Due to the importance of slack time utilization for power-aware scheduling algorithms,we propose a work-demand analysis method called parareclamation algorithm (PRA) to increase slack time utilization of the existing real-time DVS algorithms. PRA is an online scheduling for power-aware real-time tasks under rate-monotonic (RM) policy. It can be implemented and fully compatible with preemption-aware or transition-aware scheduling algorithms without increasing their computational complexities. The key technique of the heuristics method doubles the analytical interval and turns the deferrable workload out the potential slack time. Theoretical proofs show that PRA guarantees the task deadlines in a feasible RM schedule and takes linear time and space complexities. Experimental results indicate that the proposed method combining the preemption-aware methods seamlessly reduces the energy consumption by 14% on average over their original algorithms.
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