Efficient Parallel Algorithm for Robot Forward Dynamics Computation

Computing the robot forward dynamics is important for real-time computer simulation of robot arm motion. Two efficient parallel algorithms for computing the forward dynamics for real-time simulation were developed to be implemented on an SIMD computer with n. processors, where h is the number of degrees-of-freedom of the manipulator. The first parallel algorithm, based on the Composite Rigid-Body method, generates the inertia matrix using the parallel Newton-Euler algorithm, the parallel linear recurrence algorithm, and the row-sweep algorithm, and then inverts the inertia matrix to obtain the joint acceleration vector desired at time t. The time complexity of this parallel algorithm is of the order 0(n2) with 0(n) processors. Further reduction of the order of time complexity can be achieved by implementing the Cholesky’s factorization procedure on array processors. The second parallel algorithm, based on the conjugate gradient method, computes the joint accelerations with a time complexity of 0(n) for multiplication operation and 0(nlogn) for addition operation. The proposed parallel computation results are compared with the existing methods

Exact Sparse Matrix-Vector Multiplication on GPU's and Multicore Architectures

We propose different implementations of the sparse matrix--dense vector multiplication (\spmv{}) for finite fields and rings \Zb/m\Zb. We take advantage of graphic card processors (GPU) and multi-core architectures. Our aim is to improve the speed of \spmv{} in the \linbox library, and henceforth the speed of its black box algorithms. Besides, we use this and a new parallelization of the sigma-basis algorithm in a parallel block Wiedemann rank implementation over finite fields

Collaborative Computation in Self-Organizing Particle Systems

Many forms of programmable matter have been proposed for various tasks. We use an abstract model of self-organizing particle systems for programmable matter which could be used for a variety of applications, including smart paint and coating materials for engineering or programmable cells for medical uses. Previous research using this model has focused on shape formation and other spatial configuration problems (e.g., coating and compression). In this work we study foundational computational tasks that exceed the capabilities of the individual constant size memory of a particle, such as implementing a counter and matrix-vector multiplication. These tasks represent new ways to use these self-organizing systems, which, in conjunction with previous shape and configuration work, make the systems useful for a wider variety of tasks. They can also leverage the distributed and dynamic nature of the self-organizing system to be more efficient and adaptable than on traditional linear computing hardware. Finally, we demonstrate applications of similar types of computations with self-organizing systems to image processing, with implementations of image color transformation and edge detection algorithms

Speculative Segmented Sum for Sparse Matrix-Vector Multiplication on Heterogeneous Processors

Sparse matrix-vector multiplication (SpMV) is a central building block for scientific software and graph applications. Recently, heterogeneous processors composed of different types of cores attracted much attention because of their flexible core configuration and high energy efficiency. In this paper, we propose a compressed sparse row (CSR) format based SpMV algorithm utilizing both types of cores in a CPU-GPU heterogeneous processor. We first speculatively execute segmented sum operations on the GPU part of a heterogeneous processor and generate a possibly incorrect results. Then the CPU part of the same chip is triggered to re-arrange the predicted partial sums for a correct resulting vector. On three heterogeneous processors from Intel, AMD and nVidia, using 20 sparse matrices as a benchmark suite, the experimental results show that our method obtains significant performance improvement over the best existing CSR-based SpMV algorithms. The source code of this work is downloadable at https://github.com/bhSPARSE/Benchmark_SpMV_using_CSRComment: 22 pages, 8 figures, Published at Parallel Computing (PARCO

GraphBLAST: A High-Performance Linear Algebra-based Graph Framework on the GPU

High-performance implementations of graph algorithms are challenging to implement on new parallel hardware such as GPUs because of three challenges: (1) the difficulty of coming up with graph building blocks, (2) load imbalance on parallel hardware, and (3) graph problems having low arithmetic intensity. To address some of these challenges, GraphBLAS is an innovative, on-going effort by the graph analytics community to propose building blocks based on sparse linear algebra, which will allow graph algorithms to be expressed in a performant, succinct, composable and portable manner. In this paper, we examine the performance challenges of a linear-algebra-based approach to building graph frameworks and describe new design principles for overcoming these bottlenecks. Among the new design principles is exploiting input sparsity, which allows users to write graph algorithms without specifying push and pull direction. Exploiting output sparsity allows users to tell the backend which values of the output in a single vectorized computation they do not want computed. Load-balancing is an important feature for balancing work amongst parallel workers. We describe the important load-balancing features for handling graphs with different characteristics. The design principles described in this paper have been implemented in "GraphBLAST", the first high-performance linear algebra-based graph framework on NVIDIA GPUs that is open-source. The results show that on a single GPU, GraphBLAST has on average at least an order of magnitude speedup over previous GraphBLAS implementations SuiteSparse and GBTL, comparable performance to the fastest GPU hardwired primitives and shared-memory graph frameworks Ligra and Gunrock, and better performance than any other GPU graph framework, while offering a simpler and more concise programming model.Comment: 50 pages, 14 figures, 14 table