Abstract
With the growing need to address the thermal issues in modern processing platforms, various performance throttling schemes have been proposed in literature (DVFS, clock gating, and so on) to manage temperature. In real-time systems, such methods are often unacceptable, as they can result in potentially catastrophic deadline misses. As a result, real-time scheduling research has recently focused on developing algorithms that meet the compute deadline while satisfying power and thermal constraints. Basic bounds that can determine if a set of tasks can be scheduled or not were established in the 1970s based on computation utilization. Similar results for thermal bounds have not been forthcoming. In this article, we address the problem of thermal constraint schedulability of tasks and derive necessary and sufficient conditions for thermal feasibility of periodic tasksets on a unicore system. We prove that a GPS-inspired fluid scheduling scheme is thermally optimal when context switch/preemption overhead is ignored. Extension of sufficient conditions to a nonfluid model is still an open problem. We also extend some of the results to a multicore processing environment. We demonstrate the efficacy of our results through extensive simulations. We also evaluate the proposed concepts on a hardware testbed.
- Rehan Ahmed, Parameshwaran Ramanathan, and Kewal K. Saluja. 2013a. On thermal utilization of periodic task sets in uni-processor systems. In RTCSA 2013. IEEE.Google Scholar
- R. Ahmed, P. Ramanathan, and K. K. Saluja. 2014. Necessary and sufficient conditions for thermal schedulability of periodic real-time tasks. In Proceedings of the Euromicro Conference on Real-Time Systems. Google Scholar
Digital Library
- R. Ahmed, P. Ramanathan, K. K. Saluja, and C. Yao. 2013b. On thermal utilization of periodic task sets in uni-processor systems. In Proceedings of Real-Time Computing Systems and Applications.Google Scholar
- Rehan Ahmed, Parameshwaram Ramanathan, Kewal K. Saluja, and Chunhua Yao. 2013c. Scheduling aperiodic tasks in next generation embedded real-time systems. International Conference on VLSI Design 0, 25--30. Google Scholar
Digital Library
- Youngwoo Ahn and Riccardo Bettati. 2008. Transient overclocking for aperiodic task execution in hard real-time systems. In Proceedings of the Euromicro Conference on Real-Time Systems. IEEE Computer Society, Los Alamitos, CA, 102--111. DOI:http://dx.doi.org/10.1109/ECRTS.2008.32 Google Scholar
Digital Library
- Hakan Aydin, Vinay Devadas, and Dakai Zhu. 2006. System-level energy management for periodic real-time tasks. In Proceedings of the Real-Time Systems Symposium. Washington, DC, 313--322. DOI:http://dx.doi.org/10.1109/RTSS.2006.48 Google Scholar
Digital Library
- H. Aydin, R. Melhem, D. Mosse, and P. Mejia-Alvarez. 2001. Dynamic and aggressive scheduling techniques for power-aware real-time systems. In Proceedings of the Real-Time Systems Symposium. 95--105. Google Scholar
Digital Library
- S. K. Baruah, N. K. Cohen, C. G. Plaxton, and D. A. Varvel. 1996. Proportionate progress: A notion of fairness in resource allocation. Algorithmica 15, 600--625.Google Scholar
Digital Library
- J. C. R. Bennett and H. Zhang. 1996. WF2Q: Worst-case fair weighted fair queueing. In Proceedings of INFOCOM, Vol. 1. 120--128. DOI:http://dx.doi.org/10.1109/INFCOM.1996.497885 Google Scholar
Digital Library
- Enrico Bini and Giorgio C. Buttazzo. 2005. Measuring the performance of schedulability tests. Real-Time Systems 30, 1--2, 129--154. Google Scholar
Digital Library
- T. Chantem, X. S. Hu, and R. P. Dick. 2011. Temperature-aware scheduling and assignment for hard real-time applications on MPSoCs. IEEE Transactions on Very Large Scale Integration (VLSI) Systems 19, 10, 1884 --1897. Google Scholar
Digital Library
- Vivek Chaturvedi, Huang Huang, and Gang Quan. 2010. Leakage aware scheduling on maximum temperature minimization for periodic hard real-time systems. In IEEE 10th International Conference on Computer and Information Technology (CIT’10). IEEE, 1802--1809. Google Scholar
Digital Library
- J. J. Chen, C. M. Hung, and T. W. Kuo. 2007. On the minimization of the instantaneous temperature for periodic real-time tasks. In 13th IEEE Real Time and Embedded Technology and Applications Symposium (RTAS’07). 236--248. Google Scholar
Digital Library
- Jian-Jia Chen, S. Wang, and L. Thiele. 2009. Proactive speed scheduling for real-time tasks under thermal constraints. In Proceedings of the Real-Time and Embedded Technology and Applications Symposium. 141--150. DOI:http://dx.doi.org/10.1109/RTAS.2009.30 Google Scholar
Digital Library
- Robert I. Davis and Alan Burns. 2011. A survey of hard real-time scheduling for multiprocessor systems. ACM Computing Surveys 43, 4. Google Scholar
Digital Library
- Paul Emberson, Roger Stafford, and Robert I. Davis. 2010. Techniques for the synthesis of multiprocessor tasksets. In 1st International Workshop on Analysis Tools and Methodologies for Embedded and Real-Time Systems (WATERS’10). 6--11.Google Scholar
- N. Fisher, Jian-Jia Chen, Shengquan Wang, and L. Thiele. 2009. Thermal-aware global real-time scheduling on multicore systems. In Proceedings of the Real-Time and Embedded Technology and Applications Symposium. 131--140. DOI:http://dx.doi.org/10.1109/RTAS.2009.34 Google Scholar
Digital Library
- Y. Fu, N. Kottenstette, Y. Chen, C. Lu, X. D. Koutsoukos, and H. Wang. 2010. Feedback thermal control for real-time systems. In Proceedings of the Real-Time and Embedded Technology and Applications Symposium. IEEE, 111--120. Google Scholar
Digital Library
- P. M. Hettiarachchi, N. Fisher, M. Ahmed, Le Yi Wang, Shinan Wang, and Weisong Shi. 2012. The design and analysis of thermal-resilient hard-real-time systems. In Proceedings of the Real-Time and Embedded Technology and Applications Symposium. Google Scholar
Digital Library
- P. M. Hettiarachchi, N. Fisher, and L. Y. Wang. 2013. Achieving thermal-resiliency for multicore hard-real-time systems. In Proceedings of the Euromicro Conference on Real-Time Systems. 37--46. Google Scholar
Digital Library
- W. Huang, S. Ghosh, S. Velusamy, K. Sankaranarayanan, K. Skadron, and M. R. Stan. 2006. HotSpot: A compact thermal modeling methodology for early-stage VLSI design. IEEE Transactions on Very Large Scale Integration Systems 14, 5, 501. Google Scholar
Digital Library
- Chia-Mei Hung, Jian-Jia Chen, and Tei-Wei Kuo. 2006. Energy-efficient real-time task scheduling for a DVS system with a non-DVS processing element. In Proceedings of the Real-Time Systems Symposium. IEEE Computer Society, Los Alamitos, CA, 303--312. DOI:http://dx.doi.org/10.1109/RTSS.2006.22 Google Scholar
Digital Library
- ITRS. 2012. International Technology Roadmap for Semiconductors. Retrieved April 12, 2016 from http://www.itrs.net/links/2012itrs/home2012.htm.Google Scholar
- P. Kumar and L. Thiele. 2011. End-to-end delay minimization in thermally constrained distributed systems. In Proceedings of the Euromicro Conference on Real-Time Systems. IEEE, 81--91. Google Scholar
Digital Library
- Pratyush Kumar and Lothar Thiele. 2012. Timing analysis on a processor with temperature-controlled speed scaling. In Proceedings of the Real-Time and Embedded Technology and Applications Symposium. IEEE, 77--86. Google Scholar
Digital Library
- Eren Kursun, Chen yong Cher, Alper Buyuktosunoglu, and Pradip Bose. 2006. Investigating the effects of task scheduling on thermal behavior. In Third Workshop on Temperature-Aware Computer Systems (TACS’06).Google Scholar
- C. L. Liu and J. W. Layland. 1973. Scheduling algorithms for multiprogramming in a hard-real-time environment. Journal of the ACM 20, 1, 46--61. Google Scholar
Digital Library
- Hui Liu, Zili Shao, Meng Wang, and Ping Chen. 2008. Overhead-aware system-level joint energy and performance optimization for streaming applications on multiprocessor systems-on-chip. In Proceedings of the Euromicro Conference on Real-Time Systems. 92--101. DOI:http://dx.doi.org/10.1109/ECRTS.2008.18 Google Scholar
Digital Library
- Yongpan Liu, R. P. Dick, Li Shang, and Huazhong Yang. 2007. Accurate temperature-dependent integrated circuit leakage power estimation is easy. In Design, Automation Test in Europe. 1--6. DOI:http://dx.doi.org/10.1109/DATE.2007.364517 Google Scholar
Digital Library
- A. Pareh and R. Gallagher. 1993. A generalized processor sharing approach to flow control in integrated services network—the single node case. ACM/IEEE Transactions on Networking 1, 3, 344--357. Google Scholar
Digital Library
- G. Quan and Y. Zhang. 2009. Leakage aware feasibility analysis for temperature-constrained hard real-time periodic tasks. In Proceedings of the Euromicro Conference on Real-Time Systems. IEEE Computer Society, 207--216. Google Scholar
Digital Library
- G. Quan, Y. Zhang, W. Wiles, and P. Pei. 2008. Guaranteed scheduling for repetitive hard real-time tasks under the maximal temperature constraint. In Proceedings of the International Conference on Hardware/Software Codesign and System Synthesis. ACM, 267--272. Google Scholar
Digital Library
- Lars Schor, Iuliana Bacivarov, Hoeseok Yang, and Lothar Thiele. 2012a. Worst-case temperature guarantees for real-time applications on multi-core systems. In Proceedings of the Real-Time and Embedded Technology and Applications Symposium. IEEE, 87--96. Google Scholar
Digital Library
- Lars Schor, Hoeseok Yang, Iuliana Bacivarov, and Lothar Thiele. 2012b. Worst-case temperature analysis for different resource models. IET Circuits, Devices & Systems 6, 5, 297--307.Google Scholar
Cross Ref
- Lars Schor, Hoeseok Yang, Iuliana Bacivarov, and Lothar Thiele. 2013. Thermal-aware task assignment for real-time applications on multi-core systems. In Formal Methods for Components and Objects. Springer, 294--313.Google Scholar
- Lothar Thiele, Samarjit Chakraborty, and Martin Naedele. 2000. Real-time calculus for scheduling hard real-time systems. In Proceedings of International Symposium on Circuits and Systems, Vol. 4. IEEE, 101--104.Google Scholar
Cross Ref
- R. Viswanath, V. Wakharkar, A. Watwe, and V. Lebonheur. 2000. Thermal performance challenges from silicon to systems. Intel Technology Journal 3, 1--16.Google Scholar
- Shengquan Wang and R. Bettati. 2006. Delay analysis in temperature-constrained hard real-time systems with general task arrivals. In Proceedings of the Real-Time Systems Symposium. 323--334. DOI:http://dx.doi.org/10.1109/RTSS.2006.16 Google Scholar
Digital Library
- Shengquan Wang and R. Bettati. 2006. Reactive speed control in temperature-constrained real-time systems. In Proceedings of the Euromicro Conference on Real-Time Systems. 160--170. DOI:http://dx.doi.org/10.1109/ECRTS.2006.20 Google Scholar
Digital Library
- Buyoung Yun, K. G. Shin, and Shige Wang. 2013. Predicting thermal behavior for temperature management in time-critical multicore systems. In Proceedings of the Real-Time and Embedded Technology and Applications Symposium. 185--194. Google Scholar
Digital Library
Recommendations
Necessary and Sufficient Conditions for Thermal Schedulability of Periodic Real-Time Tasks
AGILE '14: Proceedings of the 2014 Agile ConferenceWith growing need to address the thermal issues in modern processing platforms various performance throttling schemes have been proposed in literature (DVFS, clock gating etcetera). In real-time systems such methods are often unacceptable as they can ...
Schedulability issues for EDZL scheduling on real-time multiprocessor systems
EDZL (Earliest Deadline first until Zero Laxity) is an efficient and practical scheduling algorithm on multiprocessor systems. It has a comparable number of context switch to EDF (Earliest Deadline First) and its schedulable utilization seems to be ...
EDZL Schedulability Analysis in Real-Time Multicore Scheduling
In real-time systems, correctness depends not only on functionality but also on timeliness. A great number of scheduling theories have been developed for verification of the temporal correctness of jobs (software) in such systems. Among them, the ...






Comments