Skip to main content
SpringerLink
Log in

Preemption-light multiprocessor scheduling of sporadic tasks with high utilisation bound

  • Published:
Real-Time Systems Aims and scope Submit manuscript

Abstract

Known algorithms capable of scheduling implicit-deadline sporadic tasks over identical processors at up to 100% utilisation invariably involve numerous preemptions and migrations. To the challenge of devising a scheduling scheme with as few preemptions and migrations as possible, for a given guaranteed utilisation bound, we respond with the algorithm NPS-F. It is configurable with a parameter, trading off guaranteed schedulable utilisation (up to 100%) vs preemptions. For any possible configuration, NPS-F introduces fewer preemptions than any other known algorithm matching its utilisation bound.

A clustered variant of the algorithm, for systems made of multicore chips, eliminates (costly) off-chip task migrations, by dividing processors into disjoint clusters, formed by cores on the same chip (with the cluster size being a parameter). Clusters are independently scheduled (each, using non-clustered NPS-F). The utilisation bound is only moderately affected.

We also formulate an important extension (applicable to both clustered and non-clustered NPS-F) which optimises the supply of processing time to executing tasks and makes it more granular. This reduces processing capacity requirements for schedulability without increasing preemptions.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  • AMD Inc (2008a) Key architectural features of AMD Phenom X3 triple-core processors. Product information—http://www.amd.com/us-en/Processors/ProductInformation/0,30_118_15331_15332%5E15615,00.html

  • AMD Inc (2008b) Key architectural features of AMD Phenom X4 quad-core processors. Product information—http://www.amd.com/us-en/Processors/ProductInformation/0,30_118_15331_15332%5E15334,00.html

  • AMD Inc (2008c) Quad-core AMD Opteron Processor. Product brief—http://www.amd.com/us-en/Processors/ProductInformation/0,30_118_8796_15223,00.html

  • Anderson J, Srinivasan A (2004) Mixed Pfair/ERfair scheduling of asynchronous periodic tasks. J Comput Syst Sci 68(1):157–204

    Article  MathSciNet  MATH  Google Scholar 

  • Anderson JH, Bud V, Devi UC (2005) An EDF-based scheduling algorithm for multiprocessor soft real-time systems. In: Proceedings of the 17th Euromicro conference on real-time systems, pp 199–208

    Google Scholar 

  • Anderson JH, Calandrino JM, Devi UC (2006) Real-time scheduling on multicore platforms. In: Proceedings of 12th IEEE real-time and embedded technology and applications symposium, pp 179–190

    Google Scholar 

  • Andersson B, Bletsas K (2008) Sporadic multiprocessor scheduling with few preemptions. In: Proceedings of the 20th Euromicro conference on real-time systems (ECRTS), pp 243–252

    Google Scholar 

  • Andersson B, Bletsas K, Baruah S (2008) Scheduling arbitrary-deadline sporadic task systems on multiprocessors. In: Proc of 29th real-time systems symposium (RTSS), pp 385–394

    Google Scholar 

  • ARM Ltd (2008) ARM11 MPCore. Product information—available online at http://www.arm.com/products/CPUs/ARM11MPCoreMultiprocessor.html

  • Baruah SK, Mok AK, Rosier LE (1990) Preemptively scheduling hard-real-time sporadic tasks on one processor. In: Proceedings of the 11th IEEE real-time systems symposium, pp 182–190

    Chapter  Google Scholar 

  • Baruah SK, Cohen NK, Plaxton CG, Varvel DA (1996) Proportionate progress: a notion of fairness in resource allocation. Algorithmica 15(6):600–625

    Article  MathSciNet  MATH  Google Scholar 

  • Bletsas K, Andersson B (2009a) Notional processors: an approach for multiprocessor scheduling. In: Proceedings of the 15th IEEE real-time and embedded technology and applications symposium (RTAS), pp 3–12

    Chapter  Google Scholar 

  • Bletsas K, Andersson B (2009b) Preemption-light multiprocessor scheduling of sporadic tasks with high utilisation bound. In: Proc of 30th real-time systems symposium (RTSS), pp 447–456

    Google Scholar 

  • Brandenburg BB, Calandrino JM, Anderson JH (2008) On the scalability of real-time scheduling algorithms on multicore platforms: a case study. In: Proc of 29th real-time systems symposium (RTSS), pp 157–169

    Google Scholar 

  • Calandrino JM, Anderson JH, Baumberger DP (2007) A hybrid real-time scheduling approach for large-scale multicore platforms. In: Proceedings of 19th Euromicro conference on real-time systems, pp 247–258

    Google Scholar 

  • Carpenter J, Funk S, Holman P, Anderson J, Baruah S (2004) A categorization of real-time multiprocessor scheduling problems and algorithms. In: Handbook on scheduling algorithms, methods and models. Chapman & Hall/CRC, London/Boca Raton, Chap 30

    Google Scholar 

  • Chao Y, Lin S, Lin K (2008) Schedulability issues for EDZL scheduling on real-time multiprocessor systems. Inf Process Lett 107(5):158–164

    Article  MathSciNet  MATH  Google Scholar 

  • Cho S, Lee S, Han A, Lin K (2002) Efficient real-time scheduling algorithms for multiprocessor systems. IEICE Trans Commun E85-B(12):2859–2867

    Google Scholar 

  • Devi U, Anderson J (2005) Tardiness bounds for global EDF scheduling on a multiprocessor. In: Proceedings of the 26th IEEE real-time systems symposium, pp 30–341

    Google Scholar 

  • Fedorova A, Seltzer M, Small C, Nussbaum D (2005) Performance of multithreaded chip multiprocessors and implications for operating system design. In: Proceedings of the USENIX 2005 annual technical conference

    Google Scholar 

  • Fisher N, Goossens J, Baruah S (2010) Optimal online multiprocessor scheduling of sporadic real-time tasks is impossible. Real-Time Syst 45:26–71

    Article  MATH  Google Scholar 

  • Garey MR, Johnson DS (1979) Computers and intractability: a guide to the theory of NP-completeness. Freeman, New York

    MATH  Google Scholar 

  • Intel Corporation (2008a) Intel Core i7 processor. Product brief—http://download.intel.com/products/processor/corei7/prod_brief.pdf

  • Intel Corporation (2008b) Intel Xeon Processor 3500 series. http://www.intel.com/cd/channel/reseller/asmo-na/eng/products/server/processors/3500/feature/index.htm

  • Intel Corporation (2008c) Intel Xeon Processor 7400 series. Datasheet—http://download.intel.com/design/xeon/datashts/32033501.pdf

  • Intel Corporation (2009) Intel Xeon Processor 5500 series. Product brief—http://download.intel.com/products/processor/xeon/dc55kprodbrief.pdf

  • Kato S, Yamasaki N (2007) Real-time scheduling with task splitting on multiprocessors. In: Proc of the 13th IEEE international conf on embedded and real-time computing systems and applications (RTCSA), pp 441–450

    Google Scholar 

  • Kato S, Yamasaki N (2008) Portioned static-priority scheduling on multiprocessors. In: Proceedings of the IEEE international parallel and distributed processing symposium (IPDPS), pp 1–12

    Google Scholar 

  • Kato S, Yamasaki N (2009) Semi-partitioned fixed-priority scheduling on multiprocessors. In: Proceedings of the 15th IEEE real-time and embedded technology and applications symposium (RTAS), pp 23–32

    Chapter  Google Scholar 

  • Kato S, Yamasaki N, Ishikawa Y (2009) Semi-partitioned scheduling of sporadic task systems on multiprocessors. In: Proceedings of the 21st Euromicro conference on real-time systems (ECRTS), pp 249–258

    Google Scholar 

  • Leung J, Whitehead J (1982) On the complexity of fixed-priority scheduling of periodic real-time tasks. Perform Eval 2(4):237–250

    Article  MathSciNet  MATH  Google Scholar 

  • Mok AK (1983) Fundamental design problems of distributed systems for the hard real-time environment. PhD thesis, MIT

  • Rajkumar R, Sha L, Lehoczky JP (1988) Real-time synchronization protocols for multiprocessors. In: Proceedings of the 9th IEEE real-time systems symposium (RTSS 1988), pp 259–269

    Google Scholar 

  • Shin I, Easwaran A, Lee I (2007) Hierarchical scheduling framework for virtual clustering of multiprocessors. In: Proceedings of the 20th Euromicro conference on real-time systems, pp 181–190

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. CISTER/ISEP Research Centre, Polytechnic Institute of Porto, Porto, Portugal

    Konstantinos Bletsas & Björn Andersson

Authors
  1. Konstantinos Bletsas
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Björn Andersson
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Konstantinos Bletsas.

Additional information

A preliminary version of this paper can be found in the Proceedings of the 30th IEEE Real-Time Systems Symposium, 2009, pp. 447–456.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Bletsas, K., Andersson, B. Preemption-light multiprocessor scheduling of sporadic tasks with high utilisation bound. Real-Time Syst 47, 319–355 (2011). https://doi.org/10.1007/s11241-011-9114-0

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11241-011-9114-0

Keywords

Search

Navigation