This paper presents a framework for reducing the energy consumption of embedded real-time systems. We implemented the presented framework as both an optimization toolchain and an energy-aware real-time operating system. The framework consists of the integration of multiple techniques to optimize the energy consumption. The main idea behind our approach is to utilize trade-offs between the energy consumption and the performance of different processor configurations during task checkpoints, and to maintain memory allocation during task context switches. In our framework, a target application is statically analyzed at both intra-task and inter-task levels. Based on these analyzed results, runtime optimization is performed in response to the behavior of the application. A case study shows that our toolchain and real-time operating systems have achieved energy reduction while satisfying the real-time performance. The toolchain has also been successfully applied to a practical application.

For battery based real-time embedded systems, high performance to meet their real-time constraints and energy efficiency to extend battery life are both essential. Real-Time Dynamic Voltage Scaling (RT-DVS) has been a key technique to satisfy both requirements. This paper presents EccEDF (Enhanced ccEDF), an efficient algorithm based on ccEDF. ccEDF is one of the most simple but efficient RT-DVS algorithms. Its simple structure enables it to be easily and intuitively coupled with a real-time operating system without incurring any significant cost. ccEDF, however, overlooks an important factor in calculating the available slacks for reducing the operating frequency. It calculates the saved utilization simply by dividing the slack by the period without considering the time needed to run the task. If the elapsed time is considered, the maximum utilization saved by the slack on completion of the task can be found. The proposed EccEDF can precisely calculate the maximum unused utilization with consideration of the elapsed time while keeping the structural simplicity of ccEDF. Further, we analytically establish the feasibility of EccEDF using the fluid scheduling model. Our simulation results show that the proposed algorithm outperforms ccEDF in all simulations. A simulation shows that EccEDF consumes 27% less energy than ccEDF.