A survey of checkpointing algorithms for parallel and distributed computers

Checkpoint is defined as a designated place in a program at which normal processing is interrupted specifically to preserve the status information necessary to allow resumption of processing at a later time. Checkpointing is the process of saving the status information. This paper surveys the algorithms which have been reported in the literature for checkpointing parallel/distributed systems. It has been observed that most of the algorithms published for checkpointing in message passing systems are based on the seminal article by Chandy and Lamport. A large number of articles have been published in this area by relaxing the assumptions made in this paper and by extending it to minimise the overheads of coordination and context saving. Checkpointing for shared memory systems primarily extend cache coherence protocols to maintain a consistent memory. All of them assume that the main memory is safe for storing the context. Recently algorithms have been published for distributed shared memory systems, which extend the cache coherence protocols used in shared memory systems. They however also include methods for storing the status of distributed memory in stable storage. Most of the algorithms assume that there is no knowledge about the programs being executed. It is however felt that in development of parallel programs the user has to do a fair amount of work in distributing tasks and this information can be effectively used to simplify checkpointing and rollback recovery

Using Rollback Avoidance to Mitigate Failures in Next-Generation Extreme-Scale Systems

High-performance computing (HPC) systems enable scientists to numerically model complex phenomena in many important physical systems. The next major milestone in the development of HPC systems is the construction of the first supercomputer capable executing more than an exaflop, 10^18 floating point operations per second. On systems of this scale, failures will occur much more frequently than on current systems. As a result, resilience is a key obstacle to building next-generation extreme-scale systems. Coordinated checkpointing is currently the most widely-used mechanism for handling failures on HPC systems. Although coordinated checkpointing remains effective on current systems, increasing the scale of today\u27s systems to build next-generation systems will increase the cost of fault tolerance as more and more time is taken away from the application to protect against or recover from failure. Rollback avoidance techniques seek to mitigate the cost of checkpoint/restart by allowing an application to continue its execution rather than rolling back to an earlier checkpoint when failures occur. These techniques include failure prediction and preventive migration, replicated computation, fault-tolerant algorithms, and software-based memory fault correction. In this thesis, I examine how rollback avoidance techniques can be used to address failures on extreme-scale systems. Using a combination of analytic modeling and simulation, I evaluate the potential impact of rollback avoidance on these systems. I then present a novel rollback avoidance technique that exploits similarities in application memory. Finally, I examine the feasibility of using this technique to protect against memory faults in kernel memory

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

Integrating Scale Out and Fault Tolerance in Stream Processing using Operator State Management

As users of big data applications expect fresh results, we witness a new breed of stream processing systems (SPS) that are designed to scale to large numbers of cloud-hosted machines. Such systems face new challenges: (i) to benefit from the pay-as-you-go model of cloud computing, they must scale out on demand, acquiring additional virtual machines (VMs) and parallelising operators when the workload increases; (ii) failures are common with deployments on hundreds of VMs - systems must be fault-tolerant with fast recovery times, yet low per-machine overheads. An open question is how to achieve these two goals when stream queries include stateful operators, which must be scaled out and recovered without affecting query results. Our key idea is to expose internal operator state explicitly to the SPS through a set of state management primitives. Based on them, we describe an integrated approach for dynamic scale out and recovery of stateful operators. Externalised operator state is checkpointed periodically by the SPS and backed up to upstream VMs. The SPS identifies individual operator bottlenecks and automatically scales them out by allocating new VMs and partitioning the check-pointed state. At any point, failed operators are recovered by restoring checkpointed state on a new VM and replaying unprocessed tuples. We evaluate this approach with the Linear Road Benchmark on the Amazon EC2 cloud platform and show that it can scale automatically to a load factor of L=350 with 50 VMs, while recovering quickly from failures. Copyright © 2013 ACM

Dynamic interval determination for pagelevel incremental checkpointing

A distributed system is composed of multiple independent machines that communicate using messages. Faults in a large distributed system are common events. Without fault tolerance mechanisms, an application running on a system has to be restarted from scratch if a fault happens in the middle of its execution, resulting in loss of useful computation. Checkpoint and Recovery mechanisms are used in distributed systems to provide fault tolerance for such applications. A checkpoint of a process is the information about the state of a process at some instant of time. A checkpoint of a distributed application is a set of checkpoints, one from each of its processes, satisfying certain constraints. If a fault occurs, the application is started from an earlier checkpoint instead of being restarted from scratch to save some of the computation. Several checkpoint and recovery protocols have been proposed in the literature. The performance of a checkpoint and recovery protocol depends upon the amount of computation it can save against the amount of overhead it incurs. Checkpointing protocols should not add much overhead to the system. Checkpoiniting overhead is mainly due to the coordination among processes and their context saving in stable storage. In coordination checkpointing, for taking single checkpoint, it will coordinate with other processes. Checkpoint initiating process coordinates with other processes through messages. If more number of messages are used for coordination then it increases the network tra±c. Which is not desirable. It is better to reduce the number of messages that are needed for checkpoint coordination. In this thesis, we present an algorithm which reduces the number of messages per process, that are needed for checkpoint Coordination and there by decreasing the network tra±c. The total running time of an application is depend on the execution time of the application and the amount of checkpointing overhead that incurs with the application. We should minimize this checkpointing overhead. Checkpointing overhead is the combination of context saving overhead and coordination overhead. Storing the context of application over stable storage also increases the overhead. In periodic interval checkpointing, sometimes processes takes checkpoints though it is not much useful. These unnecessary checkpoints increase the application's running time. We have proposed an algorithm which determines checkpointing interval dynamically, based on expected recovery time, to avoid unnecessary checkpoints. By eliminating unnecessary checkpoints, we can reduce running time of a process signi¯cantly

Making State Explicit for Imperative Big Data Processing

Data scientists often implement machine learning algorithms in imperative languages such as Java, Matlab and R. Yet such implementations fail to achieve the performance and scalability of specialised data-parallel processing frameworks. Our goal is to execute imperative Java programs in a data-parallel fashion with high throughput and low latency. This raises two challenges: how to support the arbitrary mutable state of Java programs without compromising scalability, and how to recover that state after failure with low overhead. Our idea is to infer the dataflow and the types of state accesses from a Java program and use this information to generate a stateful dataflow graph (SDG). By explicitly separating data from mutable state, SDGs have specific features to enable this translation: to ensure scalability, distributed state can be partitioned across nodes if computation can occur entirely in parallel; if this is not possible, partial state gives nodes local instances for independent computation, which are reconciled according to application semantics. For fault tolerance, large inmemory state is checkpointed asynchronously without global coordination. We show that the performance of SDGs for several imperative online applications matches that of existing data-parallel processing frameworks

Making State Explicit for Imperative Big Data Processing

Data scientists often implement machine learning algorithms in imperative languages such as Java, Matlab and R. Yet such implementations fail to achieve the performance and scalability of specialised data-parallel processing frameworks. Our goal is to execute imperative Java programs in a data-parallel fashion with high throughput and low latency. This raises two challenges: how to support the arbitrary mutable state of Java programs without compromising scalability, and how to re cover that state after failure with low overhead. Our idea is to infer the dataflow and the types of state accesses from a Java program and use this information to generate a stateful dataflow graph (SDG) . By explicitly separating data from mutablestate, SDGs have specific features to enable this translation: to ensure scalability, distributed state can be partitioned across nodes if computation can occur entirely in parallel; if this is not possible, partial state gives nodes local instances for independent computation, which are reconciled according to application semantics. For fault tolerance, large inmemory state is checkpointed asynchronously without global coordination. We show that the performance of SDGs for several imperative online applications matches that of existing data-parallel processing frameworks

Keeping checkpoint/restart viable for exascale systems

Next-generation exascale systems, those capable of performing a quintillion operations per second, are expected to be delivered in the next 8-10 years. These systems, which will be 1,000 times faster than current systems, will be of unprecedented scale. As these systems continue to grow in size, faults will become increasingly common, even over the course of small calculations. Therefore, issues such as fault tolerance and reliability will limit application scalability. Current techniques to ensure progress across faults like checkpoint/restart, the dominant fault tolerance mechanism for the last 25 years, are increasingly problematic at the scales of future systems due to their excessive overheads. In this work, we evaluate a number of techniques to decrease the overhead of checkpoint/restart and keep this method viable for future exascale systems. More specifically, this work evaluates state-machine replication to dramatically increase the checkpoint interval (the time between successive checkpoints) and hash-based, probabilistic incremental checkpointing using graphics processing units to decrease the checkpoint commit time (the time to save one checkpoint). Using a combination of empirical analysis, modeling, and simulation, we study the costs and benefits of these approaches on a wide range of parameters. These results, which cover of number of high-performance computing capability workloads, different failure distributions, hardware mean time to failures, and I/O bandwidths, show the potential benefits of these techniques for meeting the reliability demands of future exascale platforms

Algorithm-Directed Crash Consistence in Non-Volatile Memory for HPC

Fault tolerance is one of the major design goals for HPC. The emergence of non-volatile memories (NVM) provides a solution to build fault tolerant HPC. Data in NVM-based main memory are not lost when the system crashes because of the non-volatility nature of NVM. However, because of volatile caches, data must be logged and explicitly flushed from caches into NVM to ensure consistence and correctness before crashes, which can cause large runtime overhead. In this paper, we introduce an algorithm-based method to establish crash consistence in NVM for HPC applications. We slightly extend application data structures or sparsely flush cache blocks, which introduce ignorable runtime overhead. Such extension or cache flushing allows us to use algorithm knowledge to \textit{reason} data consistence or correct inconsistent data when the application crashes. We demonstrate the effectiveness of our method for three algorithms, including an iterative solver, dense matrix multiplication, and Monte-Carlo simulation. Based on comprehensive performance evaluation on a variety of test environments, we demonstrate that our approach has very small runtime overhead (at most 8.2\% and less than 3\% in most cases), much smaller than that of traditional checkpoint, while having the same or less recomputation cost.Comment: 12 page

Reliability -aware optimal checkpoint /restart model in high performance computing

Computational power demand for large challenging problems has increasingly driven the physical size of High Performance Computing (HPC) systems. As the system gets larger, it requires more and more components (processor, memory, disk, switch, power supply and so on). Thus, challenges arise in handling reliability of such large-scale systems. In order to minimize the performance loss due to unexpected failures, fault tolerant mechanisms are vital to sustain computational power in such environment. Checkpoint/restart is a common fault tolerant technique which has been widely applied in the single computer system. However, checkpointing in a large-scale HPC environment is much more challenging due to complexity, coordination, and timing issues. In this dissertation, we present a reliability-aware method for an optimal checkpoint/restart strategy. Our scheme aims to address the fault tolerance challenge, especially in a large-scale HPC system, by providing optimal checkpoint placement techniques derived from the actual system reliability. Unlike existing checkpoint models, which can only handle Poisson failure and a constant checkpoint interval, our model can perform a varying checkpoint interval and deal with different failure distributions. In addition, the approach considers optimality for both checkpoint overhead and rollback time. Our validation results suggest a significant improvement over existing techniques