Dynamic Window-Constrained Scheduling for Real-Time Media Streaming

This paper describes an algorithm for scheduling packets in real-time multimedia data streams. Common to these classes of data streams are service constraints in terms of bandwidth and delay. However, it is typical for real-time multimedia streams to tolerate bounded delay variations and, in some cases, finite losses of packets. We have therefore developed a scheduling algorithm that assumes streams have window-constraints on groups of consecutive packet deadlines. A window-constraint defines the number of packet deadlines that can be missed in a window of deadlines for consecutive packets in a stream. Our algorithm, called Dynamic Window-Constrained Scheduling (DWCS), attempts to guarantee no more than x out of a window of y deadlines are missed for consecutive packets in real-time and multimedia streams. Using DWCS, the delay of service to real-time streams is bounded even when the scheduler is overloaded. Moreover, DWCS is capable of ensuring independent delay bounds on streams, while at the same time guaranteeing minimum bandwidth utilizations over tunable and finite windows of time. We show the conditions under which the total demand for link bandwidth by a set of real-time (i.e., window-constrained) streams can exceed 100% and still ensure all window-constraints are met. In fact, we show how it is possible to guarantee worst-case per-stream bandwidth and delay constraints while utilizing all available link capacity. Finally, we show how best-effort packets can be serviced with fast response time, in the presence of window-constrained traffic.

Pinwheel Scheduling for Fault-tolerant Broadcast Disks in Real-time Database Systems

The design of programs for broadcast disks which incorporate real-time and fault-tolerance requirements is considered. A generalized model for real-time fault-tolerant broadcast disks is defined. It is shown that designing programs for broadcast disks specified in this model is closely related to the scheduling of pinwheel task systems. Some new results in pinwheel scheduling theory are derived, which facilitate the efficient generation of real-time fault-tolerant broadcast disk programs.

Admission Control and Scheduling for High-Performance WWW Servers

In this paper we examine a number of admission control and scheduling protocols for high-performance web servers based on a 2-phase policy for serving HTTP requests. The first "registration" phase involves establishing the TCP connection for the HTTP request and parsing/interpreting its arguments, whereas the second "service" phase involves the service/transmission of data in response to the HTTP request. By introducing a delay between these two phases, we show that the performance of a web server could be potentially improved through the adoption of a number of scheduling policies that optimize the utilization of various system components (e.g. memory cache and I/O). In addition, to its premise for improving the performance of a single web server, the delineation between the registration and service phases of an HTTP request may be useful for load balancing purposes on clusters of web servers. We are investigating the use of such a mechanism as part of the Commonwealth testbed being developed at Boston University.

Scheduling Flows with Unknown Sizes: Approximate Analysis

Previous studies have shown that giving preferential treatment to short jobs helps reduce the average system response time, especially when the job size distribution possesses the heavy-tailed property. Since it has been shown that the TCP flow length distribution also has the same property, it is natural to let short TCP flows enjoy better service inside the network. Analyzing such discriminatory system requires modification to traditional job scheduling models since usually network traffic managers do not have detailed knowledge about individual flows such as their lengths. The Multi-Level (ML) queue, proposed by Kleinrock, can b e used to characterize such system. In an ML queueing system, the priority of a flow is reduced as the flow stays longer. We present an approximate analysis of the ML queueing system to obtain a closed-form solution of the average system response time function for general flow size distributions. We show that the response time of short flows can be significantly reduced without penalizing long flows.

Seed Scheduling for Peer-to-Peer Networks

The initial phase in a content distribution (file sharing) scenario is a delicate phase due to the lack of global knowledge and the dynamics of the overlay. An unwise distribution of the pieces in this phase can cause delays in reaching steady state, thus increasing file download times. We devise a scheduling algorithm at the seed (source peer with full content), based on a proportional fair approach, and we implement it on a real file sharing client [1]. In dynamic overlays, our solution improves up to 25% the average downloading time of a standard protocol ala BitTorrent.

Slack Stealing Job Admission Control Scheduling

In this paper, we present Slack Stealing Job Admission Control (SSJAC)---a methodology for scheduling periodic firm-deadline tasks with variable resource requirements, subject to controllable Quality of Service (QoS) constraints. In a system that uses Rate Monotonic Scheduling, SSJAC augments the slack stealing algorithm of Thuel et al with an admission control policy to manage the variability in the resource requirements of the periodic tasks. This enables SSJAC to take advantage of the 31\% of utilization that RMS cannot use, as well as any utilization unclaimed by jobs that are not admitted into the system. Using SSJAC, each task in the system is assigned a resource utilization threshold that guarantees the minimal acceptable QoS for that task (expressed as an upper bound on the rate of missed deadlines). Job admission control is used to ensure that (1) only those jobs that will complete by their deadlines are admitted, and (2) tasks do not interfere with each other, thus a job can only monopolize the slack in the system, but not the time guaranteed to jobs of other tasks. We have evaluated SSJAC against RMS and Statistical RMS (SRMS). Ignoring overhead issues, SSJAC consistently provides better performance than RMS in overload, and, in certain conditions, better performance than SRMS. In addition, to evaluate optimality of SSJAC in an absolute sense, we have characterized the performance of SSJAC by comparing it to an inefficient, yet optimal scheduler for task sets with harmonic periods.

Statistic Rate Monotonic Scheduling

In this paper we present Statistical Rate Monotonic Scheduling (SRMS), a generalization of the classical RMS results of Liu and Layland that allows scheduling periodic tasks with highly variable execution times and statistical QoS requirements. Similar to RMS, SRMS has two components: a feasibility test and a scheduling algorithm. The feasibility test for SRMS ensures that using SRMS' scheduling algorithms, it is possible for a given periodic task set to share a given resource (e.g. a processor, communication medium, switching device, etc.) in such a way that such sharing does not result in the violation of any of the periodic tasks QoS constraints. The SRMS scheduling algorithm incorporates a number of unique features. First, it allows for fixed priority scheduling that keeps the tasks' value (or importance) independent of their periods. Second, it allows for job admission control, which allows the rejection of jobs that are not guaranteed to finish by their deadlines as soon as they are released, thus enabling the system to take necessary compensating actions. Also, admission control allows the preservation of resources since no time is spent on jobs that will miss their deadlines anyway. Third, SRMS integrates reservation-based and best-effort resource scheduling seamlessly. Reservation-based scheduling ensures the delivery of the minimal requested QoS; best-effort scheduling ensures that unused, reserved bandwidth is not wasted, but rather used to improve QoS further. Fourth, SRMS allows a system to deal gracefully with overload conditions by ensuring a fair deterioration in QoS across all tasks---as opposed to penalizing tasks with longer periods, for example. Finally, SRMS has the added advantage that its schedulability test is simple and its scheduling algorithm has a constant overhead in the sense that the complexity of the scheduler is not dependent on the number of the tasks in the system. We have evaluated SRMS against a number of alternative scheduling algorithms suggested in the literature (e.g. RMS and slack stealing), as well as refinements thereof, which we describe in this paper. Consistently throughout our experiments, SRMS provided the best performance. In addition, to evaluate the optimality of SRMS, we have compared it to an inefficient, yet optimal scheduler for task sets with harmonic periods.

Multiplexing VBR Traffic Flows with Guaranteed Application-level QoS Using Statistical Rate Monotonic Scheduling

Quality of Service (QoS) guarantees are required by an increasing number of applications to ensure a minimal level of fidelity in the delivery of application data units through the network. Application-level QoS does not necessarily follow from any transport-level QoS guarantees regarding the delivery of the individual cells (e.g. ATM cells) which comprise the application's data units. The distinction between application-level and transport-level QoS guarantees is due primarily to the fragmentation that occurs when transmitting large application data units (e.g. IP packets, or video frames) using much smaller network cells, whereby the partial delivery of a data unit is useless; and, bandwidth spent to partially transmit the data unit is wasted. The data units transmitted by an application may vary in size while being constant in rate, which results in a variable bit rate (VBR) data flow. That data flow requires QoS guarantees. Statistical multiplexing is inadequate, because no guarantees can be made and no firewall property exists between different data flows. In this paper, we present a novel resource management paradigm for the maintenance of application-level QoS for VBR flows. Our paradigm is based on Statistical Rate Monotonic Scheduling (SRMS), in which (1) each application generates its variable-size data units at a fixed rate, (2) the partial delivery of data units is of no value to the application, and (3) the QoS guarantee extended to the application is the probability that an arbitrary data unit will be successfully transmitted through the network to/from the application.

Design and Implementation of Statistical Rate Monotonic Scheduling in KURT Linux

Statistical Rate Monotonic Scheduling (SRMS) is a generalization of the classical RMS results of Liu and Layland [LL73] for periodic tasks with highly variable execution times and statistical QoS requirements. The main tenet of SRMS is that the variability in task resource requirements could be smoothed through aggregation to yield guaranteed QoS. This aggregation is done over time for a given task and across multiple tasks for a given period of time. Similar to RMS, SRMS has two components: a feasibility test and a scheduling algorithm. SRMS feasibility test ensures that it is possible for a given periodic task set to share a given resource without violating any of the statistical QoS constraints imposed on each task in the set. The SRMS scheduling algorithm consists of two parts: a job admission controller and a scheduler. The SRMS scheduler is a simple, preemptive, fixed-priority scheduler. The SRMS job admission controller manages the QoS delivered to the various tasks through admit/reject and priority assignment decisions. In particular, it ensures the important property of task isolation, whereby tasks do not infringe on each other. In this paper we present the design and implementation of SRMS within the KURT Linux Operating System [HSPN98, SPH 98, Sri98]. KURT Linux supports conventional tasks as well as real-time tasks. It provides a mechanism for transitioning from normal Linux scheduling to a mixed scheduling of conventional and real-time tasks, and to a focused mode where only real-time tasks are scheduled. We overview the technical issues that we had to overcome in order to integrate SRMS into KURT Linux and present the API we have developed for scheduling periodic real-time tasks using SRMS.

An Omniscient Scheduling Oracle for Systems with Harmonic Periods

Most real-time scheduling problems are known to be NP-complete. To enable accurate comparison between the schedules of heuristic algorithms and the optimal schedule, we introduce an omniscient oracle. This oracle provides schedules for periodic task sets with harmonic periods and variable resource requirements. Three different job value functions are described and implemented. Each corresponds to a different system goal. The oracle is used to examine the performance of different on-line schedulers under varying loads, including overload. We have compared the oracle against Rate Monotonic Scheduling, Statistical Rate Monotonic Scheduling, and Slack Stealing Job Admission Control Scheduling. Consistently, the oracle provides an upper bound on performance for the metric under consideration.

Connection Scheduling in Web Servers

Under high loads, a Web server may be servicing many hundreds of connections concurrently. In traditional Web servers, the question of the order in which concurrent connections are serviced has been left to the operating system. In this paper we ask whether servers might provide better service by using non-traditional service ordering. In particular, for the case when a Web server is serving static files, we examine the costs and benefits of a policy that gives preferential service to short connections. We start by assessing the scheduling behavior of a commonly used server (Apache running on Linux) with respect to connection size and show that it does not appear to provide preferential service to short connections. We then examine the potential performance improvements of a policy that does favor short connections (shortest-connection-first). We show that mean response time can be improved by factors of four or five under shortest-connection-first, as compared to an (Apache-like) size-independent policy. Finally we assess the costs of shortest-connection-first scheduling in terms of unfairness (i.e., the degree to which long connections suffer). We show that under shortest-connection-first scheduling, long connections pay very little penalty. This surprising result can be understood as a consequence of heavy-tailed Web server workloads, in which most connections are small, but most server load is due to the few large connections. We support this explanation using analysis.

Optimal Scheduling of Secondary Content for Aggregation in Video-on-Demand Systems

Dynamic service aggregation techniques can exploit skewed access popularity patterns to reduce the costs of building interactive VoD systems. These schemes seek to cluster and merge users into single streams by bridging the temporal skew between them, thus improving server and network utilization. Rate adaptation and secondary content insertion are two such schemes. In this paper, we present and evaluate an optimal scheduling algorithm for inserting secondary content in this scenario. The algorithm runs in polynomial time, and is optimal with respect to the total bandwidth usage over the merging interval. We present constraints on content insertion which make the overall QoS of the delivered stream acceptable, and show how our algorithm can satisfy these constraints. We report simulation results which quantify the excellent gains due to content insertion. We discuss dynamic scenarios with user arrivals and interactions, and show that content insertion reduces the channel bandwidth requirement to almost half. We also discuss differentiated service techniques, such as N-VoD and premium no-advertisement service, and show how our algorithm can support these as well.

Extending snBench to Support Hierarchical and Configurable Scheduling

It is useful in systems that must support multiple applications with various temporal requirements to allow application-specific policies to manage resources accordingly. However, there is a tension between this goal and the desire to control and police possibly malicious programs. The Java-based Sensor Execution Environment (SXE) in snBench presents a situation where such considerations add value to the system. Multiple applications can be run by multiple users with varied temporal requirements, some Real-Time and others best effort. This paper outlines and documents an implementation of a hierarchical and configurable scheduling system with which different applications can be executed using application-specific scheduling policies. Concurrently the system administrator can define fairness policies between applications that are imposed upon the system. Additionally, to ensure forward progress of system execution in the face of malicious or malformed user programs, an infrastructure for execution using multiple threads is described.

Dynamic Programming for Optimal Control of Set-Up Scheduling with Neural Network Modifications

This paper demonstrates an optimal control solution to change of machine set-up scheduling based on dynamic programming average cost per stage value iteration as set forth by Cararnanis et. al. [2] for the 2D case. The difficulty with the optimal approach lies in the explosive computational growth of the resulting solution. A method of reducing the computational complexity is developed using ideas from biology and neural networks. A real time controller is described that uses a linear-log representation of state space with neural networks employed to fit cost surfaces.