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Ebira: アクセス負荷に応じて継続的にスケーリング基準を最適化する汎用オートスケーリング機構/wsa_4_ebira

Ebira: アクセス負荷に応じて継続的にスケーリング基準を最適化する汎用オートスケーリング機構/wsa_4_ebira

2019.04.13 Web System Architecture 研究会 (WSA研)  #4
https://websystemarchitecture.hatenablog.jp/entry/2019/02/26/100725

monochromegane

April 13, 2019
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  1. ࡾ୐༔հ / Pepabo R&D Institute, GMO Pepabo, Inc. 2019.04.13 Web

    System Architecture ݚڀձ (WSAݚ) #4 Ebira: ΞΫηεෛՙʹԠͯ͡ ܧଓతʹεέʔϦϯάج४Λ ࠷దԽ͢Δ൚༻ΦʔτεέʔϦϯάػߏ
  2. • ద੾ͳࢦඪ͕બఆͰ͖Ε͹୯७ͳࢦඪͰ΋ޮՌ͕͋Δ • Ծ૝αʔόͷ༧ଌతΦʔτεέʔϦϯά (*1)Ͱ͸ɼΞϓϦέʔγϣϯॲཧ಺ ༰Ͱ͸ͳ͘ɼӡ༻ܦݧ͔Βಘͨαʔό୯ҐͷεϧʔϓοτΛࢦඪͱͨ͠ɽ 9 ࢦඪͷબఆʹ·ͭΘΔैདྷख๏ *1. ࡾ୐

    ༔հ, দຊ ྄հ, ྗ෢ ݈࣍, ܀ྛ ݈ଠ࿠, ΞΫηεස౓༧ଌʹجͮ͘Ծ૝αʔόͷܭըతΦʔτεέʔϦϯά, FIT 2018 ୈ17ճ৘ใ Պֶٕज़ϑΥʔϥϜ, CL-002, Sep 2018.
  3. • ໨ඪ஋ͱͷࠩΛޮ཰తʹղফ͢ΔͨΊͷݹయత੍ޚख๏ • ൺྫ੍ޚ(P)ɼੵ෼੍ޚ(I)ɼඍ෼੍ޚ(D)ͷ࿨Λೖྗ஋ͱ͢Δ 15 PID੍ޚ(1/2) ੍ޚث ภࠩ ໨ඪ஋ 1

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sha1_base64="JucbY3V7iD4pyjirU4Kr9PWwJLM=">AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA==</latexit> γεςϜ  ϑΟʔυόοΫ ೖྗ ग़ྗ
  5. 17 Kaburaya: DynamicTargetController ภࠩ ໨ඪ஋ 1 * % r <latexit

    sha1_base64="l3XaGwPmE5Vm/Jhs1LG2xz0k9Bs=">AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE=</latexit> <latexit sha1_base64="l3XaGwPmE5Vm/Jhs1LG2xz0k9Bs=">AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE=</latexit> <latexit sha1_base64="l3XaGwPmE5Vm/Jhs1LG2xz0k9Bs=">AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE=</latexit> <latexit sha1_base64="l3XaGwPmE5Vm/Jhs1LG2xz0k9Bs=">AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE=</latexit> e <latexit sha1_base64="JucbY3V7iD4pyjirU4Kr9PWwJLM=">AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA==</latexit> <latexit sha1_base64="JucbY3V7iD4pyjirU4Kr9PWwJLM=">AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA==</latexit> <latexit sha1_base64="JucbY3V7iD4pyjirU4Kr9PWwJLM=">AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA==</latexit> <latexit sha1_base64="JucbY3V7iD4pyjirU4Kr9PWwJLM=">AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA==</latexit> (PBQQ  ϑΟʔυόοΫ 4FNBQIPSF $166TBHF มԽ཰ • ฒྻॲཧͷݶ౓ͱͳΔCPU࢖༻཰Λ࣮ߦ࣌ʹଊ͑ΔͨΊ໨ඪ஋ΛมԽ཰͔Βߋ ৽͢Δೋॏϧʔϓ੍ޚثΛ࣮૷ɽ • ಺ଆͷϧʔϓ͸ฒߦ਺ΛೖྗɼCPU࢖༻཰Λग़ྗͱ͢ΔPID੍ޚث
  6. • ಉ࣌ΞΫηε਺͸εέʔϦϯά݁Ռʹ Ԡͯ͡ۉ౳ʹ෼ࢄ͢Δ 21 ධՁ؀ڥ1: ϦχΞ-εέʔϦϯά Clients Controller exp (

    c/ 100) 1 + r <latexit sha1_base64="MUtMwoO2Qg7EwZSGTapBVR3qnhU=">AAACn3ichVFNLwNRFD0dX/VdbCQ2pSE+ou6UhFgJC1ZSH1VSNDPjYWI6M5mZNmj8AX+AxEoTC7HwD2xs/AGL/gSxJLGxcDudRBDcybx33nn3nHdvrmobuusRlUNSTW1dfUO4sam5pbWtPdLRueZaeUcTKc0yLGddVVxh6KZIebpniHXbEUpONURaPZir3KcLwnF1y1z1jmyxlVP2TH1X1xSPqW1xaA9qYzLR0Kg84mQjMYqTH9GfQA5ADEEkrcgdNrEDCxryyEHAhMfYgAKXvwxkEGzmtlBkzmGk+/cCJ2hibZ6zBGcozB7wusenTMCafK54ur5a41cM/h1WRtFPj3RNL/RAN/RE7796FX2PSi1HvKtVrbCz7afdK2//qnK8e9j/VP2hUDm7WlmZbrmu543hTPrPHj3sYsrvTedebZ+pdK1VfQrHZy8r08v9xQEq0TP3e8nO9+xsFl61qyWxfMHjkr8P5ydYS8Tl8XhiaSI2MxsMLowe9GGQpzOJGSwgiRS/6uAclyhJvdK8tCglq6lSKNB04UtIGx8ueZlx</latexit>
  7. • όοΫΤϯυ͸εέʔϧͤͣɼϑϩϯ τͷΞΫηε਺Λશͯॲཧ͢Δ 23 ධՁ؀ڥ2: ϘτϧωοΫ-εέʔϦϯά Clients Controller exp (

    c/ 100) 1 + r <latexit sha1_base64="MUtMwoO2Qg7EwZSGTapBVR3qnhU=">AAACn3ichVFNLwNRFD0dX/VdbCQ2pSE+ou6UhFgJC1ZSH1VSNDPjYWI6M5mZNmj8AX+AxEoTC7HwD2xs/AGL/gSxJLGxcDudRBDcybx33nn3nHdvrmobuusRlUNSTW1dfUO4sam5pbWtPdLRueZaeUcTKc0yLGddVVxh6KZIebpniHXbEUpONURaPZir3KcLwnF1y1z1jmyxlVP2TH1X1xSPqW1xaA9qYzLR0Kg84mQjMYqTH9GfQA5ADEEkrcgdNrEDCxryyEHAhMfYgAKXvwxkEGzmtlBkzmGk+/cCJ2hibZ6zBGcozB7wusenTMCafK54ur5a41cM/h1WRtFPj3RNL/RAN/RE7796FX2PSi1HvKtVrbCz7afdK2//qnK8e9j/VP2hUDm7WlmZbrmu543hTPrPHj3sYsrvTedebZ+pdK1VfQrHZy8r08v9xQEq0TP3e8nO9+xsFl61qyWxfMHjkr8P5ydYS8Tl8XhiaSI2MxsMLowe9GGQpzOJGSwgiRS/6uAclyhJvdK8tCglq6lSKNB04UtIGx8ueZlx</latexit> exp ( c/ 300) 1 + r <latexit sha1_base64="VrayPbuLUXa3utjaW9MJjeAvtuw=">AAACn3ichVFNLwNRFD0d3/VVbCQ2aIiPqDuthFgJC1ZSH1VSNDPjqUmnM5OZaYPGH/AHSKxILMTCP7Cx8Qcs/ASxJLGxcDudRBDcybx33nn3nHdvrmobuusRPYakmtq6+obGpnBzS2tbe6Sjc821io4mUpplWM66qrjC0E2R8nTPEOu2I5SCaoi0mp+r3KdLwnF1y1z1DmyxVVBypr6ra4rH1LbYt4e08QTR8Jg86mQjUYqRH70/gRyAKIJIWpFbbGIHFjQUUYCACY+xAQUufxnIINjMbaHMnMNI9+8FjhBmbZGzBGcozOZ5zfEpE7Amnyuerq/W+BWDf4eVvRigB7qiF7qna3qi91+9yr5HpZYD3tWqVtjZ9uPulbd/VQXePex9qv5QqJxdreyRbriu542RTPrPHj3sYsrvTedebZ+pdK1VfUqHJy8r08sD5UG6oGfu95yd79jZLL1ql0ti+YzHJX8fzk+wFo/JiVh8aSI6MxsMrhE96McQT2cSM1hAEil+1cEpznEh9Unz0qKUrKZKoUDThS8hbXwAMuOZcw==</latexit>