Energy-Efficient Scheduling for Homogeneous Multiprocessor Systems

We present a number of novel algorithms, based on mathematical optimization formulations, in order to solve a homogeneous multiprocessor scheduling problem, while minimizing the total energy consumption. In particular, for a system with a discrete speed set, we propose solving a tractable linear program. Our formulations are based on a fluid model and a global scheduling scheme, i.e. tasks are allowed to migrate between processors. The new methods are compared with three global energy/feasibility optimal workload allocation formulations. Simulation results illustrate that our methods achieve both feasibility and energy optimality and outperform existing methods for constrained deadline tasksets. Specifically, the results provided by our algorithm can achieve up to an 80% saving compared to an algorithm without a frequency scaling scheme and up to 70% saving compared to a constant frequency scaling scheme for some simulated tasksets. Another benefit is that our algorithms can solve the scheduling problem in one step instead of using a recursive scheme. Moreover, our formulations can solve a more general class of scheduling problems, i.e. any periodic real-time taskset with arbitrary deadline. Lastly, our algorithms can be applied to both online and offline scheduling schemes.Comment: Corrected typos: definition of J_i in Section 2.1; (3b)-(3c); definition of \Phi_A and \Phi_D in paragraph after (6b). Previous equations were correct only for special case of p_i=d_

Nonlinear predictive control of autonomous soaring UAVs using 3DOF models

We design a nonlinear model predictive control (NMPC) system for a soaring UAV in order to harvest the energy from the atmospheric updrafts. Our control framework combines an online estimation with a heuristic search method to obtain the UAV optimal trajectory. To allow for real-time computation of the control commands we solve the optimal control problem using a 3 degrees-of-freedom (DOF) model but apply the inputs to a more realistic 6DOF model. Hence, we design a 3DOF-6DOF model interaction strategy. Simulations show how the control system succeeds in energy extraction in a challenging dynamic atmospheric environment while satisfying its real-time contraints

Constrained LQR for Low-Precision Data Representation

Performing computations with a low-bit number representation results in a faster implementation that uses less silicon, and hence allows an algorithm to be implemented in smaller and cheaper processors without loss of performance. We propose a novel formulation to efficiently exploit the low (or non-standard) precision number representation of some computer architectures when computing the solution to constrained LQR problems, such as those that arise in predictive control. The main idea is to include suitably-defined decision variables in the quadratic program, in addition to the states and the inputs, to allow for smaller roundoff errors in the solver. This enables one to trade off the number of bits used for data representation against speed and/or hardware resources, so that smaller numerical errors can be achieved for the same number of bits (same silicon area). Because of data dependencies, the algorithm complexity, in terms of computation time and hardware resources, does not necessarily increase despite the larger number of decision variables. Examples show that a 10-fold reduction in hardware resources is possible compared to using double precision floating point, without loss of closed-loop performance

Continuity and Monotonicity of the MPC Value Function with respect to Sampling Time and Prediction Horizon

The digital implementation of model predictive control (MPC) is fundamentally governed by two design parameters; sampling time and prediction horizon. Knowledge of the properties of the value function with respect to the parameters can be used for developing optimisation tools to find optimal system designs. In particular, these properties are continuity and monotonicity. This paper presents analytical results to reveal the smoothness properties of the MPC value function in open- and closed-loop for constrained linear systems. Continuity of the value function and its differentiability for a given number of prediction steps are proven mathematically and confirmed with numerical results. Non-monotonicity is shown from the ensuing numerical investigation. It is shown that increasing sampling rate and/or prediction horizon does not always lead to an improved closedloop performance, particularly at faster sampling rates

The effect of small-amplitude time-dependent changes to the surface morphology of a sphere

Typical approaches to manipulation of flow separation employ passive means or active techniques such as blowing and suction or plasma acceleration. Here it is demonstrated that the flow can be significantly altered by making small changes to the shape of the surface. A proof of concept experiment is performed using a very simple time-dependent perturbation to the surface of a sphere: a roughness element of 1% of the sphere diameter is moved azimuthally around a sphere surface upstream of the uncontrolled laminar separation point, with a rotational frequency as large as the vortex shedding frequency. A key finding is that the non-dimensional time to observe a large effect on the lateral force due to the perturbation produced in the sphere boundary layers as the roughness moves along the surface is ˆt =tU_(∞)/D ≈4. This slow development allows the moving element to produce a tripped boundary layer over an extended region. It is shown that a lateral force can be produced that is as large as the drag. In addition, simultaneous particle image velocimetry and force measurements reveal that a pair of counter-rotating helical vortices are produced in the wake, which have a significant effect on the forces and greatly increase the Reynolds stresses in the wake. The relatively large perturbation to the flow-field produced by the small surface disturbance permits the construction of a phase-averaged, three-dimensional (two-velocity component) wake structure from measurements in the streamwise/radial plane. The vortical structure arising due to the roughness element has implications for flow over a sphere with a nominally smooth surface or distributed roughness. In addition, it is shown that oscillating the roughness element, or shaping its trajectory, can produce a mean lateral force

The Periglacial Landscape Of Utopia Planitia; Geologic Evidence For Recent Climate Change On Mars.

The northern plains of Utopia Planitia, Mars, hosts an abundance of potential periglacial landforms including scalloped depressions, gullies, and polygon networks. This research was undertaken to investigate the distribution and stratigraphy of scalloped depressions in Utopia Planitia and to reconstruct the past environment in which this periglacial landscape formed. To that end, a revised geologic map of the region has been produced. We define, for the first time, a new Periglacial Unit, the youngest geologic unit in Utopia Planitia. We have also developed a model for the formation and evolution of the periglacial landscape examined by assessing the use of scalloped depressions as indicators of climate change, and combining our geologic evidence with recent climate change model predictions. It is concluded that in the recent past Utopia Planitia has experienced an intensified regional climate and a dynamic, evolving landscape that has recorded the changing climate of Mars

Critical introductions to pioneering works of social realism from the early Abbey Theatre

This dissertation presents a critical study of five dramatic works first performed at Dublin\u27s Abbey Theatre in the early twentieth century. The plays considered here have often been called masterpieces by critics, yet they have received little serious scholarly attention and today are forgotten relics of the Abbey\u27s past. Nonetheless, these plays---Padraic Colum\u27s Thomas Muskerry (1910), St. John Ervine\u27s John Ferguson (1915), T. C. Murray\u27s Autumn Fire (1924), Lennox Robinson\u27s The Big House (1926), and Teresa Deevy\u27s Katie Roche (1936)---formed a backbone for the fledgling national theater. They were successful because they attracted and engaged their audiences, but furthermore they challenged conventional notions (sometimes creating alternate notions) of gender, class, nationality, and social status. As serious dramatic works, these plays represented probably the most successful achievement of Yeats\u27s vision for the theater as a mirror showing the nation a true image of its mind and features. Thus, the plays helped to invent Ireland (in the words of Declan Kiberd\u27s important study of Irish literature), and they contributed significantly to the Abbey\u27s establishment as one of the world\u27s great repertory theaters. This dissertation, then, redresses critical neglect of the five plays in an attempt to initiate deeper ways of understanding and interpreting them through social, political, and economic contexts, textual backgrounds, and critical, publication, and stage histories