Sthira: A Formal Approach to Minimize Voltage Guardbands under Variation in Networks-on-Chip for Energy Efficiency

摘要

Networks-on-Chip (NoCs) in chip multiprocessors are prone to within-die process variation as they span the whole chip. To tolerate variation, their voltages (V_dd) carry over-provisioned guardbands. As a result, prior work has proposed to save energy by operating at reduced V_dd while occasionally suffering and fixing errors. Unfortunately, these proposals use heuristic controller designs that provide no error bounds guarantees. In this work, we develop a scheme that dynamically minimizes the V_dd of groups of routers in a variation-prone NoC using formal control-theoretic methods. The scheme, called Sthira, saves substantial energy while guaranteeing the stability and convergence of error rates. We also enhance the scheme with a low-cost secondary network that retransmits erroneous packets for higher energy efficiency. The enhanced scheme is called Sthira+. We evaluate Sthira and Sthira+ with simulations of NoCs with 64-100 routers. In an NoC with 8 routers per V_dd domain, our schemes reduce the average energy consumptionof the NoC by 27%; in a futuristic NoC with one router per Vdd domain, Sthira+ and Sthira reduce the average energy consumption by 36% and 32%, respectively. The performance impact is negligible. These are significant savings over the state-of-the-art. We conclude that formal control is essential, and that the cheaper Sthira is more cost-effective than Sthira+.