several state-of-the-art methods have been developed to analyze the real-time guarantees of these models. Unfortunately, due to its transactional nature where preempted tasks are aborted and have to restart, the execution semantics of P-FRP does not fit into the standard definitions of preemptive or non-preemptive execution, and the research on the standard preemptive and non-preemptive may not applicable for the P-FRP AR model. Out of many research areas that P-FRP may demands, we focus on task scheduling which includes task and system modeling, priority assignment, schedulability analysis, response time analysis, improved P-FRP AR models, algorithms and corresponding software. In this work, we review existing results on P-FRP task scheduling and then present our research contributions: (1) a tighter feasibility test interval regarding the task release offsets as well as a linked list based algorithm and implementation for scheduling simulation; (2) P-FRP with software transactional memory-lazy conflict detection (STM-LCD); (3) a non-work-conserving scheduling model called Deferred Start; (4) a multi-mode P-FRP task model; (5) SimSo-PFRP, the P-FRP extension of SimSo - a SimPy-based, highly extensible and user friendly task generator and task scheduling simulator.Computer Science, Department o

Resource-aware scheduling for 2D/3D multi-/many-core processor-memory systems

This dissertation addresses the complexities of 2D/3D multi-/many-core processor-memory systems, focusing on two key areas: enhancing timing predictability in real-time multi-core processors and optimizing performance within thermal constraints. The integration of an increasing number of transistors into compact chip designs, while boosting computational capacity, presents challenges in resource contention and thermal management. The first part of the thesis improves timing predictability. We enhance shared cache interference analysis for set-associative caches, advancing the calculation of Worst-Case Execution Time (WCET). This development enables accurate assessment of cache interference and the effectiveness of partitioned schedulers in real-world scenarios. We introduce TCPS, a novel task and cache-aware partitioned scheduler that optimizes cache partitioning based on task-specific WCET sensitivity, leading to improved schedulability and predictability. Our research explores various cache and scheduling configurations, providing insights into their performance trade-offs. The second part focuses on thermal management in 2D/3D many-core systems. Recognizing the limitations of Dynamic Voltage and Frequency Scaling (DVFS) in S-NUCA many-core processors, we propose synchronous thread migrations as a thermal management strategy. This approach culminates in the HotPotato scheduler, which balances performance and thermal safety. We also introduce 3D-TTP, a transient temperature-aware power budgeting strategy for 3D-stacked systems, reducing the need for Dynamic Thermal Management (DTM) activation. Finally, we present 3QUTM, a novel method for 3D-stacked systems that combines core DVFS and memory bank Low Power Modes with a learning algorithm, optimizing response times within thermal limits. This research contributes significantly to enhancing performance and thermal management in advanced processor-memory systems

Scheduling and locking in multiprocessor real-time operating systems

With the widespread adoption of multicore architectures, multiprocessors are now a standard deployment platform for (soft) real-time applications. This dissertation addresses two questions fundamental to the design of multicore-ready real-time operating systems: (1) Which scheduling policies offer the greatest flexibility in satisfying temporal constraints; and (2) which locking algorithms should be used to avoid unpredictable delays? With regard to Question 1, LITMUSRT, a real-time extension of the Linux kernel, is presented and its design is discussed in detail. Notably, LITMUSRT implements link-based scheduling, a novel approach to controlling blocking due to non-preemptive sections. Each implemented scheduler (22 configurations in total) is evaluated under consideration of overheads on a 24-core Intel Xeon platform. The experiments show that partitioned earliest-deadline first (EDF) scheduling is generally preferable in a hard real-time setting, whereas global and clustered EDF scheduling are effective in a soft real-time setting. With regard to Question 2, real-time locking protocols are required to ensure that the maximum delay due to priority inversion can be bounded a priori. Several spinlock- and semaphore-based multiprocessor real-time locking protocols for mutual exclusion (mutex), reader-writer (RW) exclusion, and k-exclusion are proposed and analyzed. A new category of RW locks suited to worst-case analysis, termed phase-fair locks, is proposed and three efficient phase-fair spinlock implementations are provided (one with few atomic operations, one with low space requirements, and one with constant RMR complexity). Maximum priority-inversion blocking is proposed as a natural complexity measure for semaphore protocols. It is shown that there are two classes of schedulability analysis, namely suspension-oblivious and suspension-aware analysis, that yield two different lower bounds on blocking. Five asymptotically optimal locking protocols are designed and analyzed: a family of mutex, RW, and k-exclusion protocols for global, partitioned, and clustered scheduling that are asymptotically optimal in the suspension-oblivious case, and a mutex protocol for partitioned scheduling that is asymptotically optimal in the suspension-aware case. A LITMUSRT-based empirical evaluation is presented that shows these protocols to be practical

Towards Scalable Design of Future Wireless Networks

Wireless operators face an ever-growing challenge to meet the throughput and processing requirements of billions of devices that are getting connected. In current wireless networks, such as LTE and WiFi, these requirements are addressed by provisioning more resources: spectrum, transmitters, and baseband processors. However, this simple add-on approach to scale system performance is expensive and often results in resource underutilization. What are, then, the ways to efficiently scale the throughput and operational efficiency of these wireless networks? To answer this question, this thesis explores several potential designs: utilizing unlicensed spectrum to augment the bandwidth of a licensed network; coordinating transmitters to increase system throughput; and finally, centralizing wireless processing to reduce computing costs. First, we propose a solution that allows LTE, a licensed wireless standard, to co-exist with WiFi in the unlicensed spectrum. The proposed solution bridges the incompatibility between the fixed access of LTE, and the random access of WiFi, through channel reservation. It achieves a fair LTE-WiFi co-existence despite the transmission gaps and unequal frame durations. Second, we consider a system where different MIMO transmitters coordinate to transmit data of multiple users. We present an adaptive design of the channel feedback protocol that mitigates interference resulting from the imperfect channel information. Finally, we consider a Cloud-RAN architecture where a datacenter or a cloud resource processes wireless frames. We introduce a tree-based design for real-time transport of baseband samples and provide its end-to-end schedulability and capacity analysis. We also present a processing framework that combines real-time scheduling with fine-grained parallelism. The framework reduces processing times by migrating parallelizable tasks to idle compute resources, and thus, decreases the processing deadline-misses at no additional cost. We implement and evaluate the above solutions using software-radio platforms and off-the-shelf radios, and confirm their applicability in real-world settings.PhDElectrical Engineering: SystemsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/133358/1/gkchai_1.pd

Toward Efficient Scheduling for Parallel Real-Time Tasks on Multiprocessors

Modern real-time applications are becoming more demanding computationally while their temporal requirements, dictated by the physical world, often remain unchanged. This coupled with the increasing prevalence of multiprocessors in real-time systems necessitates that highly computation-demanding real-time tasks need to be parallelized to exploit the parallelism offered by the underlying hardware, in order to satisfy their temporal constraints. Scheduling parallel real-time tasks, however, introduces a new layer of complexity due to the allowance for intra-task parallelism. This dissertation addresses the problem of scheduling parallel real-time tasks in which tasks may (or may not) access shared non-processor resources, such as in-memory buffers or data structures. Specifically, for independent tasks, we propose new scheduling algorithms and schedulability analyses for parallel tasks with these characteristics, under federated and global scheduling.Experimental results show that the proposed algorithms and analyses improve the previously introduced methods. For parallel tasks that may access shared non-processor resources, we present a blocking analysis for two different types of spinlocks; through evaluations, we make a recommendation for a preferable ordering of locks. We also study practical runtime parallel scheduler designs for soft real-time applications and present a design that is more suitable for soft real-time systems

Real-Time Scheduling for GPUs with Applications in Advanced Automotive Systems

Self-driving cars, once constrained to closed test tracks, are beginning to drive alongside human drivers on public roads. Loss of life or property may result if the computing systems of automated vehicles fail to respond to events at the right moment. We call such systems that must satisfy precise timing constraints “real-time systems.” Since the 1960s, researchers have developed algorithms and analytical techniques used in the development of real-time systems; however, this body of knowledge primarily applies to traditional CPU-based platforms. Unfortunately, traditional platforms cannot meet the computational requirements of self-driving cars without exceeding the power and cost constraints of commercially viable vehicles. We argue that modern graphics processing units, or GPUs, represent a feasible alternative, but new algorithms and analytical techniques must be developed in order to integrate these uniquely constrained processors into a real-time system. The goal of the research presented in this dissertation is to discover and remedy the issues that prevent the use of GPUs in real-time systems. To overcome these issues, we design and implement a real-time multi-GPU scheduler, called GPUSync. GPUSync tightly controls access to a GPU’s computational and DMA processors, enabling simultaneous use despite potential limitations in GPU hardware. GPUSync enables tasks to migrate among GPUs, allowing new classes of real-time multi-GPU computing platforms. GPUSync employs heuristics to guide scheduling decisions to improve system efficiency without risking violations in real-time constraints. GPUSync may be paired with a wide variety of common real-time CPU schedulers. GPUSync supports closed-source GPU runtimes and drivers without loss in functionality. We evaluate GPUSync with both analytical and runtime experiments. In our analytical experiments, we model and evaluate over fifty configurations of GPUSync. We determine which configurations support the greatest computational capacity while maintaining real-time constraints. In our runtime experiments, we execute computer vision programs similar to those found in automated vehicles, with and without GPUSync. Our results demonstrate that GPUSync greatly reduces jitter in video processing. Research into real-time systems with GPUs is a new area of study. Although there is prior work on such systems, no other GPU scheduling framework is as comprehensive and flexible as GPUSync.Doctor of Philosoph

CROSS-STACK PREDICTIVE CONTROL FRAMEWORK FOR MULTICORE REAL-TIME APPLICATIONS

Many of the next generation applications in entertainment, human computer interaction, infrastructure, security and medical systems are computationally intensive, always-on, and have soft real time (SRT) requirements. While failure to meet deadlines is not catastrophic in SRT systems, missing deadlines can result in an unacceptable degradation in the quality of service (QoS). To ensure acceptable QoS under dynamically changing operating conditions such as changes in the workload, energy availability, and thermal constraints, systems are typically designed for worst case conditions. Unfortunately, such over-designing of systems increases costs and overall power consumption. In this dissertation we formulate the real-time task execution as a Multiple-Input, Single- Output (MISO) optimal control problem involving tracking a desired system utilization set point with control inputs derived from across the computing stack. We assume that an arbitrary number of SRT tasks may join and leave the system at arbitrary times. The tasks are scheduled on multiple cores by a dynamic priority multiprocessor scheduling algorithm. We use a model predictive controller (MPC) to realize optimal control. MPCs are easy to tune, can handle multiple control variables, and constraints on both the dependent and independent variables. We experimentally demonstrate the operation of our controller on a video encoder application and a computer vision application executing on a dual socket quadcore Xeon processor with a total of 8 processing cores. We establish that the use of DVFS and application quality as control variables enables operation at a lower power op- erating point while meeting real-time constraints as compared to non cross-stack control approaches. We also evaluate the role of scheduling algorithms in the control of homo- geneous and heterogeneous workloads. Additionally, we propose a novel adaptive control technique for time-varying workloads

Multi-agent Adaptive Architecture for Flexible Distributed Real-time Systems

Recent critical embedded systems become more and more complex and usually react to their environment that requires to amend their behaviors by applying run-time reconfiguration scenarios. A system is defined in this paper as a set of networked devices, where each of which has its own operating system, a processor to execute related periodic software tasks, and a local battery. A reconfiguration is any operation allowing the addition-removal-update of tasks to adapt the device and the whole system to its environment. It may be a reaction to a fault or even optimization of the system functional behavior. Nevertheless, such scenario can cause the violation of real-time or energy constraints, which is considered as a critical run-time problem. We propose a multi-agent adaptive architecture to handle dynamic reconfigurations and ensure the correct execution of the concurrent real-time distributed tasks under energy constraints. The proposed architecture integrates a centralized scheduler agent (ScA) which is the common decision making element for the scheduling problem. It is able to carry out the required run-time solutions based on operation research techniques and mathematical tools for the system's feasibility. This architecture assigns also a reconfiguration agent (RA p ) to each device p to control and handle the local reconfiguration scenarios under the instructions of ScA. A token-based protocol is defined in this case for the coordination between the different distributed agents in order to guarantee the whole system's feasibility under energy constraints.info:eu-repo/semantics/publishedVersio