coder-mp ssf meeting, may 3, 2011, uppsala agenda 10.15-10.45 overview (coffee will be served)...
TRANSCRIPT
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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
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CoDeR-MPComputationally Demanding
Real-Time Applications on Multicore Platforms
OUTLINE• Why CoDeR-MP• Project Plan
• Structure• Goals
• Progress• Main achievements• Demos
• Vision
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The free lunch is over &Multicores are coming !
Year 1999-2007
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CPU
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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!
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CPU
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SharedResources
Band
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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
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Real-Time Tracking with parallel particle filter – SAAB
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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?
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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
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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
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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
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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
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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
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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)
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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
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VISION
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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
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PlatformHardware Resources: Cores, Caches, Memmory Bandwidth
…
ApplicationHard real-time, Software real-time, Others
?
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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
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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
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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