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In this thesis we address the problem of optimal code generation for irregular architectures such as Digital Signal Processors (DSPs). Code generation consists mainly of three interrelated optimization tasks: instruction selection (with resource allocation), instruction scheduling and register allocation. These tasks have been discovered to be NP-hard for most architectures and most situations. A common approach to code generation consists in solving each task separately, i.e. in a decoupled manner, which is easier from a software engineering point of view. Phase-decoupled compilers produce good code quality for regular architectures, but if applied to DSPs the resulting code is of significantly lower performance due to strong interdependences between the different tasks. We developed a novel method for fully integrated code generation at the basic block level, based on dynamic programming. It handles the most important tasks of code generation in a single optimization step and produces an optimal code sequence. Our dynamic programming algorithm is applicable to small, yet not trivial problem instances with up to 50 instructions per basic block if data locality is not an issue, and up to 20 instructions if we take data locality with optimal scheduling of data transfers on irregular processor architectures into account. For larger problem instances we have developed heuristic relaxations. In order to obtain a retargetable framework we developed a structured architecture specification language, xADML, which is based on XML. We implemented such a framework, called OPTIMIST that is parameterized by an xADML architecture specification. The thesis further provides an Integer Linear Programming formulation of fully integrated optimal code generation for VLIW architectures with a homogeneous register file. Where it terminates successfully, the ILP-based optimizer mostly works faster than the dynamic programming approach; on the other hand, it fails for several larger examples where dynamic programming still provides a solution. Hence, the two approaches complement each other. In particular, we show how the dynamic programming approach can be used to precondition the ILP formulation. As far as we know from the literature, this is for the first time that the main tasks of code generation are solved optimally in a single and fully integrated optimization step that additionally considers data placement in register sets and optimal scheduling of data transfers between different registers sets

Survey on Combinatorial Register Allocation and Instruction Scheduling

Register allocation (mapping variables to processor registers or memory) and instruction scheduling (reordering instructions to increase instruction-level parallelism) are essential tasks for generating efficient assembly code in a compiler. In the last three decades, combinatorial optimization has emerged as an alternative to traditional, heuristic algorithms for these two tasks. Combinatorial optimization approaches can deliver optimal solutions according to a model, can precisely capture trade-offs between conflicting decisions, and are more flexible at the expense of increased compilation time. This paper provides an exhaustive literature review and a classification of combinatorial optimization approaches to register allocation and instruction scheduling, with a focus on the techniques that are most applied in this context: integer programming, constraint programming, partitioned Boolean quadratic programming, and enumeration. Researchers in compilers and combinatorial optimization can benefit from identifying developments, trends, and challenges in the area; compiler practitioners may discern opportunities and grasp the potential benefit of applying combinatorial optimization

Computer Architectures to Close the Loop in Real-time Optimization

© 2015 IEEE.Many modern control, automation, signal processing and machine learning applications rely on solving a sequence of optimization problems, which are updated with measurements of a real system that evolves in time. The solutions of each of these optimization problems are then used to make decisions, which may be followed by changing some parameters of the physical system, thereby resulting in a feedback loop between the computing and the physical system. Real-time optimization is not the same as fast optimization, due to the fact that the computation is affected by an uncertain system that evolves in time. The suitability of a design should therefore not be judged from the optimality of a single optimization problem, but based on the evolution of the entire cyber-physical system. The algorithms and hardware used for solving a single optimization problem in the office might therefore be far from ideal when solving a sequence of real-time optimization problems. Instead of there being a single, optimal design, one has to trade-off a number of objectives, including performance, robustness, energy usage, size and cost. We therefore provide here a tutorial introduction to some of the questions and implementation issues that arise in real-time optimization applications. We will concentrate on some of the decisions that have to be made when designing the computing architecture and algorithm and argue that the choice of one informs the other

Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation

Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with Rigid Body Dynamics, these derivatives are difficult to derive analytically and to implement efficiently. To overcome this issue, we extend the modelling tool `RobCoGen' to be compatible with Automatic Differentiation. Additionally, we propose how to automatically obtain the derivatives and generate highly efficient source code. We highlight the flexibility and performance of the approach in two application examples. First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model. Second, we present a hardware experiment in which a 6 DoF robotic arm avoids a randomly moving obstacle in a go-to task by fast, dynamic replanning

Proceedings of the 3rd Workshop on Domain-Specific Language Design and Implementation (DSLDI 2015)

The goal of the DSLDI workshop is to bring together researchers and practitioners interested in sharing ideas on how DSLs should be designed, implemented, supported by tools, and applied in realistic application contexts. We are both interested in discovering how already known domains such as graph processing or machine learning can be best supported by DSLs, but also in exploring new domains that could be targeted by DSLs. More generally, we are interested in building a community that can drive forward the development of modern DSLs. These informal post-proceedings contain the submitted talk abstracts to the 3rd DSLDI workshop (DSLDI'15), and a summary of the panel discussion on Language Composition

On the Implementation of GNU Prolog

GNU Prolog is a general-purpose implementation of the Prolog language, which distinguishes itself from most other systems by being, above all else, a native-code compiler which produces standalone executables which don't rely on any byte-code emulator or meta-interpreter. Other aspects which stand out include the explicit organization of the Prolog system as a multipass compiler, where intermediate representations are materialized, in Unix compiler tradition. GNU Prolog also includes an extensible and high-performance finite domain constraint solver, integrated with the Prolog language but implemented using independent lower-level mechanisms. This article discusses the main issues involved in designing and implementing GNU Prolog: requirements, system organization, performance and portability issues as well as its position with respect to other Prolog system implementations and the ISO standardization initiative.Comment: 30 pages, 3 figures, To appear in Theory and Practice of Logic Programming (TPLP); Keywords: Prolog, logic programming system, GNU, ISO, WAM, native code compilation, Finite Domain constraint

A Framework for Globally Optimizing Mixed-Integer Signomial Programs

Mixed-integer signomial optimization problems have broad applicability in engineering. Extending the Global Mixed-Integer Quadratic Optimizer, GloMIQO (Misener, Floudas in J. Glob. Optim., 2012. doi:10.1007/s10898-012-9874-7), this manuscript documents a computational framework for deterministically addressing mixed-integer signomial optimization problems to ε-global optimality. This framework generalizes the GloMIQO strategies of (1) reformulating user input, (2) detecting special mathematical structure, and (3) globally optimizing the mixed-integer nonconvex program. Novel contributions of this paper include: flattening an expression tree towards term-based data structures; introducing additional nonconvex terms to interlink expressions; integrating a dynamic implementation of the reformulation-linearization technique into the branch-and-cut tree; designing term-based underestimators that specialize relaxation strategies according to variable bounds in the current tree node. Computational results are presented along with comparison of the computational framework to several state-of-the-art solvers. © 2013 Springer Science+Business Media New York

Approximate Dynamic Programming via Sum of Squares Programming

We describe an approximate dynamic programming method for stochastic control problems on infinite state and input spaces. The optimal value function is approximated by a linear combination of basis functions with coefficients as decision variables. By relaxing the Bellman equation to an inequality, one obtains a linear program in the basis coefficients with an infinite set of constraints. We show that a recently introduced method, which obtains convex quadratic value function approximations, can be extended to higher order polynomial approximations via sum of squares programming techniques. An approximate value function can then be computed offline by solving a semidefinite program, without having to sample the infinite constraint. The policy is evaluated online by solving a polynomial optimization problem, which also turns out to be convex in some cases. We experimentally validate the method on an autonomous helicopter testbed using a 10-dimensional helicopter model.Comment: 7 pages, 5 figures. Submitted to the 2013 European Control Conference, Zurich, Switzerlan

Transparently Mixing Undo Logs and Software Reversibility for State Recovery in Optimistic PDES

The rollback operation is a fundamental building block to support the correct execution of a speculative Time Warp-based Parallel Discrete Event Simulation. In the literature, several solutions to reduce the execution cost of this operation have been proposed, either based on the creation of a checkpoint of previous simulation state images, or on the execution of negative copies of simulation events which are able to undo the updates on the state. In this paper, we explore the practical design and implementation of a state recoverability technique which allows to restore a previous simulation state either relying on checkpointing or on the reverse execution of the state updates occurred while processing events in forward mode. Differently from other proposals, we address the issue of executing backward updates in a fully-transparent and event granularity-independent way, by relying on static software instrumentation (targeting the x86 architecture and Linux systems) to generate at runtime reverse update code blocks (not to be confused with reverse events, proper of the reverse computing approach). These are able to undo the effects of a forward execution while minimizing the cost of the undo operation. We also present experimental results related to our implementation, which is released as free software and fully integrated into the open source ROOT-Sim (ROme OpTimistic Simulator) package. The experimental data support the viability and effectiveness of our proposal