Abstract
With the explosive growth of the Internet of Things (IoT), fog computing emerged as a new paradigm, in an attempt to minimize network latency. Fog computing extends the cloud to the network edge, closer to where the IoT data are generated. Typically, fog resources are of limited capacity. On the other hand, IoT applications are becoming more and more complex and computationally demanding, requiring a certain level of Quality of Service (QoS) within strict time constraints. In such a real-time setting, it is often more desirable for a job to meet its deadline by producing an approximate—but still of acceptable quality—result, rather than producing an overdue precise result. Based on this concept, in this paper we examine the orchestration of real-time IoT workflows in a heterogeneous fog computing environment, utilizing partial computations. When a workflow task produces an imprecise result, the error may be propagated not only to its immediate child tasks, but also across subsequent successor tasks of the workflow, ultimately affecting its end-result. The proposed scheduling technique is compared to a baseline algorithm, where partial computations are not used, under various result precision thresholds and input error propagation probabilities. The simulation results reveal that the proposed heuristic can provide on average a 32.71% lower deadline miss ratio than the baseline policy, by trading off an average result precision of 2.43%.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Aburukba, R.O., AliKarrar, M., Landolsi, T., El-Fakih, K.: Scheduling Internet of Things requests to minimize latency in hybrid fog-cloud computing. Future Gen. Comput. Syst. 111, 539–551 (2020). https://doi.org/10.1016/j.future.2019.09.039
Ahmed, O.H., Lu, J., Ahmed, A.M., Rahmani, A.M., Hosseinzadeh, M., Masdari, M.: Scheduling of scientific workflows in multi-fog environments using Markov models and a hybrid salp swarm algorithm. IEEE Access 8, 189404–189422 (2020). https://doi.org/10.1109/ACCESS.2020.3031472
Al-Bzoor, M., Al-assem, E., Alawneh, L., Jararweh, Y.: Autonomous underwater vehicles support for enhanced performance in the internet of underwater things. Trans. Emerg. Telecommun. Technol. 32(3), e4225 (2021). https://doi.org/10.1002/ett.4225
Alizadeh, M.R., Khajehvand, V., Rahmani, A.M., Akbari, E.: Task scheduling approaches in fog computing: a systematic review. Int. J. Commun. Syst. 33(16), e4583 (2020). https://doi.org/10.1002/dac.4583
Buttazzo, G.C.: Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications, 3rd edn. Springer, Berlin (2011). https://doi.org/10.1007/978-1-4614-0676-1
Cao, K., Zhou, J., Xu, G., Wei, T., Hu, S.: Exploring renewable-adaptive computation offloading for hierarchical QoS optimization in fog computing. IEEE Trans. Comput. Aid. Des. Integr. Circuits Syst. 39(10), 2095–2108 (2020). https://doi.org/10.1109/TCAD.2019.2957374
Chen, Y.: Service-Oriented Computing and System Integration: Software, IoT, Big Data, and AI as Services, 7th edn. Kendall Hunt Publishing, Dubuque (2020)
Chen, Y., Hu, H.: Internet of Intelligent Things and Robot as a Service. Simul. Model. Pract. Theor. 34, 159–171 (2013). https://doi.org/10.1016/j.simpat.2012.03.006
Choudhari, T., Moh, M., Moh, T.S.: Prioritized task scheduling in fog computing. In: Proceedings of the 2018 Annual ACM Southeast Conference (ACMSE’18), pp. 22:1–22:8 (2018). https://doi.org/10.1145/3190645.3190699
Cisco: Fog computing and the Internet of Things: extend the cloud to where the things are. Tech. Rep. C11-734435-00, Cisco Systems, Inc. (2015)
De Maio, V., Kimovski, D.: Multi-objective scheduling of extreme data scientific workflows in fog. Future Gen. Comput. Syst. 106, 171–184 (2020). https://doi.org/10.1016/j.future.2019.12.054
De Souza Toniolli, J.L., Jaumard, B.: Resource allocation for multiple workflows in cloud-fog computing systems. In: Proceedings of the 12th IEEE/ACM International Conference on Utility and Cloud Computing Companion (UCC’19 Companion), pp. 77–84 (2019). https://doi.org/10.1145/3368235.3368846
Ding, R., Li, X., Liu, X., Xu, J.: A cost-effective time-constrained multi-workflow scheduling strategy in fog computing. In: Proceedings of the 16th International Conference on Service-Oriented Computing (ICSOC’18), pp. 194–207 (2018). https://doi.org/10.1007/978-3-030-17642-6_17
Drozdowski, M.: Scheduling for Parallel Processing, 1st edn. Springer, Berlin (2009). https://doi.org/10.1007/978-1-84882-310-5
Esmaili, A., Nazemi, M., Pedram, M.: Energy-aware scheduling of task graphs with imprecise computations and end-to-end deadlines. ACM Trans. Des. Autom. Electron. Syst. 25(1), 11:1–11:21 (2019). https://doi.org/10.1145/3365999
Feng, W.C., Liu, J.W.S.: Algorithms for scheduling real-time tasks with input error and end-to-end deadlines. IEEE Trans. Softw. Eng. 23(2), 93–106 (1997). https://doi.org/10.1109/32.585499
Gazori, P., Rahbari, D., Nickray, M.: Saving time and cost on the scheduling of fog-based IoT applications using deep reinforcement learning approach. Future Gen. Comput. Syst. 110, 1098–1115 (2020). https://doi.org/10.1016/j.future.2019.09.060
Gupta, H., Vahid Dastjerdi, A., Ghosh, S.K., Buyya, R.: iFogSim: A toolkit for modeling and simulation of resource management techniques in the Internet of Things, edge and fog computing environments. Softw. Pract. Exp. 47(9), 1275–1296 (2017). https://doi.org/10.1002/spe.2509
Iorga, M., Feldman, L., Barton, R., Martin, M.J., Goren, N., Mahmoudi, C.: Fog computing conceptual model. Tech. Rep. 500-325, National Institute of Standards and Technology, U.S. Department of Commerce (2018). https://doi.org/10.6028/NIST.SP.500-325
Kabirzadeh, S., Rahbari, D., Nickray, M.: A hyper heuristic algorithm for scheduling of fog networks. In: Proceedings of the 21st Conference of Open Innovations Association (FRUCT’17), pp. 148–155 (2017). https://doi.org/10.23919/FRUCT.2017.8250177
Kołodziej, J.: Evolutionary Hierarchical Multi-Criteria Metaheuristics for Scheduling in Large-Scale Grid Systems, 1st edn. Springer, Berlin (2012). https://doi.org/10.1007/978-3-642-28971-2
Lin, K.J., Natarajan, S., Liu, J.W.S.: Imprecise results: utilizing partial computations in real-time systems. In: Proceedings of the 8th IEEE Real-Time Systems Symposium (RTSS’87), pp. 210–217 (1987)
Liu, X., Fan, L., Xu, J., Li, X., Gong, L., Grundy, J., Yang, Y.: FogWorkflowSim: An automated simulation toolkit for workflow performance evaluation in fog computing. In: Proceedings of the 34th IEEE/ACM International Conference on Automated Software Engineering (ASE’19), pp. 1114–1117 (2019). https://doi.org/10.1109/ASE.2019.00115
Matrouk, K., Alatoun, K.: Scheduling algorithms in fog computing: A survey. Int. J. Netw. Distr. Comp. 9(1), 59–74 (2021). https://doi.org/10.2991/ijndc.k.210111.001
Mo, L., Kritikakou, A.: Mapping imprecise computation tasks on cyber-physical systems. Peer-to-Peer Netw. Appl. 12(6), 1726–1740 (2019). https://doi.org/10.1007/s12083-019-00749-9
Mo, L., Kritikakou, A., Sentieys, O., Cao, X.: Real-time imprecise computation tasks mapping for DVFS-enabled networked systems. IEEE Internet Things J. 8(10), 8246–8258 (2021). https://doi.org/10.1109/JIOT.2020.3044910
Mora Mora, H., Gil, D., Colom López, J.F., Signes Pont, M.T.: Flexible framework for real-time embedded systems based on mobile cloud computing paradigm. Mob. Inf. Syst. 2015, 652462:1–652462:14 (2015). https://doi.org/10.1155/2015/652462
Naha, R.K., Garg, S., Chan, A., Battula, S.K.: Deadline-based dynamic resource allocation and provisioning algorithms in fog-cloud environment. Future. Gen. Comput. Syst. 104, 131–141 (2020). https://doi.org/10.1016/j.future.2019.10.018
OpenFog: OpenFog Architecture Overview. Tech. Rep. OPFWP001.0216, OpenFog Consortium Architecture Working Group (2016)
Park, M., Han, S., Kim, H., Cho, S., Cho, Y.: Comparison of tie-breaking policies for real-time scheduling on multiprocessor. In: Proceedings of the 2004 International Conference on Embedded and Ubiquitous Computing (EUC’04), pp. 174–182 (2004). https://doi.org/10.1007/978-3-540-30121-9_17
Pham, X.Q., Huh, E.N.: Towards task scheduling in a cloud-fog computing system. In: Proceedings of the 18th Asia-Pacific Network Operations and Management Symposium (APNOMS’16), pp. 1–4 (2016). https://doi.org/10.1109/APNOMS.2016.7737240
Pham, X.Q., Man, N.D., Tri, N.D.T., Thai, N.Q., Huh, E.N.: A cost- and performance-effective approach for task scheduling based on collaboration between cloud and fog computing. Int. J. Distrib. Sens. Netw. 13(11), 1–16 (2017). https://doi.org/10.1177/1550147717742073
Puliafito, C., Mingozzi, E., Longo, F., Puliafito, A., Rana, O.: Fog computing for the Internet of Things: A survey. ACM Trans. Internet Technol. 19(2), 18:1–18:41 (2019). https://doi.org/10.1145/3301443
Ravindran, R., Krishna, C.M., Koren, I., Koren, Z.: Scheduling imprecise task graphs for real-time applications. Int. J. Embed. Syst. 6(1), 73–85 (2014). https://doi.org/10.1504/IJES.2014.060919
Shioura, A., Shakhlevich, N.V., Strusevich, V.A.: Preemptive models of scheduling with controllable processing times and of scheduling with imprecise computation: A review of solution approaches. Eur. J. Oper. Res. 266(3), 795–818 (2018). https://doi.org/10.1016/j.ejor.2017.08.034
Stavrinides, G.L., Karatza, H.D.: Scheduling multiple task graphs with end-to-end deadlines in distributed real-time systems utilizing imprecise computations. J. Syst. Softw. 83(6), 1004–1014 (2010). https://doi.org/10.1016/j.jss.2009.12.025
Stavrinides, G.L., Karatza, H.D.: The impact of input error on the scheduling of task graphs with imprecise computations in heterogeneous distributed real-time systems. In: Proceedings of the 18th International Conference on Analytical and Stochastic Modelling Techniques and Applications (ASMTA’11), pp. 273–287 (2011). https://doi.org/10.1007/978-3-642-21713-5_20
Stavrinides, G.L., Karatza, H.D.: Scheduling multiple task graphs in heterogeneous distributed real-time systems by exploiting schedule holes with bin packing techniques. Simul. Model. Pract. Theor. 19(1), 540–552 (2011). https://doi.org/10.1016/j.simpat.2010.08.010
Stavrinides, G.L., Karatza, H.D.: Scheduling real-time DAGs in heterogeneous clusters by combining imprecise computations and bin packing techniques for the exploitation of schedule holes. Future Gen. Comput. Syst. 28(7), 977–988 (2012). https://doi.org/10.1016/j.future.2012.03.002
Stavrinides, G.L., Karatza, H.D.: A cost-effective and QoS-aware approach to scheduling real-time workflow applications in PaaS and SaaS clouds. In: Proceedings of the 3rd International Conference on Future Internet of Things and Cloud (FiCloud’15), pp. 231–239 (2015). https://doi.org/10.1109/FiCloud.2015.93
Stavrinides, G.L., Karatza, H.D.: Energy-aware scheduling of real-time workflow applications in clouds utilizing DVFS and approximate computations. In: Proceedings of the IEEE 6th International Conference on Future Internet of Things and Cloud (FiCloud’18), pp. 33–40 (2018). https://doi.org/10.1109/FiCloud.2018.00013
Stavrinides, G.L., Karatza, H.D.: Cost-effective utilization of complementary cloud resources for the scheduling of real-time workflow applications in a fog environment. In: Proceedings of the 7th International Conference on Future Internet of Things and Cloud (FiCloud’19), pp. 1–8 (2019). https://doi.org/10.1109/FiCloud.2019.00009
Stavrinides, G.L., Karatza, H.D.: An energy-efficient, QoS-aware and cost-effective scheduling approach for real-time workflow applications in cloud computing systems utilizing DVFS and approximate computations. Future Gen. Comput. Syst. 96, 216–226 (2019). https://doi.org/10.1016/j.future.2019.02.019
Stavrinides, G.L., Karatza, H.D.: A hybrid approach to scheduling real-time IoT workflows in fog and cloud environments. Multimed. Tools Appl. 78(17), 24639–24655 (2019). https://doi.org/10.1007/s11042-018-7051-9
Stavrinides, G.L., Karatza, H.D.: Cost-aware cloud bursting in a fog-cloud environment with real-time workflow applications. Concurr. Comput. Pract. Exp. (2020). https://doi.org/10.1002/cpe.5850
Stavrinides, G.L., Karatza, H.D.: Orchestration of real-time workflows with varying input data locality in a heterogeneous fog environment. In: Proceedings of the Fifth International Conference on Fog and Mobile Edge Computing (FMEC’20), pp. 202–209 (2020). https://doi.org/10.1109/FMEC49853.2020.9144824
Wainer, G., Moallemi, M.: Designing real-time systems using imprecise discrete-event system specifications. Softw. Pract. Exp. 50(8), 1327–1344 (2020). https://doi.org/10.1002/spe.2831
Wu, H.Y., Lee, C.R.: Energy efficient scheduling for heterogeneous fog computing architectures. In: Proceedings of the 42nd IEEE Annual Computer Software and Applications Conference (COMPSAC’18), pp. 555–560 (2018). https://doi.org/10.1109/COMPSAC.2018.00085
Xu, J., Hao, Z., Zhang, R., Sun, X.: A method based on the combination of laxity and ant colony system for cloud-fog task scheduling. IEEE Access 7, 116218–116226 (2019). https://doi.org/10.1109/ACCESS.2019.2936116
Yao, S., Hao, Y., Zhao, Y., Shao, H., Liu, D., Liu, S., Wang, T., Li, J., Abdelzaher, T.: Scheduling real-time deep learning services as imprecise computations. In: Proceedings of the IEEE 26th International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA’20), pp. 1–10 (2020). https://doi.org/10.1109/RTCSA50079.2020.9203676
Yu, K.P., Tan, L., Aloqaily, M., Yang, H., Jararweh, Y.: Blockchain-enhanced data sharing with traceable and direct revocation in IIoT. IEEE Trans. Ind. Inf. (2021). https://doi.org/10.1109/TII.2021.3049141
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Stavrinides, G.L., Karatza, H.D. Orchestrating real-time IoT workflows in a fog computing environment utilizing partial computations with end-to-end error propagation. Cluster Comput 24, 3629–3650 (2021). https://doi.org/10.1007/s10586-021-03327-y
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10586-021-03327-y