A Survey of Techniques For Improving Energy Efficiency in Embedded Computing Systems

Recent technological advances have greatly improved the performance and features of embedded systems. With the number of just mobile devices now reaching nearly equal to the population of earth, embedded systems have truly become ubiquitous. These trends, however, have also made the task of managing their power consumption extremely challenging. In recent years, several techniques have been proposed to address this issue. In this paper, we survey the techniques for managing power consumption of embedded systems. We discuss the need of power management and provide a classification of the techniques on several important parameters to highlight their similarities and differences. This paper is intended to help the researchers and application-developers in gaining insights into the working of power management techniques and designing even more efficient high-performance embedded systems of tomorrow

Low Power Processor Architectures and Contemporary Techniques for Power Optimization – A Review

The technological evolution has increased the number of transistors for a given die area significantly and increased the switching speed from few MHz to GHz range. Such inversely proportional decline in size and boost in performance consequently demands shrinking of supply voltage and effective power dissipation in chips with millions of transistors. This has triggered substantial amount of research in power reduction techniques into almost every aspect of the chip and particularly the processor cores contained in the chip. This paper presents an overview of techniques for achieving the power efficiency mainly at the processor core level but also visits related domains such as buses and memories. There are various processor parameters and features such as supply voltage, clock frequency, cache and pipelining which can be optimized to reduce the power consumption of the processor. This paper discusses various ways in which these parameters can be optimized. Also, emerging power efficient processor architectures are overviewed and research activities are discussed which should help reader identify how these factors in a processor contribute to power consumption. Some of these concepts have been already established whereas others are still active research areas. © 2009 ACADEMY PUBLISHER

Real-time systems on multicore platforms: managing hardware resources for predictable execution

Shared hardware resources in commodity multicore processors are subject to contention from co-running threads. The resultant interference can lead to highly-variable performance for individual applications. This is particularly problematic for real-time applications, which require predictable timing guarantees. It also leads to a pessimistic estimate of the Worst Case Execution Time (WCET) for every real-time application. More CPU time needs to be reserved, thus less applications can enter the system. As the average execution time is usually far less than the WCET, a significant amount of reserved CPU resource would be wasted. Previous works have attempted partitioning the shared resources, amongst either CPUs or processes, to improve performance isolation. However, they have not proven to be both efficient and effective. In this thesis, we propose several mechanisms and frameworks that manage the shared caches and memory buses on multicore platforms. Firstly, we introduce a multicore real-time scheduling framework with the foreground/background scheduling model. Combining real-time load balancing with background scheduling, CPU utilization is greatly improved. Besides, a memory bus management mechanism is implemented on top of the background scheduling, making sure bus contention is under control while utilizing unused CPU cycles. Also, cache partitioning is thoroughly studied in this thesis, with a cache-aware load balancing algorithm and a dynamic cache partitioning framework proposed. Lastly, we describe a system architecture to integrate the above solutions all together. It tackles one of the toughest problems in OS innovation, legacy support, by converting existing OSes into libraries in a virtualized environment. Thus, within a single multicore platform, we benefit from the fine-grained resource control of a real-time OS and the richness of functionality of a general-purpose OS

메모리 가상 채널을 통한 라스트 레벨 캐시 파티셔닝

학위논문(박사) -- 서울대학교대학원 : 공과대학 전기·정보공학부, 2023. 2. 김장우.Ensuring fairness or providing isolation between multiple workloads with distinct characteristics that are collocated on a single, shared-memory system is a challenge. Recent multicore processors provide last-level cache (LLC) hardware partitioning to provide hardware support for isolation, with the cache partitioning often specified by the user. While more LLC capacity often results in higher performance, in this dissertation we identify that a workload allocated more LLC capacity result in worse performance on real-machine experiments, which we refer to as MiW (more is worse). Through various controlled experiments, we identify that another workload with less LLC capacity causes more frequent LLC misses. The workload stresses the main memory system shared by both workloads and degrades the performance of the former workload even if LLC partitioning is used (a balloon effect). To resolve this problem, we propose virtualizing the data path of main memory controllers and dedicating the memory virtual channels (mVCs) to each group of applications, grouped for LLC partitioning. mVC can further fine-tune the performance of groups by differentiating buffer sizes among mVCs. It can reduce the total system cost by executing latency-critical and throughput-oriented workloads together on shared machines, of which performance criteria can be achieved only on dedicated machines if mVCs are not supported. Experiments on a simulated chip multiprocessor show that our proposals effectively eliminate the MiW phenomenon, hence providing additional opportunities for workload consolidation in a datacenter. Our case study demonstrates potential savings of machine count by 21.8% with mVC, which would otherwise violate a service level objective (SLO).최근 멀티코어 프로세서 기반 시스템은 학계 및 업계의 주목을 받고 있으며, 널리 사용되고 있다. 멀티코어 프로세서 기반 시스템은 서로 다른 특성을 가진 여러 응용 프로그램들이 동시에 실행되는데, 이 때 응용 프로그램들은 시스템의 여러 자원들을 공유하게 된다. 대표적인 공유 자원의 예로는 라스트 레벨 캐시(LLC) 및 메인 메모리를 들 수 있다. 이러한 단일 공유 메모리 시스템에서 서로 다른 특성을 가진 여러 응용 프로그램들 간에 공유 자원의 공정성을 보장하거나 특정 응용 프로그램이 다른 응용 프로그램으로부터 간섭을 받지 않도록 격리하는 것은 어려운 일이다. 이를 해결하기 위하여 최근 멀티코어 프로세서는 LLC 파티셔닝을 하드웨어적으로 제공하기 시작하였다. 사용자는 하드웨어적으로 제공된 LLC 파티셔닝을 통해 특정 응용 프로그램에 원하는 수준만큼 LLC를 할당하여 다른 응용 프로그램으로부터 간섭을 받지 않도록 격리할 수 있게 되었다. 일반적인 경우 LLC 용량을 많이 할당 받을수록 성능이 향상되는 경우가 많지만, 본 연구에서는 더 많은 LLC 용량을 할당 받은 응용 프로그램이 오히려 성능 저하된다는 사실(MiW, more is worse)을 하드웨어적 실험을 통해 확인하였다. 다양한 통제된 실험을 통해 LLC 파티셔닝을 통해 LLC 용량을 적게 할당 받은 응용 프로그램이 LLC 미스를 더 자주 발생시킨다는 사실을 확일 할 수 있었다. LLC 용량을 적게 할당 받은 응용 프로그램은 응용 프로그램들이 공유하는 메인 메모리 시스템에 스트레스를 가하고, LLC 파티셔닝을 통해 서로 격리를 하였음에도 불구하고 응용 프로그램의 성능을 저하시켰다. MiW 현상을 해결하기 위해 본 연구에서는 메인 메모리 컨트롤러의 데이터 경로를 가상화하고 LLC 파티셔닝에 의해 그룹화된 각 응용 프로그램 그룹에 전용으로 할당되는 메모리 가상 채널(mVC)을 제안하였다. mVC를 통해 각 응용 프로그램 그룹은 독립적인 데이터 경로를 소유한 것처럼 가상화 된다. 따라서 특정 응용 프로그램 그룹이 데이터 경로를 독점하더라도 다른 응용 프로그램들은 성능 저하를 유발할 수 없게 되어 서로 격리된 환경을 조성한다. 추가적으로 mVC의 버퍼 크기를 조정하여 응용 프로그램 그룹의 성능 미세 조정이 가능하도록 하였다. mVC를 도입함으로써 전체적인 시스템 비용을 줄일 수 있다. 지연 시간이 중요한 응용 프로그램과 처리량이 중요한 응용 프로그램을 함께 실행할 때 mVC가 없을 경우에는 지연 시간의 성능 기준치를 만족할 수 없었지만, mVC를 통해 성능 기준치를 만족하면서 시스템의 총 비용을 감소시킬 수 있었다. 멀티 칩 프로세서를 시뮬레이션한 실험 결과는 MiW 현상을 효과적으로 제거함을 보여주었다. 또한, 데이터 센터에서 응용 프로그램들의 동시 실행을 위한 추가적인 가능성을 제공하는 것을 보여주었다. 사례 연구를 통해 mVC를 도입하여 시스템 비용을 21.8%까지 절약할 수 있음을 보였으며, mVC를 도입하지 않은 경우에는 서비스 기준(SLO)을 만족하지 않음을 확인하였다.1. Introduction 1 1.1 Research Contributions 5 1.2 Outline 6 2. Background 7 2.1 Cache Hierarchy and Policies 7 2.2 Cache Partitioning 10 2.3 Benchmarks 15 2.3.1 Working Set Size 16 2.3.2 Top-down Analysis 17 2.3.3 Profiling Tools 19 3. More-is-Worse Phenonmenon 21 3.1 More LLC Leading to Performance Drop 21 3.2 Synthetic Workload Evaluation 27 3.3 Impact on Latency-critical Workloads 31 3.4 Workload Analysis 33 3.5 The Root Cause of the MiW Phenomenon 35 3.6 Limitations of Existing Solutions 41 3.6.1 Memory Bandwidth Throttling 41 3.6.2 Fairness-aware Memory Scheduling 44 4. Virtualizing Memory Channels 49 4.1 Memory Virtual Channel (mVC) 50 4.2 mVC Buffer Allocation Strategies 52 4.3 Evaluation 57 4.3.1 Experimental Setup 57 4.3.2 Reproducing Hardware Results 59 4.3.3 Mitigating MiW through mVC 60 4.3.4 Evaluation on Four Groups 64 4.3.5 Potentials for Operating Cost Savings with mVC 66 5. Related Work 71 5.1 Component-wise QoS/Fairness for Shared Resources 71 5.2 Holistic Approaches to QoS/Fairness 73 5.3 MiW on Recent Architectures 74 6. Conclusion 76 6.1 Discussion 78 6.2 Future Work 79 Bibliography 81 국문초록 89박

Holistic resource allocation for multicore real-time systems

This paper presents CaM, a holistic cache and memory bandwidth resource allocation strategy for multicore real-time systems. CaM is designed for partitioned scheduling, where tasks are mapped onto cores, and the shared cache and memory bandwidth resources are partitioned among cores to reduce resource interferences due to concurrent accesses. Based on our extension of LITMUSRT with Intel’s Cache Allocation Technology and MemGuard, we present an experimental evaluation of the relationship between the allocation of cache and memory bandwidth resources and a task’s WCET. Our resource allocation strategy exploits this relationship to map tasks onto cores, and to compute the resource allocation for each core. By grouping tasks with similar characteristics (in terms of resource demands) to the same core, it enables tasks on each core to fully utilize the assigned resources. In addition, based on the tasks’ execution time behaviors with respect to their assigned resources, we can determine a desirable allocation that maximizes schedulability under resource constraints. Extensive evaluations using real-world benchmarks show that CaM offers near optimal schedulability performance while being highly efficient, and that it substantially outperforms existing solutions

A Multi-core processor for hard real-time systems

The increasing demand for new functionalities in current and future hard real-time embedded systems, like the ones deployed in automotive and avionics industries, is driving an increment in the performance required in current embedded processors. Multi-core processors represent a good design solution to cope with such higher performance requirements due to their better performance-per-watt ratio while maintaining the core design simple. Moreover, multi-cores also allow executing mixed-criticality level workloads composed of tasks with and without hard real-time requirements, maximizing the utilization of the hardware resources while guaranteeing low cost and low power consumption. Despite those benefits, current multi-core processors are less analyzable than single-core ones due to the interferences between different tasks when accessing hardware shared resources. As a result, estimating a meaningful Worst-Case Execution Time (WCET) estimation - i.e. to compute an upper bound of the application's execution time - becomes extremely difficult, if not even impossible, because the execution time of a task may change depending on the other threads running at the same time. This makes the WCET of a task dependent on the set of inter-task interferences introduced by the co-running tasks. Providing a WCET estimation independent from the other tasks (time composability property) is a key requirement in hard real-time systems. This thesis proposes a new multi-core processor design in which time composability is achieved, hence enabling the use of multi-cores in hard real-time systems. With our proposals the WCET estimation of a HRT is independent from the other co-running tasks. To that end, we design a multi-core processor in which the maximum delay a request from a Hard Real-time Task (HRT), accessing a hardware shared resource can suffer due to other tasks is bounded: our processor guarantees that a request to a shared resource cannot be delayed longer than a given Upper Bound Delay (UBD). In addition, the UBD allows identifying the impact that different processor configurations may have on the WCET by determining the sensitivity of a HRT to different resource allocations. This thesis proposes an off-line task allocation algorithm (called IA3: Interference-Aware Allocation Algorithm), that allocates tasks in a task set based on the HRT's sensitivity to different resource allocations. As a result the hardware shared resources used by HRTs are minimized, by allowing Non Hard Real-time Tasks (NHRTs) to use the rest of resources. Overall, our proposals provide analyzability for the HRTs allowing NHRTs to be executed into the same chip without any effect on the HRTs. The previous first two proposals of this thesis focused on supporting the execution of multi-programmed workloads with mixed-criticality levels (composed of HRTs and NHRTs). Higher performance could be achieved by implementing multi-threaded applications. As a first step towards supporting hard real-time parallel applications, this thesis proposes a new hardware/software approach to guarantee a predictable execution of software pipelined parallel programs. This thesis also investigates a solution to verify the timing correctness of HRTs without requiring any modification in the core design: we design a hardware unit which is interfaced with the processor and integrated into a functional-safety aware methodology. This unit monitors the execution time of a block of instructions and it detects if it exceeds the WCET. Concretely, we show how to handle timing faults on a real industrial automotive platform.La creciente demanda de nuevas funcionalidades en los sistemas empotrados de tiempo real actuales y futuros en industrias como la automovilística y la de aviación, está impulsando un incremento en el rendimiento necesario en los actuales procesadores empotrados. Los procesadores multi-núcleo son una solución eficiente para obtener un mayor rendimiento ya que aumentan el rendimiento por vatio, manteniendo el diseño del núcleo simple. Por otra parte, los procesadores multi-núcleo también permiten ejecutar cargas de trabajo con niveles de tiempo real mixtas (formadas por tareas de tiempo real duro y laxo así como tareas sin requerimientos de tiempo real), maximizando así la utilización de los recursos de procesador y garantizando el bajo consumo de energía. Sin embargo, a pesar los beneficios mencionados anteriormente, los actuales procesadores multi-núcleo son menos analizables que los de un solo núcleo debido a las interferencias surgidas cuando múltiples tareas acceden simultáneamente a los recursos compartidos del procesador. Como resultado, la estimación del peor tiempo de ejecución (conocido como WCET) - es decir, una cota superior del tiempo de ejecución de la aplicación - se convierte en extremadamente difícil, si no imposible, porque el tiempo de ejecución de una tarea puede cambiar dependiendo de las otras tareas que se estén ejecutando concurrentemente. Determinar una estimación del WCET independiente de las otras tareas es un requisito clave en los sistemas empotrados de tiempo real duro. Esta tesis propone un nuevo diseño de procesador multi-núcleo en el que el tiempo de ejecución de las tareas se puede componer, lo que permitirá el uso de procesadores multi-núcleo en los sistemas de tiempo real duro. Para ello, diseñamos un procesador multi-núcleo en el que la máxima demora que puede sufrir una petición de una tarea de tiempo real duro (HRT) para acceder a un recurso hardware compartido debido a otras tareas está acotado, tiene un límite superior (UBD). Además, UBD permite identificar el impacto que las diferentes posibles configuraciones del procesador pueden tener en el WCET, mediante la determinación de la sensibilidad en la variación del tiempo de ejecución de diferentes reservas de recursos del procesador. Esta tesis propone un algoritmo estático de reserva de recursos (llamado IA3), que asigna tareas a núcleos en función de dicha sensibilidad. Como resultado los recursos compartidos del procesador usados por tareas HRT se reducen al mínimo, permitiendo que las tareas sin requerimiento de tiempo real (NHRTs) puedas beneficiarse del resto de recursos. Por lo tanto, las propuestas presentadas en esta tesis permiten el análisis del WCET para tareas HRT, permitiendo así mismo la ejecución de tareas NHRTs en el mismo procesador multi-núcleo, sin que estas tengan ningún efecto sobre las tareas HRT. Las propuestas presentadas anteriormente se centran en el soporte a la ejecución de múltiples cargas de trabajo con diferentes niveles de tiempo real (HRT y NHRTs). Sin embargo, un mayor rendimiento puede lograrse mediante la transformación una tarea en múltiples sub-tareas paralelas. Esta tesis propone una nueva técnica, con soporte del procesador y del sistema operativo, que garantiza una ejecución analizable del modelo de ejecución paralela software pipelining. Esta tesis también investiga una solución para verificar la corrección del WCET de HRT sin necesidad de ninguna modificación en el diseño de la base: un nuevo componente externo al procesador se conecta a este sin necesidad de modificarlo. Esta nueva unidad monitorea el tiempo de ejecución de un bloque de instrucciones y detecta si se excede el WCET. Esta unidad permite detectar fallos de sincronización en sistemas de computación utilizados en automóviles