Kang G. Shin

Real-time dynamic voltage scaling for low-power embedded operating systems

In recent years, there has been a rapid and wide spread of non-traditional computing platforms, especially mobile and portable computing devices. As applications become increasingly sophisticated and processing power increases, the most serious limitation on these devices is the available battery life. Dynamic Voltage Scaling (DVS) has been a key technique in exploiting the hardware characteristics of processors to reduce energy dissipation by lowering the supply voltage and operating frequency. The DVS algorithms are shown to be able to make dramatic energy savings while providing the necessary peak computation power in general-purpose systems. However, for a large class of applications in embedded real-time systems like cellular phones and camcorders, the variable operating frequency interferes with their deadline guarantee mechanisms, and DVS in this context, despite its growing importance, is largely overlooked/under-developed. To provide real-time guarantees, DVS must consider deadlines and periodicity of real-time tasks, requiring integration with the real-time scheduler. In this paper, we present a class of novel algorithms called real-time DVS (RT-DVS) that modify the OSs real-time scheduler and task management service to provide significant energy savings while maintaining real-time deadline guarantees. We show through simulations and a working prototype implementation that these RT-DVS algorithms closely approach the theoretical lower bound on energy consumption, and can easily reduce energy consumption 20% to 40% in an embedded real-time system.

Minimum-time control of robotic manipulators with geometric path constraints

Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking (or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, coupled manipulator dynamics. Trajectory planning usually determines the timing of manipulator position and velocity without considering its dynamics. Consequently, the simplicity obtained from the division comes at the expense of efficiency in utilizing robots capabilities. To remove at least partially this inefficiency, this paper considers a solution to the problem of moving a manipulator in minimum time along a specified geometric path subject to input torque/force constraints. We first describe the manipulator dynamics using parametric functions which represent geometric path constraints to be honored for collision avoidance as well as task requirements. Second, constraints on input torques/ forces are converted to those on the parameters. Third, the minimum-time solution is deduced in an algorithm form using phase-plane techniques. Finally, numerical examples are presented to demonstrate utility of the trajectory planning method developed.

Efficient Discovery of Spectrum Opportunities with MAC-Layer Sensing in Cognitive Radio Networks

Sensing/monitoring of spectrum-availability has been identified as a key requirement for dynamic spectrum allocation in cognitive radio networks (CRNs). An important issue associated with MAC-layer sensing in CRNs is how often to sense the availability of licensed channels and in which order to sense those channels. To resolve this issue, we address (1) how to maximize the discovery of spectrum opportunities by sensing-period adaptation and (2) how to minimize the delay in finding an available channel. Specifically, we develop a sensing-period optimization mechanism and an optimal channel-sequencing algorithm, as well as an environment- adaptive channel-usage pattern estimation method. Our simulation results demonstrate the efficacy of the proposed schemes and its significant performance improvement over nonoptimal schemes. The sensing-period optimization discovers more than 98 percent of the analytical maximum of discoverable spectrum-opportunities, regardless of the number of channels sensed. For the scenarios tested, the proposed scheme is shown to discover up to 22 percent more opportunities than nonoptimal schemes, which may become even greater with a proper choice of initial sensing periods. The idle-channel discovery delay with the optimal channel-sequencing technique ranges from 0.08 to 0.35 seconds under the tested scenarios, which is much faster than nonoptimal schemes. Moreover, our estimation method is shown to track time-varying channel-parameters accurately.

Performance guarantees for Web server end-systems: a control-theoretical approach

The Internet is undergoing substantial changes from a communication and browsing infrastructure to a medium for conducting business and marketing a myriad of services. The World Wide Web provides a uniform and widely-accepted application interface used by these services to reach multitudes of clients. These changes place the Web server at the center of a gradually emerging e-service infrastructure with increasing requirements for service quality and reliability guarantees in an unpredictable and highly-dynamic environment. This paper describes performance control of a Web server using classical feedback control theory. We use feedback control theory to achieve overload protection, performance guarantees, and service differentiation in the presence of load unpredictability. We show that feedback control theory offers a promising analytic foundation for providing service differentiation and performance guarantees. We demonstrate how a general Web server may be modeled for purposes of performance control, present the equivalents of sensors and actuators, formulate a simple feedback loop, describe how it can leverage on real-time scheduling and feedback-control theories to achieve per-class response-time and throughput guarantees, and evaluate the efficacy of the scheme on an experimental testbed using the most popular Web server, Apache. Experimental results indicate that control-theoretic techniques offer a sound way of achieving desired performance in performance-critical Internet applications. Our QoS (Quality-of-Service) management solutions can be implemented either in middleware that is transparent to the server, or as a library called by server code.

Adaptive control of virtualized resources in utility computing environments

Data centers are often under-utilized due to over-provisioning as well as time-varying resource demands of typical enterprise applications. One approach to increase resource utilization is to consolidate applications in a shared infrastructure using virtualization. Meeting application-level quality of service (QoS) goals becomes a challenge in a consolidated environment as application resource needs differ. Furthermore, for multi-tier applications, the amount of resources needed to achieve their QoS goals might be different at each tier and may also depend on availability of resources in other tiers. In this paper, we develop an adaptive resource control system that dynamically adjusts the resource shares to individual tiers in order to meet application-level QoS goals while achieving high resource utilization in the data center. Our control system is developed using classical control theory, and we used a black-box system modeling approach to overcome the absence of first principle models for complex enterprise applications and systems. To evaluate our controllers, we built a testbed simulating a virtual data center using Xen virtual machines. We experimented with two multi-tier applications in this virtual data center: a two-tier implementation of RUBiS, an online auction site, and a two-tier Java implementation of TPC-W. Our results indicate that the proposed control system is able to maintain high resource utilization and meets QoS goals in spite of varying resource demands from the applications.

Detecting SYN flooding attacks

We propose a simple and robust mechanism for detecting SYN flooding attacks. Instead of monitoring the ongoing traffic at the front end (like firewall or proxy) or a victim server itself, we detect the SYN flooding attacks at leaf routers that connect end hosts to the Internet. The simplicity of our detection mechanism lies in its statelessness and low computation overhead, which make the detection mechanism itself immune to flooding attacks. Our detection mechanism is based on the protocol behavior of TCP SYN-FIN (RST) pairs, and is an instance of the Seqnential Change Point Detection [l]. To make the detection mecbanism insensitive to site and access pattern, a non-parametric Cnmnlative Sum (CUSUM) method [4] is applied, thus making the detection mechanism much more generally applicable and its deployment much easier. The efficacy of this detection mechanism is validated by trace-driven simulations. The evaluation results show that the detection mechanism has short detection latency and high detection accuracy. Moreover, due to its proximity to the flooding sources, our mechanism not only sets alarms upon detection of ongoing SYN flooding attacks, but also reveals the location of the flooding sources without resorting to expensive IP traceback.

A self-configuring RED gateway

The congestion control mechanisms used in TCP have been the focus of numerous studies and have undergone a number of enhancements. However, even with these enhancements, TCP connections still experience alarmingly high loss rates, especially during times of congestion. To alleviate this problem, the IETF is considering active queue management mechanisms, such as random early detection (RED), for deployment in the network. In this paper, we first show that the effectiveness of RED depends, to a large extent, on the appropriate parameterization of the RED queue. We then show that there is no single set of RED parameters that work well under different congestion scenarios. In light of this observation, we propose and experiment with more adaptive RED gateways which self-parameterize themselves based on the traffic mix. The results show that traffic cognizant parameterization of RED gateways can effectively reduce packet loss, while maintaining high link utilizations under a range of network loads.

The BLUE active queue management algorithms

In order to stem the increasing packet loss rates caused by an exponential increase in network traffic, the ietf has been considering the deployment of active queue management techniques such as Red [14]. While active queue management can potentially reduce packet loss rates in the Internet, we show that current techniques are ineffective in preventing high loss rates. The inherent problem with these queue management algorithms is that they use queue lengths as the indicator of the severity of congestion. In light of this observation, a fundamentally different active queue management algorithm, called Blue, is proposed, implemented, and evaluated. Blue uses packet loss and link idle events to manage congestion. Using both simulation and controlled experiments, Blue is shown to perform significantly better than Red, both in terms of packet loss rates and buffer size requirements in the network. As an extension to Blue, a novel technique based on Bloom filters [2] is described for enforcing fairness among a large number of flows. In particular, we propose and evaluate Stochastic Fair Blue (SFB), a queue management algorithm which can identify and rate-limit nonresponsive flows using a very small amount of state information.

Automated control of multiple virtualized resources

Virtualized data centers enable sharing of resources among hosted applications. However, it is difficult to satisfy service-level objectives(SLOs) of applications on shared infrastructure, as application workloads and resource consumption patterns change over time. In this paper, we present AutoControl, a resource control system that automatically adapts to dynamic workload changes to achieve application SLOs. AutoControl is a combination of an online model estimator and a novel multi-input, multi-output (MIMO) resource controller. The model estimator captures the complex relationship between application performance and resource allocations, while the MIMO controller allocates the right amount of multiple virtualized resources to achieve application SLOs. Our experimental evaluation with RUBiS and TPC-W benchmarks along with production-trace-driven workloads indicates that AutoControl can detect and mitigate CPU and disk I/O bottlenecks that occur over time and across multiple nodes by allocating each resource accordingly. We also show that AutoControl can be used to provide service differentiation according to the application priorities during resource contention.

Hop-count filtering: an effective defense against spoofed DDoS traffic

IP spoofing has been exploited by Distributed Denial of Service (DDoS) attacks to (1) conceal flooding sources and localities in flooding traffic, and (2) coax legitimate hosts into becoming reflectors, redirecting and amplifying flooding traffic. Thus, the ability to filter spoofed IP packets near victims is essential to their own protection as well as to their avoidance of becoming involuntary DoS reflectors. Although an attacker can forge any field in the IP header, he or she cannot falsify the number of hops an IP packet takes to reach its destination. This hop-count information can be inferred from the Time-to-Live (TTL) value in the IP header. Using a mapping between IP addresses and their hop-counts to an Internet server, the server can distinguish spoofed IP packets from legitimate ones. Base on this observation, we present a novel filtering technique that is immediately deployable to weed out spoofed IP packets. Through analysis using network measurement data, we show that Hop-Count Filtering (HCF) can identify close to 90% of spoofed IP packets, and then discard them with little collateral damage. We implement and evaluate HCF in the Linux kernel, demonstrating its benefits using experimental measurements.