34,796 research outputs found
Model-driven engineering approach to design and implementation of robot control system
In this paper we apply a model-driven engineering approach to designing
domain-specific solutions for robot control system development. We present a
case study of the complete process, including identification of the domain
meta-model, graphical notation definition and source code generation for
subsumption architecture -- a well-known example of robot control architecture.
Our goal is to show that both the definition of the robot-control architecture
and its supporting tools fits well into the typical workflow of model-driven
engineering development.Comment: Presented at DSLRob 2011 (arXiv:cs/1212.3308
Autonomic management of multiple non-functional concerns in behavioural skeletons
We introduce and address the problem of concurrent autonomic management of
different non-functional concerns in parallel applications build as a
hierarchical composition of behavioural skeletons. We first define the problems
arising when multiple concerns are dealt with by independent managers, then we
propose a methodology supporting coordinated management, and finally we discuss
how autonomic management of multiple concerns may be implemented in a typical
use case. The paper concludes with an outline of the challenges involved in
realizing the proposed methodology on distributed target architectures such as
clusters and grids. Being based on the behavioural skeleton concept proposed in
the CoreGRID GCM, it is anticipated that the methodology will be readily
integrated into the current reference implementation of GCM based on Java
ProActive and running on top of major grid middleware systems.Comment: 20 pages + cover pag
SkelCL - A Portable Skeleton Library for High-Level GPU Programming
While CUDA and OpenCL made general-purpose programming for Graphics Processing Units (GPU) popular, using these programming approaches remains complex and error-prone because they lack high-level abstractions. The especially challenging systems with multiple GPU are not addressed at all by these low-level programming models. We
propose SkelCL â a library providing so-called algorithmic skeletons that capture recurring patterns of parallel computation and communication, together with an abstract vector data type and constructs for specifying data distribution. We demonstrate that SkelCL greatly simplifies programming GPU systems. We report the competitive performance results of SkelCL using both a simple Mandelbrot set computation and an industrial-strength medical imaging application. Because the library is implemented using OpenCL, it is portable across GPU hardware of different vendors
FullSWOF_Paral: Comparison of two parallelization strategies (MPI and SKELGIS) on a software designed for hydrology applications
In this paper, we perform a comparison of two approaches for the
parallelization of an existing, free software, FullSWOF 2D (http://www.
univ-orleans.fr/mapmo/soft/FullSWOF/ that solves shallow water equations for
applications in hydrology) based on a domain decomposition strategy. The first
approach is based on the classical MPI library while the second approach uses
Parallel Algorithmic Skeletons and more precisely a library named SkelGIS
(Skeletons for Geographical Information Systems). The first results presented
in this article show that the two approaches are similar in terms of
performance and scalability. The two implementation strategies are however very
different and we discuss the advantages of each one.Comment: 27 page
Remove-Win: a Design Framework for Conflict-free Replicated Data Collections
Internet-scale distributed systems often replicate data within and across
data centers to provide low latency and high availability despite node and
network failures. Replicas are required to accept updates without coordination
with each other, and the updates are then propagated asynchronously. This
brings the issue of conflict resolution among concurrent updates, which is
often challenging and error-prone. The Conflict-free Replicated Data Type
(CRDT) framework provides a principled approach to address this challenge.
This work focuses on a special type of CRDT, namely the Conflict-free
Replicated Data Collection (CRDC), e.g. list and queue. The CRDC can have
complex and compound data items, which are organized in structures of rich
semantics. Complex CRDCs can greatly ease the development of upper-layer
applications, but also makes the conflict resolution notoriously difficult.
This explains why existing CRDC designs are tricky, and hard to be generalized
to other data types. A design framework is in great need to guide the
systematic design of new CRDCs.
To address the challenges above, we propose the Remove-Win Design Framework.
The remove-win strategy for conflict resolution is simple but powerful. The
remove operation just wipes out the data item, no matter how complex the value
is. The user of the CRDC only needs to specify conflict resolution for
non-remove operations. This resolution is destructed to three basic cases and
are left as open terms in the CRDC design skeleton. Stubs containing
user-specified conflict resolution logics are plugged into the skeleton to
obtain concrete CRDC designs. We demonstrate the effectiveness of our design
framework via a case study of designing a conflict-free replicated priority
queue. Performance measurements also show the efficiency of the design derived
from our design framework.Comment: revised after submissio
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