In this work, we introduce a power-consumption model for heterogeneous multicore architectures that captures the variability of energy consumption based on processing workload type, in addition to the classical variables considered in the literature, like type and frequency of the CPU. We motivate the approach presenting experimental results gathered on a Odroid-XU3 board equipped with an Arm big.LITTLE CPU, showing that power consumption has a non-negligible dependency on the workload type. We also present a model to define the execution time of the tasks, which depends on both the workload, and the CPU frequency and architecture. We present our modifications to the open-source RTSIM real-time scheduling simulator to extend its CPU power consumption and execution time duration models, integrating results taken from the real platform. The presented work constitutes a useful base for future research in power-aware real-time scheduling on heterogeneous platforms. CCS CONCEPTS • Computer systems organization → Real-time operating systems; Embedded systems;
In applications involving unmanned aerial vehicles, the use of simulation environments is typically employed to speed up the development phase, reduce the associated costs, and in particular to safely verify and validate the software behavior without jeopardizing the hardware in case of faults or bugs. In addition, testing other properties as scalability, robustness, and fault tolerance is much more convenient in simulation
In this paper, we revisit the problem of learning a stabilizing controller from a finite number of demonstrations by an expert. By first focusing on feedback linearizable systems, we show how to combine expert demonstrations into a stabilizing controller, provided that demonstrations are sufficiently long and there are at least n + 1 of them, where n is the number of states of the system being controlled. When we have more than n + 1 demonstrations, we discuss how to optimally choose the best n + 1 demonstrations to construct the stabilizing controller. We then extend these results to a class of systems that can be embedded into a higher-dimensional system containing a chain of integrators. The feasibility of the proposed algorithm is demonstrated by applying it on a CrazyFlie 2.0 quadrotor.
This paper constitutes an industrial experience report about the use of data center optimization strategies for softwarized network services within the Vodafone resource management unit for the management of virtualized network infrastructures. The problem of optimum virtual machine placement as needed in the network operator context is detailed, and different solving strategies are proposed and discussed, including heuristics based on genetic optimization. Also, experimental results are presented that compare these strategies with one another from the standpoint of optimality and execution times, using a data-set made of some of the real problems that had to be solved in the past few years by Vodafone, in order to optimize its capacity planning decisions. The presented experimental results highlight that an optimum solver leads to excessively high computation times for large problems, whereas simple heuristics may exhibit significant loss in optimality at reduced computation times. Genetic optimization, on the other hand, constitutes a very interesting trade-off between these two extremes. The data-set used for the provided results is published under an open data license, for possible reuse in future research works on the topic.
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