Abstract
We present a dynamic voltage scaling (DVS) technique that minimizes system-wide energy consumption for both periodic and sporadic tasks. It is known that a system consists of processors and a number of other components. Energy-aware processors can be run in different speed levels; components like memory and I/O subsystems and network interface cards can be in a standby state when they are active, but idle. Processor energy optimization solutions are not necessarily efficient from the perspective of systems. Current system-wide energy optimization studies are often limited to periodic tasks with heuristics in getting approximated solutions. In this paper, we develop an exact dynamic programming algorithm for periodic tasks on processors with practical discrete speed levels. The algorithm determines the lower bound of energy expenditure in pseudopolynomial time. An approximation algorithm is proposed to provide performance guarantee with a given bound in polynomial running time. Because of their time efficiency, both the optimization and approximation algorithms can be adapted for online scheduling of sporadic tasks with irregular task releases. We prove that system-wide energy optimization for sporadic tasks is NP-hard in the strong sense. We develop (pseudo-) polynomial-time solutions by exploiting its inherent properties.
- Aydin, H., Melhem, R. G., Mossé, D., and Mejía-Alvarez, P. 2001. Optimal reward-based scheduling for periodic real-time tasks. IEEE Trans. Comput. 50, 2, 111--130. Google Scholar
Digital Library
- Chen, J.-J., Kuo, T.-W., and Shih, C.-S. 2005. (1+ε) approximation clock rate assignment for periodic real-time tasks on a voltage-scaling processor. In Proceedings of the International Conference on Embedded Systems. 247--250. Google Scholar
Digital Library
- Chen, J.-J., Hsu, H.-R., and Kuo, T.-W. 2006. Leakage-aware energy-efficient scheduling of real-time tasks in multiprocessor systems. In Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium. 408--417. Google Scholar
Digital Library
- Cheng, H. and Goddard, S. 2005. Integrated device scheduling and processor voltage scaling for system-wide energy conservation. In Proceedings of the International Workshop on Power-Aware Real-time Computing. 24--29.Google Scholar
- Cho, Y. and Chang, N. 2004. Memory-aware energy-optimal frequency assignment for dynamic supply voltage scaling. In Proceedings of the International Symposium on Low-Power Electronics and Design. 387--392. Google Scholar
Digital Library
- Choi, K., Lee, W., Soma, R., and Pedram, M. 2004. Dynamic voltage and frequency scaling under a precise energy model considering variable and fixed components of the system power dissipation. In Proceedings of the International Conference on Computer-Aided Design. 29--34. Google Scholar
Digital Library
- Dey, J. K., Kurose, J. F., and Towsley, D. F. 1996. On-line scheduling policies for a class of iris (increasing reward with increasing service) real-time tasks. IEEE Trans. Comput. 45, 7, 802--813. Google Scholar
Digital Library
- Dudzinski, K. and Walukiewicz, S. 1987. Exact methods for the knapsack problem and its generalizations. Europ. J. Operational Res. 28, 3--21.Google Scholar
Cross Ref
- Hong, I., Potkonjak, M., and Srivastava, M. B. 1998. On-line scheduling of hard real-time tasks on variable voltage processor. In Proceedings of the International Conference on Computer-Aided Design. 653--656. Google Scholar
Digital Library
- Intel. Intel-XScale Architecture. http://www.intel.com/design/intelxscale/.Google Scholar
- Jejurikar, R. and Gupta, R. K. 2004. Dynamic voltage scaling for systemwide energy minimization in real-time embedded systems. In Proceedings of the International Symposium on Low-Power Electronics and Design. 78--81. Google Scholar
Digital Library
- Jejurikar, R., Pereira, C., and Gupta, R. K. 2004. Leakage aware dynamic voltage scaling for real-time embedded systems. In Proceedings of the Design Automation on Conference. 275--280. Google Scholar
Digital Library
- Kellerer, H., Pferschy, U., and Pisinger, D. 2004. Knapsack Problems. Springer Verlag, New York.Google Scholar
- Kim, W., Kim, J., and Min, S. L. 2004. Preemption-aware dynamic voltage scaling in hard real-time systems. In Proceedings of the International Symposium on Low-Power Electronics and Design. 393--398. Google Scholar
Digital Library
- Knuth, D. 1997. The Art of Computer Programming, Volume 3: Sorting and Searching, 3rd Ed. Addison-Wesley, Reading, MA. Chapter 5.2--5.3. Google Scholar
Digital Library
- Lee, C.-H. and Shin, K. G. 2004. On-line dynamic voltage scaling for hard real-time systems using the edf algorithm. In Proceedings of the IEEE International Real-Time Systematics Symposium. 319--327. Google Scholar
Digital Library
- Li, D. and Chou, P. H. 2005. Application/architecture power co-optimization for embedded systems powered by renewable sources. In Proceedings of the Design Automation Conference. 618--623. Google Scholar
Digital Library
- Martin, S. M., Flautner, K., Mudge, T. N., and Blaauw, D. 2002. Combined dynamic voltage scaling and adaptive body biasing for lower power microprocessors under dynamic workloads. In Proceedings of the International Conference on Computer-Aided Design. 721--725. Google Scholar
Digital Library
- Mejía-Alvarez, P., Levner, E., and Mossé, D. 2004. Adaptive scheduling server for power-aware real-time tasks. ACM Trans. Embedded Comput. Syst. 3, 2, 284--306. Google Scholar
Digital Library
- Mochocki, B., Hu, X. S., and Quan, G. 2005. Practical on-line dvs scheduling for fixed-priority real-time systems. In IEEE Real-Time and Embedded Technology and Applications Symposium. 224--233. Google Scholar
Digital Library
- Parra-Hernandez, R. and Dimopoulos, N. J. 2005. A new heuristic for solving the multichoice multidimensional knapsack problem. IEEE Trans. Syst. Man Cybern. A 35, 5, 708--717. Google Scholar
Digital Library
- Pering, T., Burd, T. D., and Brodersen, R. W. 2000. Voltage scheduling in the iparm microprocessor system. In Proceedings of the International Symposium on Low-Power Electronics and Design. 96--101. Google Scholar
Digital Library
- Qadi, A., Goddard, S., and Farritor, S. 2003. A dynamic voltage scaling algorithm for sporadic tasks. In Proceedings of the IEEE Real-Time Systems Symposium 52--62. Google Scholar
Digital Library
- Quan, G., Niu, L., Hu, X. S., and Mochocki, B. 2004. Fixed priority scheduling for reducing overall energy on variable voltage processors. In Proceedings of the IEEE Real-Time Systems Symposium 309--318. Google Scholar
Digital Library
- Rakhmatov, D. N. and Vrudhula, S. B. K. 2003. Energy management for battery-powered embedded systems. ACM Trans. Embedded Comput. Syst. 2, 3, 277--324. Google Scholar
Digital Library
- Seth, K., Anantaraman, A., Mueller, F., and Rotenberg, E. 2006. Fast: Frequency-aware static timing analysis. ACM Trans. Embedded Comput. Syst. 5, 1, 200--224. Google Scholar
Digital Library
- Swaminathan, V. and Chakrabarty, K. 2005. Pruning-based, energy-optimal, deterministic i/o device scheduling for hard real-time systems. ACM Trans. Embedded Comput. Syst. 4, 1, 141--167. Google Scholar
Digital Library
- Xie, F., Martonosi, M., and Malik, S. 2005. Bounds on power savings using runtime dynamic voltage scaling: an exact algorithm and a linear-time heuristic approximation. In Proceedings of the International Symposium on Low-Power Electronics and Design. 287--292. Google Scholar
Digital Library
- Xu, R., Xi, C., Melhem, R. G., and Mossé, D. 2004. Practical pace for embedded systems. In Proceedings of the International Conference on Embedded Syst. 54--63. Google Scholar
Digital Library
- Yuan, W. and Nahrstedt, K. 2006. Energy-efficient cpu scheduling for multimedia applications. ACM Trans. Comput. Syst. 24, 3, 292--331. Google Scholar
Digital Library
- Zhang, F. and Chanson, S. T. 2005. Improving communication energy efficiency in wireless networks powered by renewable energy sources. IEEE Trans. Vehicular Technol. 54, 6, 2125--2136.Google Scholar
Cross Ref
- Zhong, X. and Xu, C.-Z. 2006. System-wide energy minimization for real-time tasks: Lower bound and approximation. In Proceedings of the International Conference on Computer-Aided Design. Google Scholar
Digital Library
- Zhong, X. and Xu, C.-Z. 2007. Energy-aware modeling and scheduling for dynamic voltage scaling with statistical real-time guarantee. IEEE Trans. Comput. 56, 3, 358--372. (A preliminary version appeared in Proceedings of RTSS'05) Google Scholar
Digital Library
- Zhu, D., Melhem, R. G., and Mossé, D. 2004. The effects of energy management on reliability in real-time embedded systems. In Proceedings of the International Conference on Computer-Aided Design. 35--40. Google Scholar
Digital Library
- Zhuo, J. and Chakrabarti, C. 2005. System-level energy-efficient dynamic task scheduling. In Proceedings of the Design Automation Conference 628--631. Google Scholar
Digital Library
Index Terms
System-wide energy minimization for real-time tasks: Lower bound and approximation
Recommendations
Frequency-aware energy optimization for real-time periodic and aperiodic tasks
Proceedings of the 2007 LCTES conferenceEnergy efficiency is an important factor in embedded systems design. We consider an embedded system with a dynamic voltage scaling (DVS) capable processor and its system-wide power consumption is dominated by the processor and memory. We present speed ...
Frequency-aware energy optimization for real-time periodic and aperiodic tasks
LCTES '07: Proceedings of the 2007 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systemsEnergy efficiency is an important factor in embedded systems design. We consider an embedded system with a dynamic voltage scaling (DVS) capable processor and its system-wide power consumption is dominated by the processor and memory. We present speed ...
Energy-Aware Modeling and Scheduling for Dynamic Voltage Scaling with Statistical Real-Time Guarantee
Dynamic voltage scaling (DVS) is a promising technique for battery-powered systems to conserve energy consumption. Most existing DVS algorithms assume information about task periodicity or a priori knowledge about the task set to be scheduled. This ...






Comments