Browse > Article

Operating System level Dynamic Power Management for Robot  

Choi Seungmin (Electronics and Telecommunications Research Institute Intelligent Robot Research Division)
Chae Sooik (School of Electrical and Computer Engineering, Seoul National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SD / v.42, no.5, 2005 , pp. 63-72 More about this Journal
Abstract
This paper describes a new approach for the operating system level power management to reduce the energy consumed in the IO devices in a robot platform, which provides various functions such as navigation, multimedia application, and wireless communication. The policy proposed in the paper, which was named the Energy-Aware Job Schedule (EAJS), rearranges the jobs scattered so that the idle periods of the devices are clustered into a time period and the devices are shut down during their idle period. The EAJS selects a schedule that consumes the minimum energyamong the schedules that satisfy the buffer and time constraints. Note that the burst job execution needs a larger memory buffer and causes a longer time delay from generating the job request until to finishing it. A prototype of the EAJS is implemented on the Linux kernel that manages the robot system. The experiment results show that a maximum $44\%$ power saving on a DSP and a wireless LAN card can be obtained with the EAJS.
Keywords
Energy; Energy-Aware Job Scheduler; DPM; Robot; Operating System;
Citations & Related Records
연도 인용수 순위
  • Reference
1 M. Weiser, B. Welch, A. Demers, and S. Shenker, 'Scheduling for reduced CPU energy,' in Proc. Symp, Operating Syst. Design Implementation, Monterey, CA, Nov. 1994, pp. 13-23
2 Y. Shin and K. Choi, 'Power conscious fixed priority scheduling for hard real-time systems,' in Proc, Design Automation Conf., New Orleans, LA, June 1999, pp. 134-139   DOI
3 J. R. Lorch and A. J. Smith, 'Scheduling techniques for reducing processor energy use in MacOS,' Wireless Networks, vol. 3, no. 5, pp.311- 324, 1997   DOI
4 C.-H. Hwang and A. C. H. Wu, 'A predictive system shutdown method for energy saving of event driven computation,' ACM Trans. Design Automation Electron. Syst., vol. 5, no. 2, pp. 226-241, 2000   DOI   ScienceOn
5 'TriMedia TM -1300 Media Processor Data Book,' 2000 Sep 30, Philips
6 E. - Y. Chung, L. Benini, and G. De Micheli, 'Dynamic power management using adaptive learning tree,' in Int. Conf, Comput.-Aided Design, San Jose, CA, Nov., 1999, pp. 274-279   DOI
7 A. R. Karlin, M. S. Manasse, L. A. McGeoch, and S. Owicki, 'Competitive randomized algorithms for nonuniform problems,' Algorithmica, vol. 11, no. 6, pp. 542-571, June 1994   DOI
8 G. De Micheli and L. Benini, 'System level power optimization: Techniques and tools,' ACM Trans. Design Automation Electron. Syst., vol. 5, no. 2, pp. 115-192, Apr. 2000   DOI   ScienceOn
9 L. Benini, A. Bogliolo, and G. Demicheli, 'A survey of design techniques for system-level dynamic power management,' IEEE Trans. VLSI Syst, Vol.8 June 2000   DOI   ScienceOn
10 StrongARM Processor. [Online]. Available: http://developer.intel.com/design/strong/
11 L. Benini and G. De Micheli, Dynamic Power Management: Design Techniques and CAD Tools. Norwell, MA: Kluwer, 1997
12 Yung-Hsiang Lu, Luca Benini, and Giovanni De Micheli, 'Power-Aware Operating Systems for Interactive Systems,' IEEE Trans. VLSI Syst., vol 10, no.2, pp.119-134, April 2002   DOI   ScienceOn
13 J. M. Rabaey and M. Pedram, Eds., Low Power Design Methodologies. Norwell, MA: Kluwer, 1996