31,648 research outputs found
Data dependent energy modelling for worst case energy consumption analysis
Safely meeting Worst Case Energy Consumption (WCEC) criteria requires
accurate energy modeling of software. We investigate the impact of instruction
operand values upon energy consumption in cacheless embedded processors.
Existing instruction-level energy models typically use measurements from random
input data, providing estimates unsuitable for safe WCEC analysis.
We examine probabilistic energy distributions of instructions and propose a
model for composing instruction sequences using distributions, enabling WCEC
analysis on program basic blocks. The worst case is predicted with statistical
analysis. Further, we verify that the energy of embedded benchmarks can be
characterised as a distribution, and compare our proposed technique with other
methods of estimating energy consumption
Static analysis of energy consumption for LLVM IR programs
Energy models can be constructed by characterizing the energy consumed by
executing each instruction in a processor's instruction set. This can be used
to determine how much energy is required to execute a sequence of assembly
instructions, without the need to instrument or measure hardware.
However, statically analyzing low-level program structures is hard, and the
gap between the high-level program structure and the low-level energy models
needs to be bridged. We have developed techniques for performing a static
analysis on the intermediate compiler representations of a program.
Specifically, we target LLVM IR, a representation used by modern compilers,
including Clang. Using these techniques we can automatically infer an estimate
of the energy consumed when running a function under different platforms, using
different compilers.
One of the challenges in doing so is that of determining an energy cost of
executing LLVM IR program segments, for which we have developed two different
approaches. When this information is used in conjunction with our analysis, we
are able to infer energy formulae that characterize the energy consumption for
a particular program. This approach can be applied to any languages targeting
the LLVM toolchain, including C and XC or architectures such as ARM Cortex-M or
XMOS xCORE, with a focus towards embedded platforms. Our techniques are
validated on these platforms by comparing the static analysis results to the
physical measurements taken from the hardware. Static energy consumption
estimation enables energy-aware software development, without requiring
hardware knowledge
Inferring Energy Bounds via Static Program Analysis and Evolutionary Modeling of Basic Blocks
The ever increasing number and complexity of energy-bound devices (such as
the ones used in Internet of Things applications, smart phones, and mission
critical systems) pose an important challenge on techniques to optimize their
energy consumption and to verify that they will perform their function within
the available energy budget. In this work we address this challenge from the
software point of view and propose a novel parametric approach to estimating
tight bounds on the energy consumed by program executions that are practical
for their application to energy verification and optimization. Our approach
divides a program into basic (branchless) blocks and estimates the maximal and
minimal energy consumption for each block using an evolutionary algorithm. Then
it combines the obtained values according to the program control flow, using
static analysis, to infer functions that give both upper and lower bounds on
the energy consumption of the whole program and its procedures as functions on
input data sizes. We have tested our approach on (C-like) embedded programs
running on the XMOS hardware platform. However, our method is general enough to
be applied to other microprocessor architectures and programming languages. The
bounds obtained by our prototype implementation can be tight while remaining on
the safe side of budgets in practice, as shown by our experimental evaluation.Comment: Pre-proceedings paper presented at the 27th International Symposium
on Logic-Based Program Synthesis and Transformation (LOPSTR 2017), Namur,
Belgium, 10-12 October 2017 (arXiv:1708.07854). Improved version of the one
presented at the HIP3ES 2016 workshop (v1): more experimental results (added
benchmark to Table 1, added figure for new benchmark, added Table 3),
improved Fig. 1, added Fig.
A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones
Fully-autonomous miniaturized robots (e.g., drones), with artificial
intelligence (AI) based visual navigation capabilities are extremely
challenging drivers of Internet-of-Things edge intelligence capabilities.
Visual navigation based on AI approaches, such as deep neural networks (DNNs)
are becoming pervasive for standard-size drones, but are considered out of
reach for nanodrones with size of a few cm. In this work, we
present the first (to the best of our knowledge) demonstration of a navigation
engine for autonomous nano-drones capable of closed-loop end-to-end DNN-based
visual navigation. To achieve this goal we developed a complete methodology for
parallel execution of complex DNNs directly on-bard of resource-constrained
milliwatt-scale nodes. Our system is based on GAP8, a novel parallel
ultra-low-power computing platform, and a 27 g commercial, open-source
CrazyFlie 2.0 nano-quadrotor. As part of our general methodology we discuss the
software mapping techniques that enable the state-of-the-art deep convolutional
neural network presented in [1] to be fully executed on-board within a strict 6
fps real-time constraint with no compromise in terms of flight results, while
all processing is done with only 64 mW on average. Our navigation engine is
flexible and can be used to span a wide performance range: at its peak
performance corner it achieves 18 fps while still consuming on average just
3.5% of the power envelope of the deployed nano-aircraft.Comment: 15 pages, 13 figures, 5 tables, 2 listings, accepted for publication
in the IEEE Internet of Things Journal (IEEE IOTJ
Modeling and visualizing networked multi-core embedded software energy consumption
In this report we present a network-level multi-core energy model and a
software development process workflow that allows software developers to
estimate the energy consumption of multi-core embedded programs. This work
focuses on a high performance, cache-less and timing predictable embedded
processor architecture, XS1. Prior modelling work is improved to increase
accuracy, then extended to be parametric with respect to voltage and frequency
scaling (VFS) and then integrated into a larger scale model of a network of
interconnected cores. The modelling is supported by enhancements to an open
source instruction set simulator to provide the first network timing aware
simulations of the target architecture. Simulation based modelling techniques
are combined with methods of results presentation to demonstrate how such work
can be integrated into a software developer's workflow, enabling the developer
to make informed, energy aware coding decisions. A set of single-,
multi-threaded and multi-core benchmarks are used to exercise and evaluate the
models and provide use case examples for how results can be presented and
interpreted. The models all yield accuracy within an average +/-5 % error
margin
Less is More: Exploiting the Standard Compiler Optimization Levels for Better Performance and Energy Consumption
This paper presents the interesting observation that by performing fewer of
the optimizations available in a standard compiler optimization level such as
-O2, while preserving their original ordering, significant savings can be
achieved in both execution time and energy consumption. This observation has
been validated on two embedded processors, namely the ARM Cortex-M0 and the ARM
Cortex-M3, using two different versions of the LLVM compilation framework; v3.8
and v5.0. Experimental evaluation with 71 embedded benchmarks demonstrated
performance gains for at least half of the benchmarks for both processors. An
average execution time reduction of 2.4% and 5.3% was achieved across all the
benchmarks for the Cortex-M0 and Cortex-M3 processors, respectively, with
execution time improvements ranging from 1% up to 90% over the -O2. The savings
that can be achieved are in the same range as what can be achieved by the
state-of-the-art compilation approaches that use iterative compilation or
machine learning to select flags or to determine phase orderings that result in
more efficient code. In contrast to these time consuming and expensive to apply
techniques, our approach only needs to test a limited number of optimization
configurations, less than 64, to obtain similar or even better savings.
Furthermore, our approach can support multi-criteria optimization as it targets
execution time, energy consumption and code size at the same time.Comment: 15 pages, 3 figures, 71 benchmarks used for evaluatio
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