Scheduling techniques to improve the worst-case execution time of real-time parallel applications on heterogeneous platforms

The key to providing high performance and energy-efficient execution for hard real-time applications is the time predictable and efficient usage of heterogeneous multiprocessors. However, schedulability analysis of parallel applications executed on unrelated heterogeneous multiprocessors is challenging and has not been investigated adequately by earlier works. The unrelated model is suitable to represent many of the multiprocessor platforms available today because a task (i.e., sequential code) may exhibit a different work-case-execution-time (WCET) on each type of processor on an unrelated heterogeneous multiprocessors platform. A parallel application can be realistically modeled as a directed acyclic graph (DAG), where the nodes are sequential tasks and the edges are dependencies among the tasks. This thesis considers a sporadic DAG model which is used broadly to analyze and verify the real-time requirements of parallel applications. A global work-conserving scheduler can efficiently utilize an unrelated platform by executing the tasks of a DAG on different processor types. However, it is challenging to compute an upper bound on the worst-case schedule length of the DAG, called makespan, which is used to verify whether the deadline of a DAG is met or not. There are two main challenges. First, because of the heterogeneity of the processors, the WCET for each task of the DAG depends on which processor the task is executing on during actual runtime. Second, timing anomalies are the main obstacle to compute the makespan even for the simpler case when all the processors are of the same type, i.e., homogeneous multiprocessors. To that end, this thesis addresses the following problem: How we can schedule multiple sporadic DAGs on unrelated multiprocessors such that all the DAGs meet their deadlines. Initially, the thesis focuses on homogeneous multiprocessors that is a special case of unrelated multiprocessors to understand and tackle the main challenge of timing anomalies. A novel timing-anomaly-free scheduler is proposed which can be used to compute the makespan of a DAG just by simulating the execution of the tasks based on this proposed scheduler. A set of representative task-based parallel OpenMP applications from the BOTS benchmark suite are modeled as DAGs to investigate the timing behavior of real-world applications. A simulation framework is developed to evaluate the proposed method. Furthermore, the thesis targets unrelated multiprocessors and proposes a global scheduler to execute the tasks of a single DAG to an unrelated multiprocessors platform. Based on the proposed scheduler, methods to compute the makespan of a single DAG are introduced. A set of representative parallel applications from the BOTS benchmark suite are modeled as DAGs that execute on unrelated multiprocessors. Furthermore, synthetic DAGs are generated to examine additional structures of parallel applications and various platform capabilities. A simulation framework that simulates the execution of the tasks of a DAG on an unrelated multiprocessor platform is introduced to assess the effectiveness of the proposed makespan computations. Finally, based on the makespan computation of a single DAG this thesis presents the design and schedulability analysis of global and federated scheduling of sporadic DAGs that execute on unrelated multiprocessors

Techniques to Tighten the Upper Bound on the ExecutionTime of Task-based Parallel Applications

To use multiprocessors in hard real-time systems, schedulability analysis is needed to provide formally proven guarantees for the timing behavior of the system. Programming models for parallel applications, such as OpenMP, use pragmas to specify parts of the application as parallel tasks, for example, a function or a body of a loop. Worst-case-execution-time (WCET) analysis is used to find a safe upper bound of the execution time of a task (i.e., sequential code). However, determining a safe upper bound on the execution time of the entire parallel application on a multiprocessor platform, called the makespan, is a challenging problem.Parallel applications can be modeled as directed acyclic graphs (DAG) (nodes are tasks and edges dependencies) where every node is characterized by its WCET. On a homogeneous platform, the simulation of a greedy, i.e., work-conserving schedule cannot be used as a safe upper bound on the execution time due to timing anomalies. Timing anomalies is the main obstacle to calculate a safe upper bound of the makespan which is necessary to provide timing guarantees for parallel real-time applications. In the presence of timing anomalies, analytical approaches, with pessimistic assumptions for the schedule of the tasks, are commonly used by related work to calculate a safe upper abound of the makespan on a homogeneous platform.This thesis first provides a simulation based approach to calculate the makespan, with the use of time predictable and dynamic schedulers. A first contribution is a scheduler called Strict Lazy that fulfills the basic requirements to provide a timing anomaly-free schedule. As a result, a safe estimation of the makespan for homogeneous multiprocessors is calculated. Furthermore, the thesis builds upon Strict Lazy to develop another scheduler, called the Lazy scheduler that, has proven to be timing anomaly-free. As a result, the simulation of the schedule of a DAG with Lazy where all the nodes are executed for their WCET calculates a safe upper bound of the makespan. The proposed approach provides tighter and more scalable (to the number of processors) makespan estimations compared to the state-of-the-art.A heterogeneous multiprocessor model is more general than a homogeneous multiprocessor model as it can cover a broad range of multiprocessor platforms including platforms with single instruction set architecture (ISA) but different microarchitectures, coexistence of processors with different ISAs and architectures with special-purpose accelerators. To the best of our knowledge, no earlier work considers the problem of how to calculate the makespan for schedules on unrelated multiprocessor platforms. This thesis finally proposes a polynomial time complexity, closed-form, combinatorial method to calculate a safe upper bound of the makespan of DAGs for the unrelated multiprocessor model. The proposed method is applicable to a wide range of already used and future coming schedulers and is reducible to the state-of-art for homogeneous and related models

Bounding the execution time of parallel applications on unrelated multiprocessors

Heterogeneous multiprocessors, that consist of processor types with different execution capabilities, are critical today, and in future, to offer high performance and high energy efficiency. In order to use them in hard real-time systems to support parallel processing, a tight estimation of the upper bound on the completion time (WCET) of parallel applications is needed. This paper presents, for the first time, a closed-form solution for the calculation of the WCET for task-based parallel applications modeled as directed acyclic-graphs (DAG) using the general unrelated multiprocessor model that is capable of modeling a wide range of heterogeneous multiprocessor platforms. The paper contributes with a polynomial time algorithm to calculate the WCET (i.e., makespan) for the unrelated model. In addition, it presents simulation results that are based on modeling a set of representative OpenMP task-based parallel applications from the BOTS benchmark suite

Timing-Anomaly Free Dynamic Scheduling of Task-based Parallel Applications

Multicore architectures can provide high predictable performance through parallel processing. Unfortunately, computing the makespan of parallel applications is overly pessimistic either due to load imbalance issues plaguing static scheduling methods or due to timing anomalies plaguing dynamic scheduling methods. This paper contributes with an anomaly-free dynamic scheduling method, called Lazy, which is non-preemptive and non-greedy in the sense that some ready tasks may not be dispatched for execution even if some processors are idle. Assuming parallel applications using contemporary taskbased parallel programming models, such as OpenMP, the general idea of Lazy is to avoid timing anomalies by assigning fixed priorities to the tasks and then dispatch selective highestpriority ready tasks for execution at each scheduling point. We formally prove that Lazy is timing-anomaly free. Unlike all the commonly-used dynamic schedulers like breadth-first and depth-first schedulers (e.g., CilkPlus) that rely on analytical approaches to determine an upper bound on the makespan of parallel application, a safe makespan of a parallel application is computed by simulating Lazy. Our experimental results show that the makespan computed by simulating Lazy is much tighter and scales better as demonstrated by four parallel benchmarks from a task-parallel benchmark suite in comparison to the state-of-the-art

Scheduling parallel real-time recurrent tasks on multicore platforms

We consider the scheduling of a real-time application that is modeled as a collection of parallel and recurrent tasks on a multicore platform. Each task is a directed-acyclic graph (DAG) having a set of subtasks (i.e., nodes) with precedence constraints (i.e., directed edges) and must complete the execution of all its subtasks by some specified deadline. Each task generates potentially infinite number of instances where the releases of consecutive instances are separated by some minimum inter-arrival time. Each DAG task and each subtask of that DAG task is assigned a fixed priority. A two-level preemptive global fixed-priority scheduling (GFP) policy is proposed: a task-level scheduler first determines the highest-priority ready task and a subtask-level scheduler then selects its highest-priority subtask for execution. To our knowledge, no earlier work considers a two-level GFP scheduler to schedule recurrent DAG tasks on a multicore platform. We derive a schedulability test for our proposed two-level GFP scheduler. If this test is satisfied, then it is guaranteed that all the tasks will meet their deadlines under GFP. We show that our proposed test is not only theoretically better but also empirically performs much better than the state-of-the-art test in scheduling randomly generated parallel DAG task sets

Federated Scheduling of Sporadic DAGs on Unrelated Multiprocessors

This paper presents a federated scheduling algorithm for implicit-deadline sporadic DAGs that execute on an unrelated heterogeneous multiprocessor platform. We consider a global work-conserving scheduler to execute a single DAG exclusively on a subset of the unrelated processors. Formal schedulability analysis to find the makespan of a DAG on its dedicated subset of the processors is proposed. The problem of determining each subset of dedicated unrelated processors for each DAG such that the DAG meets its deadline (i.e., designing the federated scheduling algorithm) is tackled by proposing a novel processors-to-task assignment heuristic using a new concept called processor value. Empirical evaluation is presented to show the effectiveness of our approach

Keeping balance during head-free smooth pursuit: The role of aging

Standing balance is often more unstable when visually pursuing a moving target than when fixating on a stationary one. These effects are common in both young and older adults when the head is restrained during visual task performance. The present study focused on the role of head motion on standing balance during smooth pursuit as a function of age. Three predictions were tested: a) standing balance is compromised to a greater extent in older than young adults by gaze target pursuit compared to fixation, b) older adults pursue a moving target with greater and more variable head rotation than young adults, and c) greater and more variable head rotation during the smooth pursuit task is associated with greater Center of Pressure (CoP) sway. Twenty-two (22) older (age: 71.7 ± 8.1, 12 M / 10 F) and twenty-three (23) young adults (age: 23.6 ± 2.5, 12 M / 11 F) stood on a force plate while either fixating a stationary or smoothly pursuing a horizontally moving target (31.9° peak-to-peak visual angle). CoP (Bertec Balance Plate), head kinematics (Vicon Motion Analysis) and head-unconstrained gaze (Pupil Labs Invisible) were synchronously recorded. The root means square (RMS) of CoP velocity increased during smooth pursuit compared to fixation regardless of age (p <.05), while the interquartile CoP range increased only in older and not in young participants (p <.05). We also calculated the head rotation range (peak to peak cycle amplitude) of motion and variability (SD of range of motion) across the cycles of the smooth pursuit task. Older adults pursued the moving target employing more variable (p =.022) head yaw rotation than young participants although the mean range of head rotation was similar between groups (p =. 077). The amplitude and variability of head yaw rotation did not correlate with CoP sway measures. Results suggest that head-free pursuing of a moving target decreased balance to a greater extent in old than young individuals when compared to fixation. Nevertheless, postural sway during head-free smooth pursuit was not associated with the extent or variability of head rotation