Thermal-aware Adaptive Platform Management for Heterogeneous Embedded Systems

Recent trends in real-time applications have raised the demand for high-throughput embedded platforms with integrated CPU-GPU based Systems-On-Chip (SoCs). The enhanced performance of such SoCs, however, comes at the cost of increased power consumption, resulting in significant heat dissipation and high on-chip temperatures. The prolonged occurrences of high on-chip temperature can cause accelerated in-circuit ageing, which severely degrades the long-term performance and reliability of the chip. Violation of thermal constraints leads to on-board dynamic thermal management kicking-in, which may result in timing unpredictability for real-time tasks due to transient performance degradation. Recent work in adaptive software design have explored this issue from a control theoretic stand-point, striving for smooth thermal envelopes by tuning the core frequency. Existing techniques do not handle thermal violations for periodic real-time task sets in the presence of dynamic events like change of task periodicity, more so in the context of heterogeneous SoCs with integrated CPU-GPUs. This work presents an OpenCL runtime extension for thermal-aware scheduling of periodic, real-time tasks on heterogeneous multi-core platforms. Our framework mitigates dynamic thermal violations by adaptively tuning task mapping parameters, with the eventual control objective of satisfying both platform-level thermal constraints and task-level deadline constraints. We consider multiple platform-level control actions like task migration, frequency tuning and idle slot insertion as the task mapping parameters. To the best of our knowledge, this is the first work that considers such a variety of task mapping control actions in the context of heterogeneous embedded platforms. We evaluate the proposed framework on an Odroid-XU4 board using OpenCL benchmarks and demonstrate its effectiveness in reducing thermal violations.

Habitat heterogeneity affects the thermal ecology of an endangered lizard

Global climate change is already contributing to the extirpation of numerous species worldwide, and sensitive species will continue to face challenges associated with rising temperatures throughout this century and beyond. It is especially important to evaluate the thermal ecology of endangered ectotherm species now so that mitigation measures can be taken as early as possible. A recent study of the thermal ecology of the federally endangered Blunt-Nosed Leopard Lizard (Gambelia sila) suggested that they face major activity restrictions due to thermal constraints in their desert habitat, but that large shade-providing shrubs act as thermal buffers to allow them to maintain surface activity without overheating. We replicated this study and also included a population of G. sila with no access to large shrubs to facilitate comparison of the thermal ecology of G. sila in shrubless and shrubbed populations. We found that G. sila without access to shrubs spent more time sheltering inside rodent burrows than lizards with access to shrubs, especially during the hot summer months. Lizards from a shrubbed population had higher midday body temperatures and therefore poorer thermoregulatory accuracy than G. sila from a shrubless population, suggesting that greater surface activity may represent a thermoregulatory tradeoff for G. sila. Lizards at both sites are currently constrained from using open, sunny microhabitats for much of the day during their short active seasons, and our projections suggest that climate change will exacerbate these restrictions and force G. sila to use rodent burrows for shelter even more than they do now, especially at sites without access to shrubs. The continued management of shrubs and of burrowing rodents at G. sila sites is therefore essential to the survival of this endangered species.

Temperature as a constraint on the timing and duration of African elephant foraging trips

In arid and semiarid environments, water is a key resource that is limited in availability. During the dry season, perennial water sources such as water pans often are far apart and shape the daily movement routines of large herbivores. In hot environments, endotherms face a lethal risk of overheating that can be buffered by evaporative cooling. Behavioral adjustments are an alternative way to reduce thermal constraints on the organism. The trade-off between foraging and reaching water pans has been studied widely in arid environments; however, few studies have looked into how ambient temperature shapes individual trips between two visits to water. In this study, we tracked during the dry season the movement of eight GPS-collared African elephants (Loxodonta africana) cows from different herds in Hwange National Park, Zimbabwe. This species, the largest extant terrestrial animal, is particularly sensitive to heat due to its body size and the absence of sweat glands. We show that most foraging trips depart from water at nightfall, lowering the average temperature experienced during walking. This pattern is conserved across isolated elephant populations in African savannas. We also observed that higher temperatures at the beginning of the trip lead to shorter trips. We conclude that elephants adjust the timing of foraging trips to reduce the thermal constraints, arguing that further considerations of the thermal landscape of endotherms are important to understand their ecology.