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Reducing energy consumption has become a major goal in designing modern heterogeneous computing systems. Conventional energy-efficient scheduling strategies developed on this kind of systems mainly focus on energy saving, lacking of the consideration of users' expectations such as expected finish time. Again, the system elasticity is not sufficiently taken into account while making scheduling decisions. In this paper, we develop a novel scheduling strategy named energy-efficient elastic (3E) scheduling for aperiodic, and independent tasks on DVS-enabled heterogeneous computing systems. The 3E strategy concentrates on adjusting tasks' supply voltages according to the system workload, thereby making the best trade-offs between energy conservation and users' expected finish times. Experimental results demonstrate that our 3E significantly improves the scheduling quality of the others, and is able to effectively enhance the system elasticity.