“…In the last decade, energy-aware computing has been widely applied not only for portable electronic devices, but also for large systems which incur large costs for energy and cooling. With dynamic voltage/frequency scaling (DVFS) techniques [3,7,8,9,10,11,12,15,16,17,18,19], processors can perform at a range of voltages and frequencies. In the CMOS processors, the energy consumption is at least a quadratic function of its supply voltage (and hence the processor frequency) [3,7,8,19,20,21], and total energy consumption could be minimized by sharing slack time while satisfying the time constraints of the tasks.…”