Dynamic Voltage Scaling (DVS) is a promising method to achieve energy saving by slowing down the processor into multiple frequency levels especially in battery-operated embedded systems. We introduce a novel Dynamic-Mode EDF scheduling algorithm when workloads change significantly. Single-Mode, Dual-Mode and Three-Mode frequency setting formats can be applied, based on the Real Execution Time (RET) and the slack time at run-time. Only one combination of the time zone length and the frequency scaling factor can lead to the best energy saving. Experimental results show that, given an RET pattern, our Dynamic-Mode DVS algorithm achieves an average 15% energy savings over the traditional two-mode DVS scheme on hard real-time systems.
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