Bundle: Taming The Cache And Improving Schedulability Of Multi-Threaded Hard Real-Time Systems

For hard real-time systems, schedulability of a task set is paramount. If a task set is not deemed schedulable under all conditions, the system may fail during operation and cannot be deployed in a high risk environment. Schedulability testing has typically been separated from worst-case execution time (WCET) analysis. Each task’s WCET value is calculated independently and provided as input to a schedulability test. However, a task’s WCET value is influenced by scheduling decisions and the impact of cache memory. Thus, schedulability tests have been augmented to include cache-related preemption delay (CRPD). From this classical perspective, the effect of cache memory on WCET and schedulability is always negative; increasing execution times and demand. In this work we propose a new positive perspective, where cache memory benefits multi-threaded tasks by scheduling threads in a manner that shares values predictably. This positive perspective is reached by integrating, rather than separating the disciplines of schedulability analysis and worst-case execution time. These integrated techniques are referred to as the BUNDLE family of worst-case execution time and cache overhead (WCETO) analysis and scheduling algorithm. WCETO calculation divides the task’s structure into conflict free regions and calculates a bound utilizing explicit understanding of the thread-level scheduling algorithm. Conflict free regions are utilized by the scheduling algorithm, which associates with each region a thread container called a bundle. At any time only one bundle may be active, and only threads of the active bundle may execute on the processor. The BUNDLE family of scheduling algorithms developed in this work increase in scope from BUNDLE through ITCB-DAG. As the fundamental contribution, BUNDLE and BUNDLEP apply to a single multi-threaded task running on a uniprocessor architecture with a single level direct mapped instruction cache. NPM-BUNDLE expands the positive perspective to multiple tasks on a uniprocessor system. With ITCB-DAG bringing BUNDLE’s analysis and scheduling techniques to multi-processor systems. Each of the scheduling algorithms require a novel hardware mechanism to anticipate execution and make scheduling decisions. To support anticipation of execution, a novel XFLICT interrupt is proposed. It is a simple mechanism that emulates the behavior of hardware breakpoints. An implementation of the BUNDLEP analytical techniques, scheduling algorithm, and XFLICT interrupt is available as a simulated platform for further research and extension. Future work is planned to expand BUNDLE’s positive perspective and increase adoption. The most significant barrier to adoption is the ability to deploy BUNDLE’s scheduling algorithm, this mandates a viable and available hardware or software mechanism to anticipate execution. NPM-BUNDLE is limited to non-preemptive multi-task scheduling and analysis, support for preemptive scheduling will increase the positive impact of BUNDLE’s integrated perspective

NPM-BUNDLE: Non-Preemptive Multitask Scheduling for Jobs with BUNDLE-Based Thread-Level Scheduling

The BUNDLE and BUNDLEP scheduling algorithms are cache-cognizant thread-level scheduling algorithms and associated worst case execution time and cache overhead (WCETO) techniques for hard real-time multi-threaded tasks. The BUNDLE-based approaches utilize the inter-thread cache benefit to reduce WCETO values for jobs. Currently, the BUNDLE-based approaches are limited to scheduling a single task. This work aims to expand the applicability of BUNDLE-based scheduling to multiple task multi-threaded task sets. BUNDLE-based scheduling leverages knowledge of potential cache conflicts to selectively preempt one thread in favor of another from the same job. This thread-level preemption is a requirement for the run-time behavior and WCETO calculation to receive the benefit of BUNDLE-based approaches. This work proposes scheduling BUNDLE-based jobs non-preemptively according to the earliest deadline first (EDF) policy. Jobs are forbidden from preempting one another, while threads within a job are allowed to preempt other threads. An accompanying schedulability test is provided, named Threads Per Job (TPJ). TPJ is a novel schedulability test, input is a task set specification which may be transformed (under certain restrictions); dividing threads among tasks in an effort to find a feasible task set. Enhanced by the flexibility to transform task sets and taking advantage of the inter-thread cache benefit, the evaluation shows TPJ scheduling task sets fully preemptive EDF cannot

NPM-BUNDLE: Non-Preemptive Multitask Scheduling for Jobs with BUNDLE-Based Thread-Level Scheduling (Artifact)

The BUNDLE and BUNDLEP scheduling algorithms are cache-cognizant thread-level scheduling algorithms and associated worst case execution time and cache overhead (WCETO) techniques for hard real-time multi-threaded tasks. The BUNDLE-based approaches utilize the inter-thread cache benefit to reduce WCETO values for jobs. Currently, the BUNDLE-based approaches are limited to scheduling a single task. This work aims to expand the applicability of BUNDLE-based scheduling to multiple task multi-threaded task sets. BUNDLE-based scheduling leverages knowledge of potential cache conflicts to selectively preempt one thread in favor of another from the same job. This thread-level preemption is a requirement for the run-time behavior and WCETO calculation to receive the benefit of BUNDLE-based approaches. This work proposes scheduling BUNDLE-based jobs non-preemptively according to the earliest deadline first (EDF) policy. Jobs are forbidden from preempting one another, while threads within a job are allowed to preempt other threads. An accompanying schedulability test is provided, named Threads Per Job (TPJ). TPJ is a novel schedulability test, input is a task set specification which may be transformed (under certain restrictions); dividing threads among tasks in an effort to find a feasible task set. Enhanced by the flexibility to transform task sets and taking advantage of the inter-thread cache benefit, the evaluation shows TPJ scheduling task sets fully preemptive EDF cannot

Infiltration and interrill erosion rates after a wildfire in western Montana, USA

© 2015. The 2000 Valley Complex wildfire burned in steep montane forests with ash cap soils in western Montana, USA. The effects of high soil burn severity on forest soil hydrologic function were examined using rainfall simulations (100 mm h-1 for 1 h) on 0.5-m2 plots. Infiltration rates, sediment yields and sediment concentrations were compared among three treatments: control (unburned and undisturbed); bare (unburned with all surface vegetation, litter, and duff removed prior to each simulation); and burned. Rainfall simulations were done immediately after the fire and repeated in 2001, 2002, and 2005. Soil moisture, water repellency, and understory canopy and ground cover were measured and related to infiltration rates and sediment yields. The unburned forest soil was water repellent at the mineral surface. This surface repellency was no longer detected after it was burned at high severity, but a post-fire water repellent soil layer was observed at 1-2 cm below the surface. The control plots had high ground cover (90% overall), infiltration of 44-48 mm, and very low sediment concentrations (median values of 0.1-0.6 g L-1) and sediment yields (6-54 g m-2) for all years despite changes in soil moisture and strong water repellency. The bare and control plots had similar water repellency values, but the interrill erosion in the bare plots was high throughout the study (624-1277 g m-2). In the year of the fire, the burned sites had high rates of soil water repellency (88%) and little ground cover (10%). This resulted in low infiltration rates (30 mm), high sediment concentrations (median value 21 g L-1), and high sediment yields (1157 g m-2). By 2005, the fire-altered water repellency decreased in occurrence (48%) and severity, and the ground cover increased (42%). This resulted in much greater infiltration (84 mm), lower sediment concentration (median value 0.5 g L-1), and lower sediment yields (15 g m-2) on the burned plots. The importance of ground cover for preventing interrill erosion was demonstrated by the very low sediment yields on the control plots as compared to the bare and burned plots. The strength and occurrence of water repellency in both the unburned and burned sites decreased as soil moisture increased; however, strong soil water repellency was detected at the soil surface whenever unburned soils were dry. Fire-altered soil water repellency influenced the infiltration capacity and increased runoff rates immediately after the fire; however, the loss of protective ground cover was a more significant factor for the increased sediment concentrations and sediment yields