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

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Typical Multicore Architecture

L2 CacheL2 Cache

Off-chip memory

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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

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This sounds great for embedded & real-time applications!

CPU

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SharedResources

Band

wid

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Real-Time Applications on Multicores?

L2 CacheL2 Cache

Off-chip memory

Problems:-- Cache contention-- Bus interference-- Multiprocessor scheduling-- Spinlocks/Queuing-- Cheap/expensive Synchronization

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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