Building Efficient Query Engines in a High-Level Language

Abstraction without regret refers to the vision of using high-level programming languages for systems development without experiencing a negative impact on performance. A database system designed according to this vision offers both increased productivity and high performance, instead of sacrificing the former for the latter as is the case with existing, monolithic implementations that are hard to maintain and extend. In this article, we realize this vision in the domain of analytical query processing. We present LegoBase, a query engine written in the high-level language Scala. The key technique to regain efficiency is to apply generative programming: LegoBase performs source-to-source compilation and optimizes the entire query engine by converting the high-level Scala code to specialized, low-level C code. We show how generative programming allows to easily implement a wide spectrum of optimizations, such as introducing data partitioning or switching from a row to a column data layout, which are difficult to achieve with existing low-level query compilers that handle only queries. We demonstrate that sufficiently powerful abstractions are essential for dealing with the complexity of the optimization effort, shielding developers from compiler internals and decoupling individual optimizations from each other. We evaluate our approach with the TPC-H benchmark and show that: (a) With all optimizations enabled, LegoBase significantly outperforms a commercial database and an existing query compiler. (b) Programmers need to provide just a few hundred lines of high-level code for implementing the optimizations, instead of complicated low-level code that is required by existing query compilation approaches. (c) The compilation overhead is low compared to the overall execution time, thus making our approach usable in practice for compiling query engines

Using shared-data localization to reduce the cost of inspector-execution in unified-parallel-C programs

Programs written in the Unified Parallel C (UPC) language can access any location of the entire local and remote address space via read/write operations. However, UPC programs that contain fine-grained shared accesses can exhibit performance degradation. One solution is to use the inspector-executor technique to coalesce fine-grained shared accesses to larger remote access operations. A straightforward implementation of the inspector executor transformation results in excessive instrumentation that hinders performance.; This paper addresses this issue and introduces various techniques that aim at reducing the generated instrumentation code: a shared-data localization transformation based on Constant-Stride Linear Memory Descriptors (CSLMADs) [S. Aarseth, Gravitational N-Body Simulations: Tools and Algorithms, Cambridge Monographs on Mathematical Physics, Cambridge University Press, 2003.], the inlining of data locality checks and the usage of an index vector to aggregate the data. Finally, the paper introduces a lightweight loop code motion transformation to privatize shared scalars that were propagated through the loop body.; A performance evaluation, using up to 2048 cores of a POWER 775, explores the impact of each optimization and characterizes the overheads of UPC programs. It also shows that the presented optimizations increase performance of UPC programs up to 1.8 x their UPC hand-optimized counterpart for applications with regular accesses and up to 6.3 x for applications with irregular accesses.Peer ReviewedPostprint (author's final draft

THREAD: A programming environment for interactive planning-level robotics applications

THREAD programming language, which was developed to meet the needs of researchers in developing robotics applications that perform such tasks as grasp, trajectory design, sensor data analysis, and interfacing with external subsystems in order to perform servo-level control of manipulators and real time sensing is discussed. The philosophy behind THREAD, the issues which entered into its design, and the features of the language are discussed from the viewpoint of researchers who want to develop algorithms in a simulation environment, and from those who want to implement physical robotics systems. The detailed functions of the many complex robotics algorithms and tools which are part of the language are not explained, but an overall impression of their capability is given

Performance evaluation of a distributed integrative architecture for robotics

The eld of robotics employs a vast amount of coupled sub-systems. These need to interact cooperatively and concurrently in order to yield the desired results. Some hybrid algorithms also require intensive cooperative interactions internally. The architecture proposed lends it- self amenable to problem domains that require rigorous calculations that are usually impeded by the capacity of a single machine, and incompatibility issues between software computing elements. Implementations are abstracted away from the physical hardware for ease of de- velopment and competition in simulation leagues. Monolithic developments are complex, and the desire for decoupled architectures arises. Decoupling also lowers the threshold for using distributed and parallel resources. The ability to re-use and re-combine components on de- mand, therefore is essential, while maintaining the necessary degree of interaction. For this reason we propose to build software components on top of a Service Oriented Architecture (SOA) using Web Services. An additional bene t is platform independence regarding both the operating system and the implementation language. The robot soccer platform as well as the associated simulation leagues are the target domain for the development. Furthermore are machine vision and remote process control related portions of the architecture currently in development and testing for industrial environments. We provide numerical data based on the Python frameworks ZSI and SOAPpy undermining the suitability of this approach for the eld of robotics. Response times of signi cantly less than 50 ms even for fully interpreted, dynamic languages provides hard information showing the feasibility of Web Services based SOAs even in time critical robotic applications

Modelling Reactive Multimedia: Design and Authoring

Multimedia document authoring is a multifaceted activity, and authoring tools tend to concentrate on a restricted set of the activities involved in the creation of a multimedia artifact. In particular, a distinction may be drawn between the design and the implementation of a multimedia artifact. This paper presents a comparison of three different authoring paradigms, based on the common case study of a simple interactive animation. We present details of its implementation using the three different authoring tools, MCF, Fran and SMIL 2.0, and we discuss the conclusions that may be drawn from our comparison of the three approaches