Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed

Design of testbed and emulation tools

The research summarized was concerned with the design of testbed and emulation tools suitable to assist in projecting, with reasonable accuracy, the expected performance of highly concurrent computing systems on large, complete applications. Such testbed and emulation tools are intended for the eventual use of those exploring new concurrent system architectures and organizations, either as users or as designers of such systems. While a range of alternatives was considered, a software based set of hierarchical tools was chosen to provide maximum flexibility, to ease in moving to new computers as technology improves and to take advantage of the inherent reliability and availability of commercially available computing systems

A bibliography on parallel and vector numerical algorithms

This is a bibliography of numerical methods. It also includes a number of other references on machine architecture, programming language, and other topics of interest to scientific computing. Certain conference proceedings and anthologies which have been published in book form are listed also

Diameter of Cayley graphs of permutation groups generated by transposition trees

Let $\Gamma$ be a Cayley graph of the permutation group generated by a transposition tree $T$ on $n$ vertices. In an oft-cited paper \cite{Akers:Krishnamurthy:1989} (see also \cite{Hahn:Sabidussi:1997}), it is shown that the diameter of the Cayley graph $\Gamma$ is bounded as \diam(\Gamma) \le \max_{\pi \in S_n}{c(\pi)-n+\sum_{i=1}^n \dist_T(i,\pi(i))}, where the maximization is over all permutations $\pi$, $c(\pi)$ denotes the number of cycles in $\pi$, and \dist_T is the distance function in $T$. In this work, we first assess the performance (the sharpness and strictness) of this upper bound. We show that the upper bound is sharp for all trees of maximum diameter and also for all trees of minimum diameter, and we exhibit some families of trees for which the bound is strict. We then show that for every $n$, there exists a tree on $n$ vertices, such that the difference between the upper bound and the true diameter value is at least $n-4$. Observe that evaluating this upper bound requires on the order of $n!$ (times a polynomial) computations. We provide an algorithm that obtains an estimate of the diameter, but which requires only on the order of (polynomial in) $n$ computations; furthermore, the value obtained by our algorithm is less than or equal to the previously known diameter upper bound. This result is possible because our algorithm works directly with the transposition tree on $n$ vertices and does not require examining any of the permutations (only the proof requires examining the permutations). For all families of trees examined so far, the value $\beta$ computed by our algorithm happens to also be an upper bound on the diameter, i.e. \diam(\Gamma) \le \beta \le \max_{\pi \in S_n}{c(\pi)-n+\sum_{i=1}^n \dist_T(i,\pi(i))}.Comment: This is an extension of arXiv:1106.535

Solution of partial differential equations on vector and parallel computers

The present status of numerical methods for partial differential equations on vector and parallel computers was reviewed. The relevant aspects of these computers are discussed and a brief review of their development is included, with particular attention paid to those characteristics that influence algorithm selection. Both direct and iterative methods are given for elliptic equations as well as explicit and implicit methods for initial boundary value problems. The intent is to point out attractive methods as well as areas where this class of computer architecture cannot be fully utilized because of either hardware restrictions or the lack of adequate algorithms. Application areas utilizing these computers are briefly discussed

Evaluation of fault-tolerant parallel-processor architectures over long space missions

The impact of a five year space mission environment on fault-tolerant parallel processor architectures is examined. The target application is a Strategic Defense Initiative (SDI) satellite requiring 256 parallel processors to provide the computation throughput. The reliability requirements are that the system still be operational after five years with .99 probability and that the probability of system failure during one-half hour of full operation be less than 10(-7). The fault tolerance features an architecture must possess to meet these reliability requirements are presented, many potential architectures are briefly evaluated, and one candidate architecture, the Charles Stark Draper Laboratory's Fault-Tolerant Parallel Processor (FTPP) is evaluated in detail. A methodology for designing a preliminary system configuration to meet the reliability and performance requirements of the mission is then presented and demonstrated by designing an FTPP configuration

Highly parallel computation

Highly parallel computing architectures are the only means to achieve the computation rates demanded by advanced scientific problems. A decade of research has demonstrated the feasibility of such machines and current research focuses on which architectures designated as multiple instruction multiple datastream (MIMD) and single instruction multiple datastream (SIMD) have produced the best results to date; neither shows a decisive advantage for most near-homogeneous scientific problems. For scientific problems with many dissimilar parts, more speculative architectures such as neural networks or data flow may be needed