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Humanoid robots are typical application of real-time systems and have required timing constraints, low-latency, and parallel/distributed processing to achieve fine-grained real-time execution. Therefore, we have developed Dependable Responsive Multithreaded Processor I (D-RMTP I), which has one Responsive Multithreaded Processing Unit with an 8-way prioritized Simultaneous Multithreading architecture...
Single-ISA heterogeneous multi-core processors have been demonstrated to improve the performance and efficiency of general-purpose workloads. However, these designs leave some performance on the table due to the common assumption that the cost of migrating a program from one core to another is high. This high cost is due to the reliance on the operating system for a migration via a context switch...
Cyber-Physical Systems (CPS) are tight integrations of computational and physical worlds for various kinds of applications. For example, a humanoid robot, which is a typical application of CPS, has required timing constraints, low-latency execution, and parallel processing to achieve fine-grained real-time execution. Therefore low-latency parallel real-time computing is an important factor for CPS...
Heterogeneous computing is a promising approach to tackle the thermal, power and energy constraints posed by modern desktop and embedded computing systems. However, by also allowing the migration of application threads to the most appropriate cores, significant performance gains and energy efficiency levels can also be attained. Nevertheless, the considerably large overheads usually imposed by software-based...
Traditionally, operating system (OSes) suffers from a bifid priority space dictated by the co-existence of threads managed by kernel scheduler and asynchronous interrupt handlers scheduled by hardware. On real-time systems, where reliability and determinism plays a critical role, this approach presents a noteworthy lack, as any interrupt handler can interrupt an execution thread, regardless of its...
GPUs are being increasingly adopted as compute accelerators in many domains, spanning environments from mobile systems to cloud computing. These systems are usually running multiple applications, from one or several users. However GPUs do not provide the support for resource sharing traditionally expected in these scenarios. Thus, such systems are unable to provide key multiprogrammed workload requirements,...
To harness the potential of CMPs for scalable, energy-efficient performance in general-purpose computers, the Apple-CORE project has co-designed a general machine model and concurrency control interface with dedicated hardware support for concurrency management across multiple cores. Its SVP interface combines dataflow synchronisation with imperative programming, towards the efficient use of parallelism...
Since the introduction of fully programmable vertex shader hardware, GPU computing has made tremendous advances. Exception support and speculative execution are the next steps to expand the scope and improve the usability of GPUs. However, traditional mechanisms to support exceptions and speculative execution are highly intrusive to GPU hardware design. This paper builds on two related insights to...
With the increase in the design complexity of MPSoC architectures and the need for more transistor/energy efficient processor architectures, designers are exploiting the parallelism at the thread level (TLP) through the implementation of embedded multithreaded processors. Moreover, future manycore architectures tend to use small footprint RISC cores. In this paper, we present a small footprint, scalar,...
Theoretical real-time research generally neglects context switch times. But in recent embedded applications which consist of dozens of threads with very short execution times, their impact is too serious to be ignored. We present a hard real-time scheduling algorithm that perfectly hides the context switch times of an arbitrary number of threads. It requires a Simultaneous Multithreaded (SMT) processor...
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