Power optimization of variable voltage core-based systems
DAC '98 Proceedings of the 35th annual Design Automation Conference
Voltage scheduling problem for dynamically variable voltage processors
ISLPED '98 Proceedings of the 1998 international symposium on Low power electronics and design
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Computers and Intractability: A Guide to the Theory of NP-Completeness
Computers and Intractability: A Guide to the Theory of NP-Completeness
A scheduling model for reduced CPU energy
FOCS '95 Proceedings of the 36th Annual Symposium on Foundations of Computer Science
Real-Time Task Scheduling for a Variable Voltage Processor
Proceedings of the 12th international symposium on System synthesis
Dynamic I/O power management for hard real-time systems
Proceedings of the ninth international symposium on Hardware/software codesign
Compiler-directed dynamic voltage/frequency scheduling for energy reduction in microprocessors
ISLPED '01 Proceedings of the 2001 international symposium on Low power electronics and design
Energy-conscious compilation based on voltage scaling
Proceedings of the joint conference on Languages, compilers and tools for embedded systems: software and compilers for embedded systems
Pruning-based energy-optimal device scheduling for hard real-time systems
Proceedings of the tenth international symposium on Hardware/software codesign
Compile-time dynamic voltage scaling settings: opportunities and limits
PLDI '03 Proceedings of the ACM SIGPLAN 2003 conference on Programming language design and implementation
Adaptive scheduling server for power-aware real-time tasks
ACM Transactions on Embedded Computing Systems (TECS)
Intraprogram dynamic voltage scaling: Bounding opportunities with analytic modeling
ACM Transactions on Architecture and Code Optimization (TACO)
Bounding energy consumption in large-scale MPI programs
Proceedings of the 2007 ACM/IEEE conference on Supercomputing
Adagio: making DVS practical for complex HPC applications
Proceedings of the 23rd international conference on Supercomputing
PACS'02 Proceedings of the 2nd international conference on Power-aware computer systems
Exploring hardware overprovisioning in power-constrained, high performance computing
Proceedings of the 27th international ACM conference on International conference on supercomputing
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We investigate the effect of voltage-switching on task execution times and energy consumption for dual-speed hard real-time systems, and present a new approach for scheduling workloads containing periodic tasks. Our method minimizes the total energy consumed by the task set and guarantees that the deadline for every task is met. We present a mixed-integer linear programming model for the NP-complete scheduling problem and solve it for moderate-sized problem instances using a public-domain solver. For larger task sets, we present a novel extended-low-energy earliest-deadline-first (E-LEDF) scheduling algorithm and apply it to two real-life task sets. Our results show that energy can be conserved in embedded real-time systems using energy-aware task scheduling. We also show that switching times have a significant effect on the energy consumed in hard real-time systems.