Energy-Aware Real-Time Scheduling of Multiple Periodic DAGs on Heterogeneous Systems
Debabrata Senapati, Arnab Sarkar, Chandan Karfa
Abstract
Many of today’s complex cyber–physical systems (CPSs) are represented as a set of independent co-executing real-time control applications, where each such application is represented as a precedence-constrained task graph. The applications execute in infinite loops, periodically acquiring data from the environment through sensors at a particular frequency, processing the same, and then producing processed data via actuators. These CPSs often execute under stringent resource constraints (such as limited energy budgets) in distributed networked environments and may be heterogeneous to be able to satisfactorily meet stipulated performance specifications. This work presents a list-based energy-aware scheduler called DVFS-enabled periodic multi-DAG real-time scheduler for heterogeneous systems (DPMRS) for a set of real-time control applications co-executing in a heterogeneous distributed environment. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">DPMRS</i> introduces a novel approach for the integrated behavioral representation of a set of co-executing real-time DAG-structured applications. Each task in this integrated representation is then scheduled by determining its relative execution start time on a particular processor, which operates at an appropriately chosen frequency when the task runs on this processor. The overall objective of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">DPMRS</i> is to minimize aggregate energy consumed in the execution of all tasks. The efficacy of the proposed scheduler has been exhibited through extensive simulation experiments using benchmark task graphs from different application domains. Additionally, a case study on automotive control systems has been included to show the applicability of the proposed work in real-world settings.