A hybrid DVS scheduling approach for hard real-time systems

Dynamic voltage scaling (DVS) has been largely adopted as an effective technology for reducing energy consumption in embedded systems. Since the usage of DVS may affect the timing constraints of a hard real-time system, over the last decade, several pre-runtime as well as runtime scheduling approaches have been developed to tackle such an issue. Nevertheless, both have drawbacks that can be mitigated using a joint approach. This paper proposes a hybrid DVS scheduling approach for energy-constrained hard real-time systems, taking into account overheads, precedence and exclusion relations. The proposed method adopts a formal model based on time Petri nets in order to provide feasible schedules that satisfy timing and energy constraints.