31,574 research outputs found
From Physics Model to Results: An Optimizing Framework for Cross-Architecture Code Generation
Starting from a high-level problem description in terms of partial
differential equations using abstract tensor notation, the Chemora framework
discretizes, optimizes, and generates complete high performance codes for a
wide range of compute architectures. Chemora extends the capabilities of
Cactus, facilitating the usage of large-scale CPU/GPU systems in an efficient
manner for complex applications, without low-level code tuning. Chemora
achieves parallelism through MPI and multi-threading, combining OpenMP and
CUDA. Optimizations include high-level code transformations, efficient loop
traversal strategies, dynamically selected data and instruction cache usage
strategies, and JIT compilation of GPU code tailored to the problem
characteristics. The discretization is based on higher-order finite differences
on multi-block domains. Chemora's capabilities are demonstrated by simulations
of black hole collisions. This problem provides an acid test of the framework,
as the Einstein equations contain hundreds of variables and thousands of terms.Comment: 18 pages, 4 figures, accepted for publication in Scientific
Programmin
A Compiler and Runtime Infrastructure for Automatic Program Distribution
This paper presents the design and the implementation of a compiler and runtime infrastructure for automatic program distribution. We are building a research infrastructure that enables experimentation with various program partitioning and mapping strategies and the study of automatic distribution's effect on resource consumption (e.g., CPU, memory, communication). Since many optimization techniques are faced with conflicting optimization targets (e.g., memory and communication), we believe that it is important to be able to study their interaction.
We present a set of techniques that enable flexible resource modeling and program distribution. These are: dependence analysis, weighted graph partitioning, code and communication generation, and profiling. We have developed these ideas in the context of the Java language. We present in detail the design and implementation of each of the techniques as part of our compiler and runtime infrastructure. Then, we evaluate our design and present preliminary experimental data for each component, as well as for the entire system
PyCUDA and PyOpenCL: A Scripting-Based Approach to GPU Run-Time Code Generation
High-performance computing has recently seen a surge of interest in
heterogeneous systems, with an emphasis on modern Graphics Processing Units
(GPUs). These devices offer tremendous potential for performance and efficiency
in important large-scale applications of computational science. However,
exploiting this potential can be challenging, as one must adapt to the
specialized and rapidly evolving computing environment currently exhibited by
GPUs. One way of addressing this challenge is to embrace better techniques and
develop tools tailored to their needs. This article presents one simple
technique, GPU run-time code generation (RTCG), along with PyCUDA and PyOpenCL,
two open-source toolkits that support this technique.
In introducing PyCUDA and PyOpenCL, this article proposes the combination of
a dynamic, high-level scripting language with the massive performance of a GPU
as a compelling two-tiered computing platform, potentially offering significant
performance and productivity advantages over conventional single-tier, static
systems. The concept of RTCG is simple and easily implemented using existing,
robust infrastructure. Nonetheless it is powerful enough to support (and
encourage) the creation of custom application-specific tools by its users. The
premise of the paper is illustrated by a wide range of examples where the
technique has been applied with considerable success.Comment: Submitted to Parallel Computing, Elsevie
Asynchronous Execution of Python Code on Task Based Runtime Systems
Despite advancements in the areas of parallel and distributed computing, the
complexity of programming on High Performance Computing (HPC) resources has
deterred many domain experts, especially in the areas of machine learning and
artificial intelligence (AI), from utilizing performance benefits of such
systems. Researchers and scientists favor high-productivity languages to avoid
the inconvenience of programming in low-level languages and costs of acquiring
the necessary skills required for programming at this level. In recent years,
Python, with the support of linear algebra libraries like NumPy, has gained
popularity despite facing limitations which prevent this code from distributed
runs. Here we present a solution which maintains both high level programming
abstractions as well as parallel and distributed efficiency. Phylanx, is an
asynchronous array processing toolkit which transforms Python and NumPy
operations into code which can be executed in parallel on HPC resources by
mapping Python and NumPy functions and variables into a dependency tree
executed by HPX, a general purpose, parallel, task-based runtime system written
in C++. Phylanx additionally provides introspection and visualization
capabilities for debugging and performance analysis. We have tested the
foundations of our approach by comparing our implementation of widely used
machine learning algorithms to accepted NumPy standards
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Many algorithms for control, optimization and estimation in robotics depend
on derivatives of the underlying system dynamics, e.g. to compute
linearizations, sensitivities or gradient directions. However, we show that
when dealing with Rigid Body Dynamics, these derivatives are difficult to
derive analytically and to implement efficiently. To overcome this issue, we
extend the modelling tool `RobCoGen' to be compatible with Automatic
Differentiation. Additionally, we propose how to automatically obtain the
derivatives and generate highly efficient source code. We highlight the
flexibility and performance of the approach in two application examples. First,
we show a Trajectory Optimization example for the quadrupedal robot HyQ, which
employs auto-differentiation on the dynamics including a contact model. Second,
we present a hardware experiment in which a 6 DoF robotic arm avoids a randomly
moving obstacle in a go-to task by fast, dynamic replanning
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