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Battery Aware Dynamic Scheduling for Periodic Task Graphs Venkat Rao   # , Nicolas Navet  # , Gaurav Singhal *, Anshul Kumar  , GS Visweswaran  # TRIO Group, INRIA-Lorraine /LORIA. * Dept of ECE, UT Austin,   Dept of CSE, IIT Delhi  Dept of EE, IIT Delhi
[object Object],[object Object],[object Object],Introduction Mobile Embedded Systems Design :
Traditional approaches to energy optimization ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Variable-supply Architectures ,[object Object],[object Object],[object Object],[object Object],Power Manager WK to f f to  Vdd Switching DCDC regulator V set V sys Clkgen SoC Battery V bat I bat I sys V sys  X I sys  = µ  X  V b at  X I bat
Battery Basics ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Positive Ions Load _ + Electron Flow Anode Cathode Electrolyte
Diffusion Model - Rakhmatov, Vrudula et al. ,[object Object],[object Object],Fully charged battery After Recovery After a recent discharge  Fully discharged  Electrode Electrode Electrode Electrode Electro-active species
Battery Aware Scheduling ,[object Object],Ibat time
Battery Aware Scheduling ,[object Object],freq time freq time idle d d
Problem Definition To find a battery efficient schedule for a given a set of periodic tasks graphs (T1, T2, ....Tn) which have corresponding deadlines (D1,D2, .....Dn) equal to their periods, where a taskgraph Ti comprises of any m interdependent nodes, each of which are in themselves tasks with given worst case computations (wci1, wci2, ......wcim). T1 D1   T3D3 T2 D2 wci Precendence constraint
Our Methodology ,[object Object],[object Object],[object Object],Task Graphs Frequency Setting Priority function for max slack recovery DVS Algorithm Local Task Order   Ready list WCi’s Di’s nodes fcurr next node
Global Frequency Setting ,[object Object],upon release( Taskgraph  T i  ) 1:  WC i  =     wc ij 2:  select_frequency( ) upon end_of_node(  τ ij  ) 1:  WC i  =  WC i  +  ac ij  −  wc ij 2:  select frequency( ) select_frequency ( ) 1:  U  =     WC i /D i 2:  f ref  =  U  ×  F max ,  return  f ref Modified ccEDF algorithm from [pillai01] The jth node of the ith task graph whose execution just ended. τ ij Deadline for the ith task graph Di Actual exec time for jth node of the ith task graph at fmax acij WCET of the jth node of the ith task graph at fmax wcij
Global Frequency Setting ,[object Object],[object Object],[object Object],freq time d re-computing speed
Loc al order of execution ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Ready List ,[object Object],Ready list D1 D3 D2 D1 < D2 < D3 Priority function Execute
Ready list comprising of nodes from current Task graph only ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Ready List ,[object Object],Ready list D1 D3 D2 D1 < D2 < D3 Priority function Execute
Ready list comprising of nodes from all released Task graphs ,[object Object],[object Object],[object Object],[object Object],[object Object],Need For additional feasibility check
Ready List ,[object Object],Ready list D1 D3 D2 D1 < D2 < D3 Priority function Execute Feasibility check
Feasibility check ,[object Object],[object Object],[object Object],Feasibility Check ( t ij  ) flag= 1; for (k=1 to  j-1) { if (  WC k  +wc ij  > f curr  X D k  – T curr  ) Flag =0; } return flag
Simulations ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Simulation Results : Battery lifetime and charge delivered.   ,[object Object],[object Object]
Conclusion ,[object Object],[object Object],[object Object]
References and Credits ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Thank You
Battery Models Still Too computationally intensive for use at runtime Not accurate, elements change value depending conditions Use capacitor and resistors to represent battery Circuit   Still in the process of development. Relatively accurate and fast. Stochastic Slow, involves a large number of parameters Accurate PDE (higher forms of KiBaM) Disadvantages Advantages
Rate Capacity Effect Rate Capacity Effect ,[object Object],[object Object],[object Object],back
Recovery Effect Recovery Effect ,[object Object],[object Object],[object Object],Elapsed time of discharge Cell  Voltage Intermittent Discharge Continuous discharge back
Simulation Results: Effect of ready list on energy consumption Energy consumption (normalized   w.r.t optimal schedule) by   various scheduling   policies for different number of tasks in   a taskgraph At Utilization 70% and actual computation times varying from 20% to 70%
Simulation Results: Effect of priority function on energy consumption Energy consumption (normalized   w.r.t optimal schedule) by   various scheduling   policies for different number of tasks in   a taskgraph At Utilization 70% and actual computation times varying from 20% to 70%. Ready list comprises of most imminent.
Kinetic Battery Model ,[object Object],[object Object],[object Object]
[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

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Battery Aware Dynamic Scheduling for Periodic Task Graphs

  • 1. Battery Aware Dynamic Scheduling for Periodic Task Graphs Venkat Rao # , Nicolas Navet # , Gaurav Singhal *, Anshul Kumar  , GS Visweswaran  # TRIO Group, INRIA-Lorraine /LORIA. * Dept of ECE, UT Austin,  Dept of CSE, IIT Delhi  Dept of EE, IIT Delhi
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  • 9. Problem Definition To find a battery efficient schedule for a given a set of periodic tasks graphs (T1, T2, ....Tn) which have corresponding deadlines (D1,D2, .....Dn) equal to their periods, where a taskgraph Ti comprises of any m interdependent nodes, each of which are in themselves tasks with given worst case computations (wci1, wci2, ......wcim). T1 D1 T3D3 T2 D2 wci Precendence constraint
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  • 25. Battery Models Still Too computationally intensive for use at runtime Not accurate, elements change value depending conditions Use capacitor and resistors to represent battery Circuit Still in the process of development. Relatively accurate and fast. Stochastic Slow, involves a large number of parameters Accurate PDE (higher forms of KiBaM) Disadvantages Advantages
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  • 28. Simulation Results: Effect of ready list on energy consumption Energy consumption (normalized w.r.t optimal schedule) by various scheduling policies for different number of tasks in a taskgraph At Utilization 70% and actual computation times varying from 20% to 70%
  • 29. Simulation Results: Effect of priority function on energy consumption Energy consumption (normalized w.r.t optimal schedule) by various scheduling policies for different number of tasks in a taskgraph At Utilization 70% and actual computation times varying from 20% to 70%. Ready list comprises of most imminent.
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Editor's Notes

  1. Based solely on the electro-chemistry. Sometime rely on empirically established 2. PDE: finite element models, divide each cell into a number of finite elements interacting with each other, models current flow and potential distribution in the cell. Quite complex and slow while accurate, not suitable for mobile OS. 3. 4. Stochastic is a promising modeling method. Represent the battery behavior as A discrete time transient stochastic process, that tracks the the cell state of the charge.
  2. Factors that may affect the battery performance include: When a battery stands idle after a discharge, certain chemical and physical changes take place which can result in voltage recovery. So, the voltage will rise after a rest period, giving a saw-tooth-shaped discharge. Shelf Life: even during storage, the battery is still discharge itself. Depending on the storage temp and humidity, the short shelf life can be a problem on long-term discharges. Around room temp, alkaline lose about 3% capacity per year, however zinc-carbon can lose up to 15% of the capacity
  3. Factors that may affect the battery performance include: When a battery stands idle after a discharge, certain chemical and physical changes take place which can result in voltage recovery. So, the voltage will rise after a rest period, giving a saw-tooth-shaped discharge. Shelf Life: even during storage, the battery is still discharge itself. Depending on the storage temp and humidity, the short shelf life can be a problem on long-term discharges. Around room temp, alkaline lose about 3% capacity per year, however zinc-carbon can lose up to 15% of the capacity