research-article

Energy-aware real-time scheduling in the linux kernel

Authors:

Claudio Scordino,

Juri LelliAuthors Info & Claims

SAC '18: Proceedings of the 33rd Annual ACM Symposium on Applied Computing

Pages 601 - 608

https://doi.org/10.1145/3167132.3167198

Published: 09 April 2018 Publication History

Abstract

The recent changes made in the Linux kernel aim at achieving better energy efficiency through a tighter integration between the CPU scheduler and the frequency-scaling subsystem. However, in the current implementation, the frequency scaling mechanism is used only when there are no real-time tasks in execution. This paper shows how the deadline scheduler and the cpufreq subsystem can be extended to relax this constraint and implement an energy-aware real-time scheduling algorithm. In particular, we describe the design issues encountered when implementing the GRUB-PA algorithm on a real operating system like Linux. A set of experimental results on a multi-core ARM platform validate the effectiveness of the proposed implementation.

References

[1]

{n. d.}. rt-app framework. https://github.com/scheduler-tools/rt-app. ({n. d.}).

[2]

Luca Abeni and Giorgio Buttazzo. 1998. Integrating Multimedia Applications in Hard Real-Time Systems. In Proceedings of the IEEE Real-Time Systems Symposium. Madrid, Spain.

Digital Library

[3]

Luca Abeni, Juri Lelli, Claudio Scordino, and Luigi Palopoli. 2014. Greedy CPU reclaiming for SCHED_DEADLINE. In Proceedings of the 9th Real-Time Linux Workshop. Dusseldorf, Germany.

[4]

Luca Abeni, Giuseppe Lipari, Andrea Parri, and Youcheng Sun. 2016. Multicore CPU Reclaiming: Parallel or Sequential?. In Proceedings of the 31st Annual ACM Symposium on Applied Computing (SAC '16). ACM, New York, NY, USA, 1877-1884.

Digital Library

[5]

Luca Abeni, Luigi Palopoli, Claudio Scordino, and Giuseppe Lipari. 2009. Resource Reservations for General Purpose Applications. IEEE Transactions on Industrial Informatics 5, 1 (2009), 12--21.

[6]

ARM. {n. d.}. LISA testing framework. https://github.com/ARM-software/lisa. ({n. d.}).

[7]

Hakan Aydin, Rami Melhem, Daniel Mossé, and Pedro Mejía-Alvarez. 2004. Power-Aware Scheduling for Periodic Real-Time Tasks. IEEE Trans. Comput. 53, 5 (May 2004), 584--600.

Digital Library

[8]

Baylibre. {n. d.}. ACME. http://baylibre.com/acme/. ({n. d.}).

[9]

Paul Emberson, Roger Stafford, and Robert I Davis. 2010. Techniques for the synthesis of multiprocessor tasksets. In proceedings 1st International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS 2010). 6--11.

[10]

G.Lipari and S.K. Baruah. 2000. Greedy reclaimation of unused bandwidth in constant bandwidth servers. In IEEE Proceedings of the 12th Euromicro Conference on Real-Time Systems. Stokholm, Sweden.

Digital Library

[11]

Pavan Kumar and Mani Srivastava. 2000. Predictive Strategies for Low-Power RTOS Scheduling. In Proceedings of the IEEE International Conference On Computer Design: VLSI In Computers & Processors (ICCD '00). Austin, Texas, USA.

Digital Library

[12]

Juri Lelli, Claudio Scordino, Luca Abeni, and Dario Faggioli. 2016. Deadline scheduling in the Linux kernel. Software: Practice and Experience 46, 6 (2016), 821--839.

Digital Library

[13]

C. L. Liu and J. Layland. 1973. Scheduling alghorithms for multiprogramming in a hard real-time environment. J. ACM 20, 1 (1973).

Digital Library

[14]

J. R. Lorch and A. J. Smith. 2001. Improving Dynamic Voltage Scaling Algorithms with PACE. In In Proceedings of the ACM SIGMETRICS 2001 Conference. Cambridge, MA.

Digital Library

[15]

Ingo Molnar. {n. d.}. Linux kernel tip tree. https://git.kernel.org/pub/scm/linux/kernel/git/mingo/tip.git/. ({n. d.}).

[16]

Padmanabhan Pillai and Kang G. Shin. 2001. Real-Time Dynamic Voltage Scaling for Low-Power Embedded Operating Systems. In Proceeding of the 18th ACM Symposium on Operating Systems Principles.

Digital Library

[17]

Johan Pouwelse, Koen Langendoen, and Henk Sips. 2001. Dynamic Voltage Scaling on a Low-Power Microprocessor. In 7th ACM Int. Conf. on Mobile Computing and Networking (Mobicom).

Digital Library

[18]

Johan Pouwelse, Koen Langendoen, and Henk Sips. 2001. Energy Priority Scheduling for Variable Voltage Processors. In Int. Symposium on Low Power Electronics and Design (ISLPED).

Digital Library

[19]

A. Qadi, S. Goddard, and S.; Farritor. 2003. A dynamic voltage scaling algorithm for sporadic tasks. In Proceedings of the 24th Real-Time Systems Symposium. Cancun, Mexico, 52 -- 62.

Digital Library

[20]

Raj Rajkumar, Kanaka Juvva, Anastasio Molano, and Shuichi Oikawa. 1998. Resource Kernels: A Resource-Centric Approach to Real-Time and Multimedia Systems. In Proceedings of the SPIE/ACM Conference on Multimedia Computing and Networking.

Digital Library

[21]

Saowanee Saewong and Ragunathan Rajkumar. 2003. Practical Voltage-Scaling for Fixed-Priority RT-Systems. In Proceedings of the ninth IEEE Real-Time and Embedded Technology and Applications Symposiuam (RTAS).

Digital Library

[22]

Claudio Scordino. 2007. Dynamic Voltage Scaling for Energy-Constrained Real-Time Systems. Ph.D. Dissertation. University of Pisa.

[23]

Claudio Scordino and Giuseppe Lipari. 2006. A Resource Reservation Algorithm for Power-Aware Scheduling of Periodic and Aperiodic Real-Time Tasks. IEEE Trans. Comput. 55, 12 (2006), 1509--1522.

Digital Library

[24]

Y.Zhu and F.Mueller. 2004. Feedback EDF Scheduling Exploiting Dynamic Voltage Scaling. In 10th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'04). Toronto, Canada.

Digital Library

Cited By

Priya AChoudhury RPatni SSharma HMohanty MNarayanam KDevi UMoogi PPatil PParag P(2024)Energy-minimizing workload splitting and frequency selection for guaranteed performance over heterogeneous coresProceedings of the 15th ACM International Conference on Future and Sustainable Energy Systems10.1145/3632775.3661968(308-322)Online publication date: 4-Jun-2024
https://dl.acm.org/doi/10.1145/3632775.3661968
Zheng YLi CXiong YLiu WJi CZhu ZYu L(2023)iAware: Interaction Aware Task Scheduling for Reducing Resource Contention in Mobile SystemsACM Transactions on Embedded Computing Systems10.1145/360939122:5s(1-24)Online publication date: 31-Oct-2023
https://dl.acm.org/doi/10.1145/3609391
Lin CWang KLi ZPu YCosta XHassanieh HAsadi ACox LPerino DWidmer JGiustiniano D(2023)A Workload-Aware DVFS Robust to Concurrent Tasks for Mobile DevicesProceedings of the 29th Annual International Conference on Mobile Computing and Networking10.1145/3570361.3592524(1-16)Online publication date: 2-Oct-2023
https://dl.acm.org/doi/10.1145/3570361.3592524
Show More Cited By

Index Terms

Energy-aware real-time scheduling in the linux kernel
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Embedded systems
      1. Embedded software
  2. Real-time systems
    1. Real-time operating systems

Recommendations

Container-based real-time scheduling in the Linux kernel
Special Issue on Embedded Operating Systems Workshops (EWiLi'17 and EWiLi'18)

In recent years, there has been a growing interest in supporting component-based software development of complex real-time embedded systems. Techniques such as machine virtualisation have emerged as interesting mechanisms to enhance the security of ...
Real-time and energy efficiency in Linux: theory and practice

The recent changes made in the Linux kernel aimed at achieving better energy efficiency through a tighter integration between the CPU scheduler and the frequency-scaling subsystem. However, in the original implementation, the frequency scaling mechanism ...
Power-Aware Real-Time Scheduling upon Identical Multiprocessor Platforms
SUTC '08: Proceedings of the 2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (sutc 2008)

In this paper, we address the power-aware scheduling of sporadic constrained-deadline hard real-time tasks using dynamic voltage scaling upon multiprocessor platforms. We propose two distinct algorithms. Our first algorithm is an off-line speed ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

SAC '18: Proceedings of the 33rd Annual ACM Symposium on Applied Computing

April 2018

2327 pages

ISBN:9781450351911

DOI:10.1145/3167132

Conference Chairs:
Hisham M. Haddad
Kennesaw State University
,
Roger L. Wainwright
University of Tulsa
,
Richard Chbeir
University of Pau & Pays Adour, France

Copyright © 2018 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

Sponsors

SIGAPP: ACM Special Interest Group on Applied Computing

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 09 April 2018

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article

Funding Sources

European Commission

Conference

SAC 2018

Sponsor:

SIGAPP

SAC 2018: Symposium on Applied Computing

April 9 - 13, 2018

Pau, France

Acceptance Rates

Overall Acceptance Rate 1,650 of 6,669 submissions, 25%

Upcoming Conference

SAC '25

Sponsor:
sigapp

The 40th ACM/SIGAPP Symposium on Applied Computing

March 31 - April 4, 2025

Catania , Italy

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

15
Total Citations
View Citations
458
Total Downloads

Downloads (Last 12 months)56
Downloads (Last 6 weeks)10

Reflects downloads up to 05 Jan 2025

Other Metrics

View Author Metrics

Citations

Cited By

Priya AChoudhury RPatni SSharma HMohanty MNarayanam KDevi UMoogi PPatil PParag P(2024)Energy-minimizing workload splitting and frequency selection for guaranteed performance over heterogeneous coresProceedings of the 15th ACM International Conference on Future and Sustainable Energy Systems10.1145/3632775.3661968(308-322)Online publication date: 4-Jun-2024
https://dl.acm.org/doi/10.1145/3632775.3661968
Zheng YLi CXiong YLiu WJi CZhu ZYu L(2023)iAware: Interaction Aware Task Scheduling for Reducing Resource Contention in Mobile SystemsACM Transactions on Embedded Computing Systems10.1145/360939122:5s(1-24)Online publication date: 31-Oct-2023
https://dl.acm.org/doi/10.1145/3609391
Lin CWang KLi ZPu YCosta XHassanieh HAsadi ACox LPerino DWidmer JGiustiniano D(2023)A Workload-Aware DVFS Robust to Concurrent Tasks for Mobile DevicesProceedings of the 29th Annual International Conference on Mobile Computing and Networking10.1145/3570361.3592524(1-16)Online publication date: 2-Oct-2023
https://dl.acm.org/doi/10.1145/3570361.3592524
Zhou TWang HLi XLin M(2023)Profiling and Understanding CPU Power Management in Linux2023 IEEE Smart World Congress (SWC)10.1109/SWC57546.2023.10449312(1-8)Online publication date: 28-Aug-2023
https://doi.org/10.1109/SWC57546.2023.10449312
Li JYang PKong LChen G(2023)A BPF-Based Task Scheduling Scheme for Heterogeneous Multiprocessor Systems2023 IEEE Intl Conf on Parallel & Distributed Processing with Applications, Big Data & Cloud Computing, Sustainable Computing & Communications, Social Computing & Networking (ISPA/BDCloud/SocialCom/SustainCom)10.1109/ISPA-BDCloud-SocialCom-SustainCom59178.2023.00078(352-359)Online publication date: 21-Dec-2023
https://doi.org/10.1109/ISPA-BDCloud-SocialCom-SustainCom59178.2023.00078
Zhou TLin M(2022)Deadline-Aware Deep-Recurrent-Q-Network Governor for Smart Energy SavingIEEE Transactions on Network Science and Engineering10.1109/TNSE.2021.31232809:6(3886-3895)Online publication date: 1-Nov-2022
https://doi.org/10.1109/TNSE.2021.3123280
Gu HWu JHu WMa T(2022)Research on low energy task allocation and scheduling algorithm based on imprecise heterogeneous multi-core technology2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)10.1109/SMC53654.2022.9945120(2613-2619)Online publication date: 9-Oct-2022
https://doi.org/10.1109/SMC53654.2022.9945120
Golchin AWest R(2022)Jumpstart: Fast Critical Service Resumption for a Partitioning Hypervisor in Embedded Systems2022 IEEE 28th Real-Time and Embedded Technology and Applications Symposium (RTAS)10.1109/RTAS54340.2022.00013(55-67)Online publication date: May-2022
https://doi.org/10.1109/RTAS54340.2022.00013
Krishna C(2022)Global Voltage Scaling Across Multiple Cores for Real-Time WorkloadsIEEE Embedded Systems Letters10.1109/LES.2022.314371914:3(159-162)Online publication date: Sep-2022
https://doi.org/10.1109/LES.2022.3143719
Katal ADahiya SChoudhury T(2022)Energy efficiency in cloud computing data centers: a survey on software technologiesCluster Computing10.1007/s10586-022-03713-026:3(1845-1875)Online publication date: 30-Aug-2022
https://dl.acm.org/doi/10.1007/s10586-022-03713-0
Show More Cited By

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Media

Figures

Other

Tables

View Table of Contents