Generalizing parametric timing analysis
In the design of real-time and embedded systems, it is important to establish a bound on the worst-case execution time (WCET) of programs to assure via schedulability analysis that deadlines are not missed. Static WCET analysis is performed by a timing analysis tool. This paper describes novel improvements to such a tool, allowing parametric timing analysis to be performed. Parametric timing analyzers receive an upper bound on the number of loop iterations in terms of an expression which is used to create a parametric formula. This parametric formula is later evaluated to determine the WCET based on input values only known at runtime. Effecting a transformation from a numeric to a parametric timing analyzer requires two innovations: 1) a summation solver capable of summation non-constant expressions and 2) a polynomial data structure which can replace integers as the basis for all calculations. Both additions permit other methods of analysis (e.g. caching, pipeline, constraint) to occur simultaneously. Combining these techniques allows our tool to statically bound the WCET for a larger class of benchmarks.

title: Introduction to the special issue
abstract: This special issue of TECS is dedicated to a digest of the best papers for the ACM Conference on Languages, Compilers, and Tools for Embedded Systems 2003 (LCTES’03) with sponsorship from SIGPLAN and, since 2004, also from SIGBED. The conference has matured to one of the top high-quality academic venues on embedded systems with a competitive acceptance rate of 23% in 2003. The conference attracts papers on topics ranging from hardware enhancements of embedded architectures over compilation, system development, and analysis tools to modeling of embedded systems. The four papers presented in this issue are extensions of the authors’ conference contributions. The first paper, Dynamic Coalescing for 16-bit Instructions by Arvind Krishnaswamy and Rajiv Gupta, proposes a minor architectural extension to the ARM processor architecture to allow the native 32-bit ARM instructions to be interspersed with the smaller 16-bit Thumb instructions supported by the processor. The authors use compilation techniques to fold two Thumb instruction into a single equivalent ARM instruction, thereby reducing the number of cycles required for execution. They demonstrate that their technique can result both in performance improvements and potentially reduced energy consumption. The second paper, The Implementation and Evaluation of Dynamic Code Decompression using DISE by Marc L. Corliss, E. Christopher Lewis, and Amir Roth, promotes code compression techniques combined with programmable hardware support for postfetch time decompression using their so-called dynamic instruction stream editing (DISE) technique. Special instructions in the application code can reprogram the DISE engine by specifying patterns and parameters for patterns. Once programmed, instruction fetches consisting of compressed code are expanded upon a match. Benefits of this technique are in a significant reduction in code size, improved performance and, to some extend, lower energy consumption. The third paper, Memory Safety Without Runtime Checks or Garbage Collection by Dinakar Dhurajti, Sumant Kowshik, Vikram Adve, and Chris Lattner, describes a set of methods to ensure memory safety without requiring run-time support or user annotations. The idea is to restrict the C language such that a combination of compilation techniques and type-sensitive pool-based memory allocation ensures safe program execution. As a result, array bound checks and null pointer checks can also be removed without risking to violate program semantics. Experimental results demonstrate the applicability of these techniques to a number of C benchmarks. The fourth paper, Schedulability-Driven Frame Packing for MultiCluster Distributed Embedded Systems by Paul Pop, Eles Petru, and Peng Zebo, focuses on packet scheduling for distributed real-time systems. The authors consider timing constraints on packet delivery across a gateway connecting two distinct processor clusters, one that is connected by an event-triggered network using CSMA and another that is connected by a time-triggered architecture using

title: Source-Code-Correlated Cache Coherence Characterization of OpenMP Benchmarks
abstract: Cache coherence in shared-memory multiprocessor systems has been studied mostly from an architecture viewpoint, often by means of aggregating metrics. In many cases, aggregate events provide insufficient information for programmers to understand and optimize the coherence behavior of their applications. A better understanding would be given by source code correlations of not only aggregate events, but also finer granularity metrics directly linked to high-level source code constructs, such as source lines and data structures. In this paper, we explore a novel application-centric approach to studying coherence traffic. We develop a coherence analysis framework based on incremental coherence simulation of actual reference traces. We provide tool support to extract these reference traces and synchronization information from OpenMP threads at runtime using dynamic binary rewriting of the application executable. These traces are fed to ccSIM, our cache-coherence simulator. The novelty of ccSIM lies in its ability to relate low-level cache coherence metrics (such as coherence misses and their causative invalidations) to high-level source code constructs including source code locations and data structures. We explore the degree of freedom in interleaving data traces from different processors and assess simulation accuracy in comparison to metrics obtained from hardware performance counters. Our quantitative results show that: 1) Cache coherence traffic can be simulated with a considerable degree of accuracy for SPMD programs, as the invalidation traffic closely matches the corresponding hardware performance counters. 2) Detailed, high-level coherence statistics are very useful in detecting, isolating, and understanding coherence bottlenecks. We use ccSIM with several well-known benchmarks and find coherence optimization opportunities leading to significant reductions in coherence traffic and savings in wall-clock execution time

title: MOLAR: adaptive runtime support for high-end computing operating and runtime systems
abstract: MOLAR is a multi-institutional research effort that concentrates on adaptive, reliable, and efficient operating and runtime system (OS/R) solutions for ultra-scale high-end scientific computing on the next generation of supercomputers. This research addresses the challenges outlined in FAST-OS (forum to address scalable technology for runtime and operating systems) and HECRTF (high-end computing revitalization task force) activities by exploring the use of advanced monitoring and adaptation to improve application performance and predictability of system interruptions, and by advancing computer reliability, availability and serviceability (RAS) management systems to work cooperatively with the OS/R to identify and preemptively resolve system issues. This paper describes recent research of the MOLAR team in advancing RAS for high-end computing OS/Rs.

title: Improving WCET by optimizing worst-case paths
abstract: It is advantageous to perform compiler optimizations to lower the WCET of a task since tasks with lower WCETs are easier to schedule and more likely to meet their deadlines. Compiler writers in recent years have used profile information to detect the frequently executed paths in a program and there has been much effort to develop compiler optimizations to improve these paths in order to reduce average-case execution time. In this paper we describe our approach to reduce WCET by adapting and applying optimizations designed for frequent paths to the worst-case paths in an application. Our compiler uses feedback from our timing analyzer to detect the WCET paths through a function that will be subject to aggressive optimizations, reflect subsequent effects on the WCET of the paths due to these optimizations, and to also ensure that the worst-case path optimizations actually improve the WCET before committing to a code size increase. We evaluate a number of WC path optimizations and present results showing the decrease in WCET versus the increase in code size.

title: Proactive process-level live migration in HPC environments
abstract: As the number of nodes in high-performance computing environments keeps increasing, faults are becoming common place. Reactive fault tolerance (FT) often does not scale due to massive I/O requirements and relies on manual job resubmission. This work complements reactive with proactive FT at the process level. Through health monitoring, a subset of node failures can be anticipated when one's health deteriorates. A novel process-level live migration mechanism supports continued execution of applications during much of processes migration. This scheme is integrated into an MPI execution environment to transparently sustain health-inflicted node failures, which eradicates the need to restart and requeue MPI jobs. Experiments indicate that 1-6.5 seconds of prior warning are required to successfully trigger live process migration while similar operating system virtualization mechanisms require 13-24 seconds. This self-healing approach complements reactive FT by nearly cutting the number of checkpoints in half when 70% of the faults are handled proactively.

title: Penumbra: an Eclipse plugin for introductory programming
abstract: Eclipse is a full-featured and easily extensible integrated development environment. As such, it has grown to include a large degree of functionality that may be overwhelming to the novice programmer. Nevertheless, we believe Eclipse is an environment that students of programming will come to find useful and empowering once they become familiar with it. The trick is easing them into using Eclipse without them feeling overwhelmed at the outset. Penumbra is an Eclipse plug-in developed at Purdue University for use in our introductory programming classes. It is intended to ease the transition to use of the full-featured functionality of Eclipse. Penumbra presents an Eclipse perspective that hides all but the basic actions of Eclipse's existing Java perspective, while packaging elements of other perspectives (e.g., the CVS perspective) into simpler actions that ease the downloading and turn-in of programming assignments, and adding new code views inspired by other environments for introductory programmers. Our experiences using Eclipse with a small group of introductory programming students in the Spring of 2003 have guided the development of Penumbra, which is now being rolled out for general use by the full class of 230 students in the Fall of 2003.