Scheduling in Mapreduce Clusters

MapReduce is a framework proposed by Google for processing huge amounts of data in a distributed environment. The simplicity of the programming model and the fault-tolerance feature of the framework make it very popular in Big Data processing. As MapReduce clusters get popular, their scheduling becomes increasingly important. On one hand, many MapReduce applications have high performance requirements, for example, on response time and/or throughput. On the other hand, with the increasing size of MapReduce clusters, the energy-efficient scheduling of MapReduce clusters becomes inevitable. These scheduling challenges, however, have not been systematically studied. The objective of this dissertation is to provide MapReduce applications with low cost and energy consumption through the development of scheduling theory and algorithms, energy models, and energy-aware resource management. In particular, we will investigate energy-efficient scheduling in hybrid CPU-GPU MapReduce clusters. This research work is expected to have a breakthrough in Big Data processing, particularly in providing green computing to Big Data applications such as social network analysis, medical care data mining, and financial fraud detection. The tools we propose to develop are expected to increase utilization and reduce energy consumption for MapReduce clusters. In this PhD dissertation, we propose to address the aforementioned challenges by investigating and developing 1) a match-making scheduling algorithm for improving the data locality of Map- Reduce applications, 2) a real-time scheduling algorithm for heterogeneous Map- Reduce clusters, and 3) an energy-efficient scheduler for hybrid CPU-GPU Map- Reduce cluster. Advisers: Ying Lu and David Swanso

Computing Fast and Scalable Table Cartograms for Large Tables

Given an m x n table T of positive weights and a rectangle R with an area equal to the sum of the weights, a table cartogram computes a partition of R into m x n convex quadrilateral faces such that each face has the same adjacencies as its corresponding cell in T, and has an area equal to the cell's weight. In this thesis, we explored different table cartogram algorithms for a large table with thousands of cells and investigated the potential applications of large table cartograms. We implemented Evans et al.'s table cartogram algorithm that guarantees zero area error and adapted a diffusion-based cartographic transformation approach, FastFlow, to produce large table cartograms. We introduced a constraint optimization-based table cartogram generation technique, TCarto, leveraging the concept of force-directed layout. We implemented TCarto with column-based and quadtree-based parallelization to compute table cartograms for table with thousands of cells. We presented several potential applications of large table cartograms to create the diagrammatic representations in various real-life scenarios, e.g., for analyzing spatial correlations between geospatial variables, understanding clusters and densities in scatterplots, and creating visual effects in images (i.e., expanding illumination, mosaic art effect). We presented an empirical comparison among these three table cartogram techniques with two different real-life datasets: a meteorological weather dataset and a US State-to-State migration flow dataset. FastFlow and TCarto both performed well on the weather data table. However, for US State-to-State migration flow data, where the table contained many local optima with high value differences among adjacent cells, FastFlow generated concave quadrilateral faces. We also investigated some potential relationships among different measurement metrics such as cartographic error (accuracy), the average aspect ratio (the readability of the visualization), computational speed, and the grid size of the table. Furthermore, we augmented our proposed TCarto with angle constraint to enhance the readability of the visualization, conceding some cartographic error, and also inspected the potential relationship of the restricted angles with the accuracy and the readability of the visualization. In the output of the angle constrained TCarto algorithm on US State-to-State migration dataset, it was difficult to identify the rows and columns for a cell upto 20 degree angle constraint, but appeared to be identifiable for more than 40 degree angle constraint

Multimodal learning from visual and remotely sensed data

Autonomous vehicles are often deployed to perform exploration and monitoring missions in unseen environments. In such applications, there is often a compromise between the information richness and the acquisition cost of different sensor modalities. Visual data is usually very information-rich, but requires in-situ acquisition with the robot. In contrast, remotely sensed data has a larger range and footprint, and may be available prior to a mission. In order to effectively and efficiently explore and monitor the environment, it is critical to make use of all of the sensory information available to the robot. One important application is the use of an Autonomous Underwater Vehicle (AUV) to survey the ocean floor. AUVs can take high resolution in-situ photographs of the sea floor, which can be used to classify different regions into various habitat classes that summarise the observed physical and biological properties. This is known as benthic habitat mapping. However, since AUVs can only image a tiny fraction of the ocean floor, habitat mapping is usually performed with remotely sensed bathymetry (ocean depth) data, obtained from shipborne multibeam sonar. With the recent surge in unsupervised feature learning and deep learning techniques, a number of previous techniques have investigated the concept of multimodal learning: capturing the relationship between different sensor modalities in order to perform classification and other inference tasks. This thesis proposes related techniques for visual and remotely sensed data, applied to the task of autonomous exploration and monitoring with an AUV. Doing so enables more accurate classification of the benthic environment, and also assists autonomous survey planning. The first contribution of this thesis is to apply unsupervised feature learning techniques to marine data. The proposed techniques are used to extract features from image and bathymetric data separately, and the performance is compared to that with more traditionally used features for each sensor modality. The second contribution is the development of a multimodal learning architecture that captures the relationship between the two modalities. The model is robust to missing modalities, which means it can extract better features for large-scale benthic habitat mapping, where only bathymetry is available. The model is used to perform classification with various combinations of modalities, demonstrating that multimodal learning provides a large performance improvement over the baseline case. The third contribution is an extension of the standard learning architecture using a gated feature learning model, which enables the model to better capture the ‘one-to-many’ relationship between visual and bathymetric data. This opens up further inference capabilities, with the ability to predict visual features from bathymetric data, which allows image-based queries. Such queries are useful for AUV survey planning, especially when supervised labels are unavailable. The final contribution is the novel derivation of a number of information-theoretic measures to aid survey planning. The proposed measures predict the utility of unobserved areas, in terms of the amount of expected additional visual information. As such, they are able to produce utility maps over a large region that can be used by the AUV to determine the most informative locations from a set of candidate missions. The models proposed in this thesis are validated through extensive experiments on real marine data. Furthermore, the introduced techniques have applications in various other areas within robotics. As such, this thesis concludes with a discussion on the broader implications of these contributions, and the future research directions that arise as a result of this work

Modeling Energy Consumption of High-Performance Applications on Heterogeneous Computing Platforms

Achieving Exascale computing is one of the current leading challenges in High Performance Computing (HPC). Obtaining this next level of performance will allow more complex simulations to be run on larger datasets and offer researchers better tools for data processing and analysis. In the dawn of Big Data, the need for supercomputers will only increase. However, these systems are costly to maintain because power is expensive. Thus, a better understanding of power and energy consumption is required such that future hardware can benefit. Available power models accurately capture the relationship to the number of cores and clock-rate, however the relationship between workload and power is less understood. Thus, investigation and analysis of power measurements has been a focal point in this work with the aim to improve the general understanding of energy consumption in the context of HPC. This dissertation investigates power and energy consumption of many different parallel applications on several hardware platforms while varying a number of execution characteristics. Multicore and manycore hardware devices are investigated in homogeneous and heterogeneous computing environments. Further, common techniques for reducing power and energy consumption are employed to each of these devices. Well-known power and performance models have been combined to form the Execution-Phase model, which may be used to quantify energy contributions based on execution phase and has been used to predict energy consumption to within 10%. However, due to limitations in the measurement procedure, a less intrusive approach is required. The Empirical Mode Decomposition (EMD) and Hilbert-Huang Transform analysis technique has been applied in innovative ways to model, analyze, and visualize power and energy measurements. EMD is widely used in other research areas, including earthquake, brain-wave, speech recognition, and sea-level rise analysis and this is the first it has been applied to power traces to analyze the complex interactions occurring within HPC systems. Probability distributions may be used to represent power and energy traces, thereby providing an alternative means of predicting energy consumption while retaining the fact that power is not constant over time. Further, these distributions may be used to define the cost of a workload for a given computing platform

Real-Time, Multiple Pan/Tilt/Zoom Computer Vision Tracking and 3D Positioning System for Unmanned Aerial System Metrology

The study of structural characteristics of Unmanned Aerial Systems (UASs) continues to be an important field of research for developing state of the art nano/micro systems. Development of a metrology system using computer vision (CV) tracking and 3D point extraction would provide an avenue for making these theoretical developments. This work provides a portable, scalable system capable of real-time tracking, zooming, and 3D position estimation of a UAS using multiple cameras. Current state-of-the-art photogrammetry systems use retro-reflective markers or single point lasers to obtain object poses and/or positions over time. Using a CV pan/tilt/zoom (PTZ) system has the potential to circumvent their limitations. The system developed in this paper exploits parallel-processing and the GPU for CV-tracking, using optical flow and known camera motion, in order to capture a moving object using two PTU cameras. The parallel-processing technique developed in this work is versatile, allowing the ability to test other CV methods with a PTZ system using known camera motion. Utilizing known camera poses, the object\u27s 3D position is estimated and focal lengths are estimated for filling the image to a desired amount. This system is tested against truth data obtained using an industrial system

Convergence of Intelligent Data Acquisition and Advanced Computing Systems

This book is a collection of published articles from the Sensors Special Issue on "Convergence of Intelligent Data Acquisition and Advanced Computing Systems". It includes extended versions of the conference contributions from the 10th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS’2019), Metz, France, as well as external contributions