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IEEE Transactions on Very Large Scale Integration (VLSI) Systems
New clock-gating techniques for low-power flip-flops
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Dynamic power management for portable systems
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Low-energy intra-task voltage scheduling using static timing analysis
Proceedings of the 38th annual Design Automation Conference
Real-time dynamic voltage scaling for low-power embedded operating systems
SOSP '01 Proceedings of the eighteenth ACM symposium on Operating systems principles
Power-aware operating systems for interactive systems
IEEE Transactions on Very Large Scale Integration (VLSI) Systems
Energy aware task scheduling with task synchronization for embedded real time systems
CASES '02 Proceedings of the 2002 international conference on Compilers, architecture, and synthesis for embedded systems
Priority Inheritance Protocols: An Approach to Real-Time Synchronization
IEEE Transactions on Computers
The design, implementation, and evaluation of a compiler algorithm for CPU energy reduction
PLDI '03 Proceedings of the ACM SIGPLAN 2003 conference on Programming language design and implementation
Performance Comparison of Dynamic Voltage Scaling Algorithms for Hard Real-Time Systems
RTAS '02 Proceedings of the Eighth IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'02)
Processor Voltage Scheduling for Real-Time Tasks with Non-Preemptible Sections
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems Symposium
Balancing batteries, power, and performance: system issues in cpu speed-setting for mobile computing
Balancing batteries, power, and performance: system issues in cpu speed-setting for mobile computing
Energy-efficient soft real-time CPU scheduling for mobile multimedia systems
SOSP '03 Proceedings of the nineteenth ACM symposium on Operating systems principles
Dynamic Integrated Scheduling of Hard Real-Time, Soft Real-Time and Non-Real-Time Processes
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
Power-Aware Scheduling for Periodic Real-Time Tasks
IEEE Transactions on Computers
On Energy-Constrained Real-Time Scheduling
ECRTS '04 Proceedings of the 16th Euromicro Conference on Real-Time Systems
CPU scheduling for statistically-assured real-time performance and improved energy efficiency
Proceedings of the 2nd IEEE/ACM/IFIP international conference on Hardware/software codesign and system synthesis
Energy-efficient, utility accrual scheduling under resource constraints for mobile embedded systems
Proceedings of the 4th ACM international conference on Embedded software
System-level energy-efficient dynamic task scheduling
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On bounding energy consumption in dynamic, embedded real-time systems
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Energy-Efficient Real-Time Task Scheduling for a DVS System with a Non-DVS Processing Element
RTSS '06 Proceedings of the 27th IEEE International Real-Time Systems Symposium
System-Level Energy Management for Periodic Real-Time Tasks
RTSS '06 Proceedings of the 27th IEEE International Real-Time Systems Symposium
Policies for dynamic clock scheduling
OSDI'00 Proceedings of the 4th conference on Symposium on Operating System Design & Implementation - Volume 4
Scheduling for reduced CPU energy
OSDI '94 Proceedings of the 1st USENIX conference on Operating Systems Design and Implementation
Energy-efficient dynamic task scheduling algorithms for DVS systems
ACM Transactions on Embedded Computing Systems (TECS)
Energy aware dynamic voltage and frequency selection for real-time systems with energy harvesting
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Minimizing CPU energy in real-time systems with discrete speed management
ACM Transactions on Embedded Computing Systems (TECS)
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Energy minimization for real-time systems with non-convex and discrete operation modes
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ChronOS Linux: a best-effort real-time multiprocessor Linux kernel
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We implement and experimentally evaluate the timeliness and energy consumption behaviors of fourteen Real-Time Dynamic Voltage and Frequency Scaling (RT-DVFS) schedulers on two hardware platforms. The schedulers include CC-EDF, LA-EDF, REUA, DRA, and AGR1, among others, and the hardware platforms include the Intel i5 processor and the AMD Zacate processor. Our studies reveal that measuring the CPU power consumption as the cube of CPU frequency -- as often done in the simulation-based RT-DVFS literature -- ignores the idle state CPU power consumption, which is significantly smaller than the active power consumption. Consequently, power savings obtained by optimizing active power (i.e., RT-DVFS) is offset by completing tasks sooner by running at high frequency and quickly transitioning to the idle state (i.e., no DVFS). Thus, the active power consumption savings of the RT-DVFS techniques' revealed by our measurements are significantly smaller than their simulation-based savings reported in the literature.