Dependable real-time task execution scheme for a many-core platform

Author(s):  
Tomohiro Yoneda ◽  
Masashi Imai ◽  
Hiroshi Saito ◽  
Kenji Kise
Keyword(s):  
2016 ◽  
Vol 27 (10) ◽  
pp. 2953-2966 ◽  
Author(s):  
Sheng-Wei Cheng ◽  
Che-Wei Chang ◽  
Jian-Jia Chen ◽  
Tei-Wei Kuo ◽  
Pi-Cheng Hsiu

1992 ◽  
Vol 4 (5) ◽  
pp. 363-363
Author(s):  
Tsutomu Hasegawa ◽  

A required function of intelligent robots is autonomous and quick execution of tasks which are difficult for conventional machines. In addition, the intention of human operators must be transmitted precisely and easily to the robots. A variety of R&D is underway in order to realize such requirements. This R&D falls into two categories: (1) R&D on intelligent functions applied for the preparation phase of task execution and (2) that applied for the real time task execution. Motion planning based on geometrical information is a typical function for the task preparation phase which has been studied for the past ten years. Thanks to the rapid progress in computing power, the analysis of real problems has progressed and has permitted the practical application of such planning. Thus, its application to operational use is not far off. R&D on a comprehensive system including the geometric environment modeling, motion planning, and real time task execution is also underway. Intelligent functions necessary for task execution must include a task execution mechanism and a control method which guarantee reliable task execution in the presence of unpredictable errors. The solution to this problem will be realized through the implementation of skillful manipulator motions which utilize various sensors and constraints being complied in the real world, most as key technologies. This special issue has compiled reviews and articles which focus on the above mentioned issues.


2021 ◽  
Vol 20 (5s) ◽  
pp. 1-25
Author(s):  
Shounak Chakraborty ◽  
Sangeet Saha ◽  
Magnus Själander ◽  
Klaus Mcdonald-Maier

Achieving high result-accuracy in approximate computing (AC) based real-time applications without violating power constraints of the underlying hardware is a challenging problem. Execution of such AC real-time tasks can be divided into the execution of the mandatory part to obtain a result of acceptable quality, followed by a partial/complete execution of the optional part to improve accuracy of the initially obtained result within the given time-limit. However, enhancing result-accuracy at the cost of increased execution length might lead to deadline violations with higher energy usage. We propose Prepare , a novel hybrid offline-online approximate real-time task-scheduling approach, that first schedules AC-based tasks and determines operational processing speeds for each individual task constrained by system-wide power limit, deadline, and task-dependency. At runtime, by employing fine-grained DVFS, the energy-adaptive processing speed governing mechanism of Prepare reduces processing speed during each last level cache miss induced stall and scales up the processing speed once the stall finishes to a higher value than the predetermined one. To ensure on-chip thermal safety, this higher processing speed is maintained only for a short time-span after each stall, however, this reduces execution times of the individual task and generates slacks. Prepare exploits the slacks either to enhance result-accuracy of the tasks, or to improve thermal and energy efficiency of the underlying hardware, or both. With a 70 - 80% workload, Prepare offers 75% result-accuracy with its constrained scheduling, which is enhanced by 5.3% for our benchmark based evaluation of the online energy-adaptive mechanism on a 4-core based homogeneous chip multi-processor, while meeting the deadline constraint. Overall, while maintaining runtime thermal safety, Prepare reduces peak temperature by up to 8.6 °C for our baseline system. Our empirical evaluation shows that constrained scheduling of Prepare outperforms a state-of-the-art scheduling policy, whereas our runtime energy-adaptive mechanism surpasses two current DVFS based thermal management techniques.


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