multi-core research topics relevant to automotive and ... · static wcet speed-up of intra-task...
TRANSCRIPT
![Page 1: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/1.jpg)
Prof. Dr. Theo Ungerer
Department of Computer Science
University of Augsburg
May 19, 2015
Multi-core Research Topics
Relevant to Automotive and
Avionics Safety-critical
Control Systems
![Page 2: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/2.jpg)
University of Augsburg and my research team Research project parMERASA
Research ideas beyond parMERASA
Contents of talk
![Page 3: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/3.jpg)
University of Augsburg
University of
Augsburg
60-80 km
![Page 4: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/4.jpg)
Augsburg
![Page 5: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/5.jpg)
About 20 000 students in 7 faculties/departments
Department of Computer Science: about 1500 students
University of Augsburg
![Page 6: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/6.jpg)
6
Prof. Dr. Theo Ungerer
Research Team
![Page 7: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/7.jpg)
Multi-/many-core hardware design and
system software for safety-critical systems.
Timing-aware parallelisation techniques.
Application domains: automotive, avionics,
space, automation
Prof. Dr. Theo Ungerer
Main Research Focus
![Page 8: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/8.jpg)
8
Recent and Current Research Projects
EC parMERASA: Multi-Core Execution of Parallelised Hard Real-Time Applications Supporting Analysability, 2011- 2014
Project coordination Timing predictable parallelisation approach for hard real-time programs Hard real-time System SW and TinyAUTOSAR Memory and NoC structure of timing predictable many-core
Intel Research: Investigation of Intel TSX in context of safety-critical systems
Intel Haswell Hardware Transactional Memory for fault tolerance and fair scheduling of real-time threads
DFG-Research Group OC-TRUST Trust-enhancement of Self-X-Algorithms Trust-Enabling Middleware
Prof. Dr. Theo Ungerer
Research Team
![Page 9: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/9.jpg)
Multi-Core Execution of parallelised Hard Real-
Time Applications Supporting Analysability
European Community Research Project
Sept. 1, 2011 – Sept. 30, 2014
3.3 Mio EC contribution
Project webpage: http://www.parmerasa.eu
parMERASA 9
![Page 10: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/10.jpg)
Project Partners and IAB
parMERASA 10
Industrial Advisory Board:
Airbus, Toulouse, France
Infineon Technologies UK Ltd, Bristol, UK
Infineon Technologies AG, Munich,
Germany
BMW Group, Munich, Germany
DELPHI, Sweden
Elektrobit Automotive GmbH, Erlangen,
Germany
Daimler AG, Germany
![Page 11: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/11.jpg)
Overview
Motivation and Principal Objective
Principal Developments and Results
Parallelisation Results
Conclusions
Principal Results
11 parMERASA
![Page 12: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/12.jpg)
Hard Real-time Systems
Hard real-time:
a deadline must never be missed
if missed it may cause harm to humans or equipment
Mixed criticality in multi-cores:
combining functionalities with different levels of criticality
within multi-core systems
e.g. sub-systems to be combined that have different
automotive safety integrity levels (ASIL)
12 parMERASA
![Page 13: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/13.jpg)
parMERASA goes one step beyond mixed
criticality demands:
We target future complex control algorithms
by parallelising hard real-time programs to
run on predictable multi-core processors.
Vision of parMERASA
parMERASA 13
![Page 14: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/14.jpg)
parMERASA 14
Uni Augsburg
Honeywell DENSO Bauer
BSC Uni Augsburg TU Dortmund
Uni Augsburg
BSC & TU Dortmund & Uni Augsburg
Uni Toulouse &
Rapita Systems
Avionics RTE Automotive RTE Constr. M. RTE
Avionics Automotive Construction M.
Kernel Library
Predictable Multi-core Hardware
Verification & Profiling Tools
Parallelisation Methods
Project Layout
![Page 15: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/15.jpg)
Overview
Motivation and Principal Objective
Principal Developments and Results
Parallelisation Results
Conclusions
Principal Results
15 parMERASA
![Page 16: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/16.jpg)
Parallelisation of four industrial hard real-time applications:
Stereo navigation (Honeywell International s.r.o.)
3D path planning (Honeywell International s.r.o.)
Control algorithm of a Crawler Crane
(BAUER Maschinen GmbH)
Diesel engine management system
(DENSO Automotive Deutschland GmbH)
Principal Results (1)
16 parMERASA
![Page 17: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/17.jpg)
Pattern-based approach to efficiently parallelise industrial
applications for embedded real-time systems.
Principal Results (2)
17 parMERASA
![Page 18: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/18.jpg)
WCET analysis and verification tools for multi-cores:
static WCET tool OTAWA (University of Toulouse) and
measurement-based WCET tool RapiTime
all extended for parallel programs
Further tools developed/extended for parallel program
analysis by Rapita Systems Ltd:
RapiTask trace viewer
RapiCheck constraint checker
RapiCover for code coverage
RapiTime dependency analysis tool
Principal Results (3): Tools
18 parMERASA
![Page 19: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/19.jpg)
Hard real-time support in system software
Common Kernel Lib
Tiny automotive, Tiny avionics, BIOS for crawler crane
RTEs
Principal Results (4)
19 parMERASA
![Page 20: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/20.jpg)
Overview
Motivation and Principal Objective
Principal Developments and Results
Parallelisation Results
Conclusions
Principal Results
20 parMERASA
![Page 21: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/21.jpg)
Execution times measured by parMERASA simulator
Two types of WCET speed-ups:
based on static WCET bounds reached by OTAWA
based on dynamic WCET estimates based on RapiTime
Results of Parallelisations (1)
21 parMERASA
Observed speed−up =execution time of the sequential program
execution time of the parallelised version
WCET speed−up =WCET estimate of the sequential program
WCET estimate of the parallelised version
![Page 22: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/22.jpg)
3DPP application
speed-ups
with perfect
cache coherence
Results of Parallelisations (2)
22 parMERASA
![Page 23: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/23.jpg)
3DPP application
speed-ups
with ODC2
cache coherence
Results of Parallelisations (3)
23 23/09/2014 parMERASA
Observed execution time with ODC2 (2.51 million
cycles) is very close to a cache with perfect
coherency protocol (2.42 million cycles for 8 cores)
![Page 24: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/24.jpg)
Compaction machine application
Results of Parallelisations (4)
24 23/09/2014 parMERASA
![Page 25: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/25.jpg)
Diesel engine management system
(DENSO Automotive Deutschland GmbH)
1200 runnables
11 time-driven tasks and
1 crank-angle task (interrupt from the camshaft sensor)
(1) Inter-task level: parallel execution of tasks
(2) Intra-task level: parallel execution of runnables
of the same task
(3) Intra-runnable: parallel execution of instruction blocks
or function calls of a runnable.
Results of Parallelisations (5)
25 parMERASA
![Page 26: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/26.jpg)
Diesel engine management system:
static WCET speed-up of inter-task parallelization
Results of Parallelisations (6)
26 parMERASA
![Page 27: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/27.jpg)
Diesel engine management system:
static WCET speed-up of intra-task parallelization
Results of Parallelisations (7)
27 parMERASA
Intra- and inter-task parallelism combined:
Longest running task distributed over 2 cores.
Static WCET speedup estimate increased to 5.97 on 8 cores.
![Page 28: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/28.jpg)
Diesel engine management system:
measurement-based WCET speed-up of intra-runnable parallel.
Results of Parallelisations (8)
28 parMERASA
![Page 29: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/29.jpg)
EC FP-7 parMERASA project (Oct. 1, 2011 - Sept. 30, 2014)
targeted future complex control algorithms by parallelizing
hard real-time programs.
Reasonable WCET speed-ups can be reached with a low
number of cores, e.g. 5.97 on 8 cores for diesel EMS.
Scalability of real-world hard real-time applications that run
successful on single-core is limited.
Results Summary
29 parMERASA
![Page 30: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/30.jpg)
EC FP-7 parMERASA project (Oct. 1, 2011 - Sept. 30, 2014)
targeted future complex control algorithms by parallelizing
hard real-time programs.
Reasonable WCET speed-ups can be reached with a low
number of cores, e.g. 5.97 on 8 cores for diesel EMS.
Scalability of real-world hard real-time applications that run
successful on single-core is limited.
parMERASA project paved the way for future high-performance
embedded systems applications.
More complex control algorithms than today can be applied.
Results Summary
30 parMERASA
![Page 31: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/31.jpg)
Potentially relevant to future AUTOSAR
Investigate combination of Latest-is-best semantic with
Time Synchronous Execution Model
Investigate Real-time scheduling in case of deadline misses
Research Ideas (1)
31
![Page 32: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/32.jpg)
Investigate high-performance control algorithms
(physical simulation, autonomous driving, compound ECU)
Investigate message-passing many-cores in safety-critical
systems (parallelisation, parallel patterns, timing-predictability,
fault tolerance)
Research Ideas (2)
32
![Page 33: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/33.jpg)
Hardware transactional memory in embedded systems
apply techniques developed during the Intel project to
embedded microcontrollers and systems
Potential advantages
non-blocking synchronisation leads to ease of programming
shortened blocking critical code sections
no priority inversion
Hardware managed and fine-grained checkpointing lead
to new lock-step-techniques with fine-grained restart
in case of transient faults
Research Ideas (3)
33
![Page 34: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/34.jpg)
Potentially relevant to current and future Automotive Systems
Combine automotive driver-assistance systems with
medical devices
Possible extension of a planned EC FET proposal on
body-implanted medical devices
- Brain implant for the rapid detection and stopping of
epileptic seizures
- Heart implant (Cardiac-Alarm) for the timely detection of
Ventricular Fibrillation
Research Ideas (4)
34
![Page 35: Multi-core Research Topics Relevant to Automotive and ... · static WCET speed-up of intra-task parallelization Results of Parallelisations (7) parMERASA 27 Intra- and inter-task](https://reader033.vdocument.in/reader033/viewer/2022051912/600340ad1dca1965b141780f/html5/thumbnails/35.jpg)
Thanks for your attention