Increasingly, embedded devices are being equipped with ARM processors. Because of ease-of-use and widespread support for drivers and applications, Linux is often used as the OS of choice, even though it consumes a significant amount of the device's limited resources and its large attack surface presents opportunities for exploits. In this paper we propose Unikraft, a fully librarized operating system and build tool which allows for generating specialized OSes and software stacks targeting specific applications, while removing unneeded functionality. As a proof of concept, we port Unikraft to the Raspberry Pi 3 B+ and to a Xilinx Ultra96-V2. On these boards, Unikraft is able to boot in 88-158 milliseconds, consume only hundreds of KBs of memory when running real-world application such as NGINX, all the while providing visible reductions in power consumption compared to Linux distributions. Unikraft is an open source project and can be found at unikraft.org.

Due to the high integration density and roadblock of voltage scaling, modern multicore processors experience higher power densities than previous technology scaling nodes. When unattended, this issue might lead to temperature hot spots, that in turn may cause nonuniform aging, accelerate chip failure, impair reliability, and reduce the performance of the system. This paper presents an overview of several research efforts that propose to use machine learning (ML) techniques for power and thermal management on single-core and multicore processors. Traditional power and thermal management techniques rely on a certain a-priori knowledge of the chip's thermal model, as well as information of the workloads/applications to be executed (e.g., transient and average power consumption). Nevertheless, these a-priori information is not always available, and even if it is, it cannot reflect the spatial and temporal uncertainties and variations that come from the environment, the hardware, or from the workloads/applications. Contrarily, techniques based on ML can potentially adapt to varying system conditions and workloads, learning from past events in order to improve themselves as the environment changes, resulting in improved management decisions.

Although manycore processors have plenty of cores, not all of them may run simultaneously at full speed and even some of them might need to be power-gated in order to keep the chip within safe temperature limits. Hence, a resource management technique, that allocates cores to application aiming at maximizing the system performance, will not be able to achieve its goal without taking into account the on-chip temperature and its impact on the availability of the chip's resources. However, considering a temperature constraint by the resource management will further increase its complexity, especially in manycores, and thus implementing it in a centralized scheme might lead to a computation bottleneck and a single point of failure. To avoid such scenarios, it is inevitable to distribute the computation required by the resource management technique throughout the chip. In this article, we propose a distributed resource management technique that considers temperature as an essential factor in allocating cores to applications and determining the power states of these cores and their voltage/frequency levels, while taking into account the performance models of the applications in order to maximize the overall system performance under a temperature constraint. Our proposed technique employs, for the first time, combinatorial auctions within an agent system to achieve the targeted goal in a distributed manner. The experimental evaluations show that our proposed technique achieves significant performance improvements with an average of 41% compared to several distributed resource management techniques.

Approximate Computing has emerged as a design paradigm suitable to applications with inherent error resilience. This paradigm aims to reduce the associated computing costs (such as execution time, area, or energy) of exact calculations by reducing the quality of their results. Several approximate arithmetic circuits have been proposed, which can be used to implement hardware blocks such as approximate accelerators. However, to satisfy quality constraints in these accelerators, it is imperative to assess how the errors introduced by approximate circuits propagate through other exact and approximate computations, and finally accumulate at the output. This is, in particular, crucial to enable high-level synthesis of approximate accelerators. This work proposes a compiler-driven error analysis methodology to evaluate the behavior of errors generated from approximate adders in the design of approximate accelerators. We present CEDA, a tool to perform a static analysis of the error propagation. This tool uses #pragma-based annotated C/C++ source code as input. With these annotations, exact additions are replaced by approximate ones during the code analysis to estimate the error at the output. The error estimations produced by our tool are comparable to those obtained through simulations.

Recent advances in technologies have allowed the design of small-size low-power and low-cost devices that can be connected to the Internet, enabling the emerging paradigm of Internet-of-things (IoT). IoT covers an ever-increasing range of applications, e.g., health-care monitoring, smart homes and buildings, etc. In this invited paper, we discuss and summarize the IoT paradigm with a special focus on energy consumption and methodologies for its minimization. Furthermore, we also discuss about reliability in the context of IoT devices. In all, this paper attempts to be a starting point for readers interested in developing energy-efficient IoT devices.

Increasing power densities have led to the dark silicon era, for which heterogeneous multicores with different power and performance characteristics are promising architectures. This paper focuses on maximizing the overall system performance under a critical temperature constraint for heterogeneous tiled multicores, where all cores or accelerators inside a tile share the same voltage and frequency levels. For such architectures, we present a resource management technique that introduces power density as a novel system level constraint, in orderto avoid thermal violations. The proposed technique then assigns applications to tiles by choosing their degree of parallelism and the voltage/frequency levels of each tile, such that the power density constraint is satisfied. Moreover, our technique provides runtime adaptation of the power density constraint according to the characteristics of the executed applications, and reacting to workload changes at runtime. Thus, the available thermal headroom is exploited to maximize the overall system performance.

Chip manufacturers provide the Thermal Design Power (TDP) for a specific chip. The cooling solution is designed to dissipate this power level. But because TDP is not necessarily the maximum power that can be applied, chips are operated with Dynamic Thermal Management (DTM) techniques. To avoid excessive triggers of DTM, usually, system designers also use TDP as power constraint. However, using a single and constant value as power constraint, e.g., TDP, can result in significant performance losses in homogeneous and heterogeneous manycore systems. Having better power budgeting techniques is a major step towards dealing with the dark silicon problem. This paper presents a new power budget concept, called Thermal Safe Power (TSP), which is an abstraction that provides safe power and power density constraints as a function of the number of simultaneously active cores. Executing cores at any power consumption below TSP ensures that DTM is not triggered. TSP can be computed offline for the worst cases, or online for a particular mapping of cores. TSP can also serve as a fundamental tool for guiding task partitioning and core mapping decisions, specially when core heterogeneity or timing guarantees are involved. Moreover, TSP results in dark silicon estimations which are less pessimistic than estimations using constant power budgets.

Heterogeneous multicore systems clustered in multiple Voltage Frequency Islands (VFIs) are the next-generation solution for power and energy efficient computing systems. Due to the heterogeneity, the power consumption and execution time of a task changes not only with Dynamic Voltage and Frequency Scaling (DVFS), but also according to the task-to-island assignment, presenting major challenges for power management and energy minimization techniques. This paper focuses on energy minimization of periodic real-time tasks (or performance-constrained tasks) on such systems, in which the cores in an island are homogeneous and share the same voltage and frequency, but different islands have different types and numbers of cores and can be executed at other voltages and frequencies. We present an efficient algorithm to minimize the total energy consumption while satisfying the timing constraints of all tasks. Our technique consists of the coordinated selection of the voltage and frequency levels for each island, together with a task partitioning strategy that considers the energy consumption of the task executing on different islands and at different frequencies, as well as the impact of the frequency and the underlying core architecture to the resulting execution time. Every task is then mapped to the most energy efficient island for the selected voltage and frequency levels, and to a core inside the island such that the workloads of the cores in a VFI are balanced. We experimentally evaluate our technique and compare it to state-of-the-art solutions, resulting in average in 25 percent less energy consumption (and up to 87 percent for some cases), while guaranteeing that all tasks meet their deadlines.

Embedded systems have limited resources, such as computation capabilities and battery life. The Dynamic Voltage and Frequency Scaling (DVFS) technique is used to save energy by running the processor of the embedded system at low voltage and frequency levels. However, this prolongs the execution time, which may cause potential deadline misses for real-time tasks. In this paper, we propose a general-purpose middleware to reduce the energy consumption in embedded systems without violating the real-time constraints. The algorithms in the middleware adopt the computation offloading concept to reduce the workload on the processor of the embedded system by sending the computation-intensive tasks to a powerful server. The algorithms are further combined with the DVFS technique to find the running frequency (or speed) such that the energy consumption is minimized and the real-time constraints are satisfied. The evaluation shows that our approach reduces the average energy consumption down to nearly 60%, compared to executing all the tasks locally at the maximum processor speed.

This paper presents new trends in dark silicon reflecting, among others, the deployment of FinFETs in recent technology nodes and the impact of voltage/frquency scaling, which lead to new less-conservative predictions. The focus is on dark silicon from a thermal perspective: we show that it is not simply the chip's total power budget, e.g., the Thermal Design Power (TDP), that leads to the dark silicon problem, but instead it is the power density and related thermal effects. We therefore propose to use Thermal Safe Power (TSP) as a more efficient power budget. It is also shown that sophisticated spatio-temporal mapping decisions result in improved thermal profiles with reduced peak temperatures. Moreover, we discuss the implications of Near-Threshold Computing (NTC) and employment of Boosting techniques in dark silicon systems.

In dark silicon chips, a significant amount of on-chip resources cannot be simultaneously powered on and need to stay dark, i.e., power gated, in order to avoid thermal emergencies. This paper presents a resource management technique, called DsRem, that selects the number of active cores jointly with their voltage/frequency (v/f) levels, considering the high Instruction Level Parallelism (ILP) or Thread Level Parallelism (TLP) nature of different applications, in order to maximize the overall system performance. DsRem leverages the positioning of dark cores, to efficiently dissipate the heat generated by the active cores. This facilitates increasing the v/f level of the active cores, which leads to further performance improvement. Compared to state-of-the-art thermal-aware task application mapping, DsRem achieves up to 46% performance gain, while avoiding any thermal emergencies. Additionally, DsRem outperforms the boosting technique with 26%.

Gaming on mobile platforms is highly power hungry and rapidly drains the limited-capacity battery. In multi-threaded gaming, each thread has different processing requirements and even a single slow thread may lead to Quality of Service (QoS) violations. Further, modern mobile platforms are equipped with asymmetric multi-core processors, so that different cores exhibit diverse power and performance properties. These asymmetric cores along with different Dynamic Power Management (DPM) techniques enable a high degree of power efficiency in mobile gaming. The default Linux power manager (i.e. “Governor”) of asymmetric multi-cores performs power-wise inefficient for mobile games as it over allocates resources for processing threads by being oblivious to the QoS. The state-of-the-art Governor for mobile gaming does not account for multi-threaded gaming workloads, which are mainstream in mobile gaming. In this work, we present a power-performance characterization of multi-threaded mobile games by executing them on a real-world mobile platform with an asymmetric multi-core. This analysis is leveraged to propose a QoS-aware Governor running a lightweight online heuristic that holistically accounts for thread-to-core mapping and DPM. This solution, when integrated into the platform's Operating System (OS), provides 12% improved power efficiency on average.

Energy efficiency is an important issue in computing systems and operating within a safe power budget is a necessary constraint. This paper presents a simple and practical solution both for energy minimization and peak power reduction, called Single Voltage Approximation (SVA) scheme, for periodic real-time tasks on multicore systems with a shared supply voltage in a voltage island. SVA is inspired by the Single Frequency Approximation (SFA) scheme, in which all the cores in the island run at a single voltage and frequency such that all tasks can meet their deadlines. In SVA, all the cores in the island are also executed at the same single voltage as in SFA. However, the frequency of each core is individually chosen, such that the tasks in each core can meet their deadlines, but without running at unnecessarily high frequencies. Thus, all the cores are executing tasks all the time and there is no need for any Dynamic Power Management (DPM) technique for reducing the energy consumption for idling. For task partitioning, SVA is combined with the Double Largest Task First (DLTF) partitioning scheme. Most importantly, this paper provides comprehensive analysis for combining DLTF and SVA, deriving its worst-case behavior both for energy minimization and peak power reduction, compared against the optimal solutions. Our analysis shows that, depending on the hardware, the energy consumption by combining DLTF and SVA is at most 1.95 (2.21, 2.42, and 2.59, respectively), compared to the optimal solutions, when the voltage island has up to 4 (8, 16, and 32, respectively) cores, which outperforms the worst-case factors of SFA when the cores fail to sleep efficiently. For peak power reduction, due to running at slower frequencies, combining DLTF and SVA always outperforms SFA, both in average and corner cases. Finally, we extend our analysis considering multicore systems with discrete voltage and frequency pairs and multiple voltage islands.

Efficient and effective system-level power management for multi-core systems with multiple voltage islands is necessary for next-generation computing systems. This paper considers energy efficiency for such systems, in which the cores in the same voltage island have to be operated at the same supply voltage level. We explore how to map given task sets onto cores, so that each task set is assigned and executed on one core and the energy consumption is minimized. Due to the restriction to operate at the same supply voltage in a voltage island, different mappings will result in different energy consumptions. By using the simple single frequency approximation scheme (SFA) to decide the voltages and frequencies of individual voltage islands, this paper presents the approximation factor analysis (in terms of energy consumption) for simple heuristic algorithms, and develops a dynamic programming algorithm, which derives optimal mapping solutions for energy minimization when using SFA. We experimentally evaluate the running time and energy consumption performance of these algorithms on Intel's single-chip cloud computer (SCC). Moreover, we conduct simulations for hypothetical platforms with different number of voltage islands and cores per island, also considering different task partitioning policies.

The number and diversity of cores in on-chip systems is increasing rapidly. However, due to the Thermal Design Power (TDP) constraint, it is not possible to continuously operate all cores at the same time. Exceeding the TDP constraint may activate the Dynamic Thermal Management (DTM) to ensure thermal stability. Such hardware based closed-loop safeguards pose a big challenge in using many-core chips for real-time tasks. Managing the worst-case peak power usage of a chip can help toward resolving this issue. We present a scheme to minimize the peak power usage for frame-based and periodic real-time tasks on many-core processors by scheduling the sleep cycles for each active core and introduce the concept of a sufficient test for peak power consumption for task feasibility. We consider both inter-task and inter-core diversity in terms of power usage and present computationally efficient algorithms for peak power minimization for these cases, i.e., a special case of “homogeneous tasks on homogeneous cores” to the general case of “heterogeneous tasks on heterogeneous cores”. We evaluate our solution through extensive simulations using the 48-core SCC platform and gem5 architecture simulator. Our simulation results show the efficacy of our scheme.

Energy-efficient designs are important issues in computing systems. This article studies the energy efficiency of a simple and linear-time strategy, called the Single Frequency Approximation (SFA) scheme, for periodic real-time tasks on multicore systems with a shared supply voltage in a voltage island. The strategy executes all the cores at a single frequency to just meet the timing constraints. SFA has been adopted in the literature after task partitioning, but the worst-case performance of SFA in terms of energy consumption incurred is an open problem. We provide comprehensive analysis for SFA to derive the cycle utilization distribution for its worst-case behaviour for energy minimization. Our analysis shows that the energy consumption incurred by using SFA for task execution is at most 1.53 (1.74, 2.10, 2.69, respectively), compared to the energy consumption of the optimal voltage/frequency scaling, when the dynamic power consumption is a cubic function of the frequency and the voltage island has up to 4 (8, 16, 32, respectively) cores. The analysis shows that SFA is indeed an effective scheme under practical settings, even though it is not optimal. Furthermore, since all the cores run at a single frequency and no frequency alignment for Dynamic Voltage and Frequency Scaling (DVFS) between cores is needed, any unicore dynamic power management technique for reducing the energy consumption for idling can be easily incorporated individually on each core in the voltage island. This article also provides an analysis of energy consumption for SFA combined with procrastination for Dynamic Power Management (DPM), resulting in an increment of 1 from the previous results for task execution. Furthermore, we also extend our analysis for deriving the approximation factor of SFA for a multicore system with multiple voltage islands.

Efficiently utilizing the computational resources of many core systems is one of the most prominent challenges. The problem worsens when resource requirements vary unpredictably and applications may be started/stopped at any time. To address this challenge, we propose two schemes that calculate and adapt task mappings at runtime: a centralized, optimal mapping scheme and a distributed, hierarchical mapping scheme that trades optimality for a high degree of scalability. Experiments on Intel's 48-core Single-Chip Cloud Computer and in a many core simulator show that a significant improvement in system performance can be achieved over current state-of-the-art.

In many-core systems, the efficient deployment of computational and other resources is key in order to achieve a high throughput. Current state-of-the-art task mapping schemes balance the computational load among cores while avoiding congestions within the communication links. The problem is that a large number of cores running many memory-intensive tasks may congest memory controllers because their number and bandwidth is constrained. To avoid a high throughput degradation that could result from congested memory controllers, the mapping of tasks must be sensitized to the limited bandwidth of off-chip memory. Designing efficient and effective algorithms to optimize the throughput by jointly considering the load of memory controllers, computation, and communication is very challenging. In this paper, we address this problem by distributing cores among applications and then heuristically map tasks such that the load of the memory controllers is sufficiently balanced. Our heuristic also minimizes the effect of decreased throughput resulting from mapping communicating tasks to cores that belong to different controllers. Our experiments encourage us in that we can reduce the saturation of memory controllers and significantly increase the system throughput compared to employing several state-of-the-art task mapping schemes.

Energy-efficient designs are important issues in computing systems. This paper studies the energy efficiency of a simple and linear-time strategy, called Single Frequency Approximation (SFA) scheme, for periodic real-time tasks on multi-core systems with a shared supply voltage in a voltage island. The strategy executes all the cores at a single frequency to just meet the timing constraints. SFA has been adopted in the literature after task partitioning, but the worst-case performance of SFA, in terms of energy consumption, is an open problem. We provide comprehensive analysis for SFA to derive the cycle utilization distribution for its worst-case behaviour for energy minimization. Our analysis shows that the energy consumption by using SFA for task execution is at most 1.53 (1.74, 2.10, 2.69, respectively), compared to the energy consumption of the optimal voltage/frequency scaling, when the dynamic power consumption is a cubic function of the frequency and the voltage island has up to 4 (8, 16, 32, respectively) cores. The analysis shows that SFA is indeed an effective scheme under practical settings, even though it is not optimal. Furthermore, since all the cores run at a single frequency and no frequency alignment for Dynamic Voltage and Frequency Scaling (DVFS) between cores is needed, any uni-core dynamic power management technique for reducing the energy consumption for idling can be easily incorporated individually on each core in the voltage island. This paper also provides the analysis of energy consumption for SFA, combined with the procrastination for Dynamic Power Management (DPM). Furthermore, we also extend our analysis for deriving the approximation factor of SFA for a multi-core system with multiple voltage islands.

Energy-efficiency is a major concern in modern computing systems. For such systems, the presence of multiple voltage islands, where the voltage of each island can change independently and all cores in an island share the same supply voltage at any given time, is an expected compromise between global and per-core Dynamic Voltage and Frequency Scaling (DVFS). This paper focuses on energy minimization for a set of periodic tasks assigned on a voltage island. We present a simple and practical solution, that assigns the tasks onto cores in the island and then applies a DVFS schedule, particularly the Single Frequency Approximation (SFA) scheme. Furthermore, we provide thorough theoretical analysis of our solution, in terms of energy efficiency, against the optimal task partitioning and optimal DVFS schedule, especially for the state-of-the-art designs, that have a few number of cores per voltage island. The analysis shows that, our task partitioning scheme combined with SFA is a good and practical solution for energy efficiency. Particularly, when the number of cores in each voltage island is limited, the approximation factor is at most 2.01 (2.29, 2.55, 2.80, respectively) when the dynamic power consumption is a cubic function of the frequency and the islands have up to 4 (8, 16, 32, respectively) cores. Moreover, with non-negligible overhead for sleeping, further combination with any uni-core procrastination algorithm that consumes no more energy than keeping a core idle when it has no workload in its ready queue, increases the approximation factor by at most 1.