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CoDeR-MP SSF meeting, May 3, 2011, Uppsala Agenda
10.15-10.45 Overview (Coffee will be served)
• Introduction, Olof Lindgren• CoDeR-MP: Goals, progress and vision, Wang Yi• Discussion
10.45-11.00 Hard safety-critical real-time applications • CoDeR-MP solved the 37-year open problem! Guan Nan• Coloring the cache to isolate multiple applications, Wang Yi
11.00-11.10 Break
11.10-11.35 Soft high-performance real-time applications• Performance profiling and modeling, David Eklöv & Erik Hagersten• The multi-core locking problem, Pan Xiaoyue & Bengt Jonsson
11.35-12.00 Industrial applications: real-time signal processing
• Real-time model-based estimation, Alexander Medvedev, UU• SAAB’s perspective on multi-core, Mats Ekman & Björn Holmberg, SAAB
12.00 -13.00 Lunch & Discussion
CoDeR-MPComputationally Demanding
Real-Time Applications on Multicore Platforms
OUTLINE• Why CoDeR-MP• Project Plan
• Structure• Goals
• Progress• Main achievements• Demos
• Vision
The free lunch is over &Multicores are coming !
Year 1999-2007
3
CPU
L1
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L1
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L1
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L1
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L1
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L1
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L1
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L1
Typical Multicore Architecture
L2 CacheL2 Cache
Off-chip memory
5
Theoretically with multicore, you may get:
Higher Performance • Increasing the cores -- unlimited computing power !
Lower Power Consumption• Increasing the cores, decreasing the clock frequency Keep the “same performance” using ¼ of the energy
6
This sounds great for embedded & real-time applications!
CPU
L1
CPU
L1
CPU
L1
CPU
L1
CPU
L1
CPU
L1
CPU
L1
CPU
L1
SharedResources
Band
wid
th
Real-Time Applications on Multicores?
L2 CacheL2 Cache
Off-chip memory
Problems:-- Cache contention-- Bus interference-- Multiprocessor scheduling-- Spinlocks/Queuing-- Cheap/expensive Synchronization
7
CoDeR-MP addressing the challenges:
Migrating legacy software to multicore• Sequential code parallelization• Performance issues – memory problems• Synchronization/locking problem
Developing new real-time software on multicore• High-performance applications: “fast” – real-time applications• Predictable real-time applications with guarantees: “correct” and
“deterministic”
Driven by Industrial Applications
Real-Time Tracking with parallel particle filter – SAAB
Real-Time Control – ABB Robotics
A B C DCommands High-level
instructions
Precise moves
Requests
Weldingprogram
IRC5 robot controller
Mixed Hard and Soft Real-Time Tasks20% hard real-time tasks
Main concerns:Isolation between hard & soft tasks: “fire walls”Real-time guarantee for the 20% “super” RT tasksMigration to multicore?
Goals of CoDeR-MP
New techniques for
• High-performance Real-Time applications &• Predictable Real Time applicationson multi-core processors
Mixed applications on the same multi-core chip
20% Hard RT
60% Soft RT
20% Others
Project Plan Task 1 (Demonstrators)
• Migration of IRC5 robot controller onto multicore platform (guidelines and tools for performance and real-time guarantees)
• Multicore implementation of parallel alg. for ground target tracking
Task 2 (Application diagnostics for migration)• Methods and tools for modeling, adaptation, integration and
evaluation of design alternatives Task 3 (Application parallelization)
• Parallel algorithms for control and signal processing Task 4 (Resource allocation for real-
time/”predictable”)• Multicore scheduling (processor cores and caches)
Task 5 (Resource allocation for performance/”fast”)• Resource modeling and management
Consortium/Senior Members SAAB
• SAAB Systems, Mats Ekman• (SAAB Combitech, Björn Holmberg)
ABB • Corporate Research, Jan Höglund• ABB Robotics, Peter Ericsson/Roger Kulläng
Uppsala University• Automated Control, Alexander Medvedev• Computer Architectures, Erik Hagersten & David Black-
Schaffer• Software Technology, Bengt Jonsson• Embedded Systems, Wang Yi, Project leader
Current Ph.D. Students David Eklöv Guan Nan Pan Xiaoyue Andreas Sandberg Andreas Sembrant Olov Rosen Jonatan Liden Zhang Yi
David Black-Schaffer (now assistant professor)
Previous Post Doc Fellow
CoDeR-MP: Project Structure
Techniques/tools for real-time guarantees• Wang et al
Techniques/tools for performance guarantees• Erik, Bengt et al
Industrial Applications: real-time signal processing• Alexander and Mats
Main achievements Industrial applications
• SAAB shows great interests in using the parallel signal processing algorithms developed within CoDeR-MP for real-time tracking
• ABB robotics shows great interests of using the CoDeR-MP performance modeling/profiling tools
Academic research• 20 (peer-reviewed) papers on good/top conferences• 2 best paper awards: IEEE RTSS 2009 and HiPEAC 2011• 5 best paper nominations (IEEE RTSS09, IEEE RTSS10, IEEE RTAS10, IEEE
RTAS11 & HiPEAC11)• Solved a 37-year open problem for multiprocessor scheduling
Successful FP 7 collaboration, 4 proposals!• Wang, CERTAINTY (Mixed embedded applications on multicores), likely to be
funded• Erik (passed the threshold, cliff-hanger)• Wang, Encore (passed the threshold)• Bengt (passed the threshold)
Demonstrators (in progress) Real-Time Tracking
• Running on “recorded data” Migration of legacy code
• Prototype tools for performance analysis• Cache coloring on LINUX for real-time
guarantee
VISION
Robot Contriller
Hard 20%Real-Time
Soft Real-Time
Non Real-Time:House Keeping
• We must allocate “resources”: cores, caches • We must isolate the different applications
PlatformHardware Resources: Cores, Caches, Memmory Bandwidth
…
ApplicationHard real-time, Software real-time, Others
?
PlatformHardware Resources: Cores, Caches, Memmory Bandwidth
…
Resource Virtualization
Hard 20%Real-Time
Soft Real-Time
Non Real-Time:House KeepingApplication
Hard real-time, Software real-time, Others
Resource Reservation
PlatformHardware Resources: Cores, Caches, Memmory Bandwidth
…
Hard 20%Real-Time
Soft Real-Time
Non Real-Time:House KeepingApplication
Hard real-time, Software real-time, Others
Server 1 … … Server N
ApplicationMapping
Resource Partition
PlatformHardware Resources: Cores, Caches, Memmory Bandwidth
…
Hard 20%Real-Time
Soft Real-Time
Non Real-Time:House KeepingApplication
Hard real-time, Software real-time, Others
Server 1 … … Server N
ApplicationMapping
Resource Partition
CoDeR-MP tools
CoDeR-MP tools
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