Evaluation of vectorization potential of Graph500 on Intel's Xeon Phi

Graph500 is a data intensive application for high performance computing and it is an increasingly important workload because graphs are a core part of most analytic applications. So far there is no work that examines if Graph500 is suitable for vectorization mostly due a lack of vector memory instructions for irregular memory accesses. The Xeon Phi is a massively parallel processor recently released by Intel with new features such as a wide 512-bit vector unit and vector scatter/gather instructions. Thus, the Xeon Phi allows for more efficient parallelization of Graph500 that is combined with vectorization. In this paper we vectorize Graph500 and analyze the impact of vectorization and prefetching on the Xeon Phi. We also show that the combination of parallelization, vectorization and prefetching yields a speedup of 27% over a parallel version with prefetching that does not leverage the vector capabilities of the Xeon Phi.The research leading to these results has received funding from the European Research Council under the European Unions 7th FP (FP/2007- 2013) / ERC GA n. 321253. It has been partially funded by the Spanish Government (TIN2012-34557)Peer ReviewedPostprint (published version

Attention and Anticipation in Fast Visual-Inertial Navigation

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

Development of BEM for ceramic composites

It is evident that for proper micromechanical analysis of ceramic composites, one needs to use a numerical method that is capable of idealizing the individual fibers or individual bundles of fibers embedded within a three-dimensional ceramic matrix. The analysis must be able to account for high stress or temperature gradients from diffusion of stress or temperature from the fiber to the ceramic matrix and allow for interaction between the fibers through the ceramic matrix. The analysis must be sophisticated enough to deal with the failure of fibers described by a series of increasingly sophisticated constitutive models. Finally, the analysis must deal with micromechanical modeling of the composite under nonlinear thermal and dynamic loading. This report details progress made towards the development of a boundary element code designed for the micromechanical studies of an advanced ceramic composite. Additional effort has been made in generalizing the implementation to allow the program to be applicable to real problems in the aerospace industry