SACS: A Self-Adaptive Checkpointing Strategy for Microkernel-Based Intermittent Systems

Intermittent systems are usually energy-harvesting embedded systems that harvest energy from ambient environment and perform computation intermittently. Due to the unreliable power, these intermittent systems typically adopt different checkpointing strategies for ensuring the data consistency and execution progress after the systems are resumed from unpredictable power failures. Existing checkpointing strategies are usually suitable for bare-metal intermittent systems with short run time. Due to the improvement of energy-harvesting techniques, intermittent systems are having longer run time and better computation power, so that more and more intermittent systems tend to function with a microkernel for handling more/multiple tasks at the same time. However, existing checkpointing strategies were not designed for (or aware of) such microkernel-based intermittent systems that support the running of multiple tasks, and thus have poor performance on preserving the execution progress. To tackle this issue, we propose a design, called self-adaptive checkpointing strategy (SACS), tailored for microkernel-based intermittent systems. By leveraging the time-slicing scheduler, the proposed design dynamically adjust the checkpointing interval at both run time and reboot time, so as to improve the system performance by achieving a good balance between the execution progress and the number of performed checkpoints. A series of experiments was conducted based on a development board of Texas Instrument (TI) with well-known benchmarks. Compared to the state-of-the-art designs, experiment results show that our design could reduce the execution time by at least 46.8% under different conditions of ambient environment while maintaining the number of performed checkpoints in an acceptable scale.