Scheduling Tasks on Intermittently-Powered Real-Time Systems

Batteryless systems go through sporadic power on and off phases due to intermittently available energy; thus, they are called intermittent systems. Unfortunately, this intermittence in power supply hinders the timely execution of tasks and limits such devices’ potential in certain application domains, e.g., healthcare, live-stock tracking. Unlike prior work on time-aware intermittent systems that focuses on timekeeping [1, 2, 3] and discarding expired data [4], this dissertation concentrates on finishing task execution on time. I leverage the data processing and control layer of batteryless systems by developing frameworks that (1) integrate energy harvesting and real-time systems, (2) rethink machine learning algorithms for an energy-aware imprecise task scheduling framework, (3) develop scheduling algorithms that, along with deciding what to compute, answers when to compute and when to harvest, and (4) utilize distributed systems that collaboratively emulate a persistently powered system. Scheduling Framework for Intermittently Powered Computing Systems. Batteryless systems rely on sporadically available harvestable energy. For example, kinetic-powered motion detector sensors on the impalas can only harvest energy when the impalas are moving, which cannot be ascertained in advance. This uncertainty poses a unique real-time scheduling problem where existing real-time algorithms fail due to the interruption in execution time. This dissertation proposes a unified scheduling framework that includes both harvesting and computing. Imprecise Deep Neural Network Inference in Deadline-Aware Intermittent Systems. This dissertation proposes Zygarde- an energy-aware and outcome-aware soft-real-time imprecise deep neural network (DNN) task scheduling framework for intermittent systems. Zygarde leverages the semantic diversity of input data and layer-dependent expressiveness of deep features and infers only the necessary DNN layers based on available time and energy. Zygarde proposes a novel technique to determine the imprecise boundary at the runtime by exploiting the clustering classifiers and specialized offline training of the DNNs to minimize the loss of accuracy due to partial execution. It also proposes a single metric, η to represent a system’s predictability that measures how close a harvesterâs harvesting pattern is to a constant energy source. Besides, Zygarde consists of a scheduling algorithm that takes available time, available energy, impreciseness, and the classifier's performance into account. Scheduling Mutually Exclusive Computing and Harvesting Tasks in Deadline-Aware Intermittent Systems. The lack of sufficient ambient energy to directly power the intermittent systems introduces mutually exclusive computing and charging cycles of intermittently powered systems. This introduces a challenging real-time scheduling problem where the existing real-time algorithms fail due to the lack of interruption in execution time. To address this, this dissertation proposes Celebi, which considers the dynamics of the available energy and schedules when to harvest and when to compute in batteryless systems. Using data-driven simulation and real-world experiments, this dissertation shows that Celebi significantly increases the number of tasks that complete execution before their deadline when power was only available intermittently. Persistent System Emulation with Distributed Intermittent System. Intermittently-powered sensing and computing systems go through sporadic power-on and off periods due to the uncertain availability of energy sources. Despite the recent efforts to advance time-sensitive intermittent systems, such systems fail to capture important target events when the energy is absent for a prolonged time. This event miss limits the potential usage of intermittent systems in fault- intolerant and safety-critical applications. To address this problem, this dissertation proposes Falinks, a framework that allows a swarm of distributed intermittently powered nodes to collaboratively imitate the sensing and computing capabilities of a persistently powered system. This framework provides power-on and off schedules for the swamp of intermittent nodes which has no communication capability with each other.Doctor of Philosoph

Scheduling real-time, periodic jobs using imprecise results

A process is called a monotone process if the accuracy of its intermediate results is non-decreasing as more time is spent to obtain the result. The result produced by a monotone process upon its normal termination is the desired result; the error in this result is zero. External events such as timeouts or crashes may cause the process to terminate prematurely. If the intermediate result produced by the process upon its premature termination is saved and made available, the application may still find the result unusable and, hence, acceptable; such a result is said to be an imprecise one. The error in an imprecise result is nonzero. The problem of scheduling periodic jobs to meet deadlines on a system that provides the necessary programming language primitives and run-time support for processes to return imprecise results is discussed. This problem differs from the traditional scheduling problems since the scheduler may choose to terminate a task before it is completed, causing it to produce an acceptable but imprecise result. Consequently, the amounts of processor time assigned to tasks in a valid schedule can be less than the amounts of time required to complete the tasks. A meaningful formulation of this problem taking into account the quality of the overall result is discussed. Three algorithms for scheduling jobs for which the effects of errors in results produced in different periods are not cumulative are described, and their relative merits are evaluated

PERTS: A Prototyping Environment for Real-Time Systems

PERTS is a prototyping environment for real-time systems. It is being built incrementally and will contain basic building blocks of operating systems for time-critical applications, tools, and performance models for the analysis, evaluation and measurement of real-time systems and a simulation/emulation environment. It is designed to support the use and evaluation of new design approaches, experimentations with alternative system building blocks, and the analysis and performance profiling of prototype real-time systems

Scheduling periodic jobs using imprecise results

One approach to avoid timing faults in hard, real-time systems is to make available intermediate, imprecise results produced by real-time processes. When a result of the desired quality cannot be produced in time, an imprecise result of acceptable quality produced before the deadline can be used. The problem of scheduling periodic jobs to meet deadlines on a system that provides the necessary programming language primitives and run-time support for processes to return imprecise results is discussed. Since the scheduler may choose to terminate a task before it is completed, causing it to produce an acceptable but imprecise result, the amount of processor time assigned to any task in a valid schedule can be less than the amount of time required to complete the task. A meaningful formulation of the scheduling problem must take into account the overall quality of the results. Depending on the different types of undesirable effects caused by errors, jobs are classified as type N or type C. For type N jobs, the effects of errors in results produced in different periods are not cumulative. A reasonable performance measure is the average error over all jobs. Three heuristic algorithms that lead to feasible schedules with small average errors are described. For type C jobs, the undesirable effects of errors produced in different periods are cumulative. Schedulability criteria of type C jobs are discussed