Harnessing the Power of Many: Extensible Toolkit for Scalable Ensemble Applications

Many scientific problems require multiple distinct computational tasks to be executed in order to achieve a desired solution. We introduce the Ensemble Toolkit (EnTK) to address the challenges of scale, diversity and reliability they pose. We describe the design and implementation of EnTK, characterize its performance and integrate it with two distinct exemplar use cases: seismic inversion and adaptive analog ensembles. We perform nine experiments, characterizing EnTK overheads, strong and weak scalability, and the performance of two use case implementations, at scale and on production infrastructures. We show how EnTK meets the following general requirements: (i) implementing dedicated abstractions to support the description and execution of ensemble applications; (ii) support for execution on heterogeneous computing infrastructures; (iii) efficient scalability up to O(10^4) tasks; and (iv) fault tolerance. We discuss novel computational capabilities that EnTK enables and the scientific advantages arising thereof. We propose EnTK as an important addition to the suite of tools in support of production scientific computing

High-performance state-machine replication

Replication, a common approach to protecting applications against failures, refers to maintaining several copies of a service on independent machines (replicas). Unlike a stand-alone service, a replicated service remains available to its clients despite the failure of some of its copies. Consistency among replicas is an immediate concern raised by replication. In effect, an important factor for providing the illusion of an uninterrupted service to clients is to preserve consistency among the multiple copies. State-machine replication is a popular replication technique that ensures consistency by ordering client requests and making all the replicas execute them deterministically and sequentially. The overhead of ordering the requests, and the sequentiality of request execution, the two essential requirements in realizing state-machine replication, are also the two major obstacles that prevent the performance of state-machine replication from scaling. In this thesis we concentrate on the performance of state-machine replication and enhance it by overcoming the two aforementioned bottlenecks, the overhead of ordering and the overhead of sequentially executing commands. To realize a truly scalable system, one must iteratively examine and analyze all the layers and components of a system and avoid or eliminate potential performance obstructions and congestion points. In this dissertation, we iterate between optimizing the ordering of requests and the strategies of replicas at request execution, in order to stretch the performance boundaries of state-machine replication. To eliminate the negative implications of the ordering layer on performance, we devise and implement several novel and highly efficient ordering protocols. Our proposals are based on practical observations we make after closely assessing and identifying the shortcomings of existing approaches. Communication is one of the most important components of any distributed system and thus selecting efficient communication patterns is a must in designing scalable systems. We base our protocols on the most suitable communication patterns and extend their design with additional features that altogether realize our protocol's high efficiency. The outcome of this phase is the design and implementation of the Ring Paxos family of protocols. According to our evaluations these protocols are highly scalable and efficient. We then assess the performance ramifications of sequential execution of requests on the replicas of state-machine replication. We use some known techniques such as state-partitioning and speculative execution, and thoroughly examine their advantages when combined with our ordering protocols. We then exploit the features of multicore hardware and propose our final solution as a parallelized form of state-machine replication, built on top of Ring Paxos protocols, that is capable of accomplishing significantly high performance. Given the popularity of state-machine replication in designing fault-tolerant systems, we hope this thesis provides useful and practical guidelines for the enhancement of the existing and the design of future fault-tolerant systems that share similar performance goals

Extending DBMSs with satellite databases

In this paper, we propose an extensible architecture for database engines where satellite databases are used to scale out and implement additional functionality for a centralized database engine. The architecture uses a middleware layer that offers consistent views and a single system image over a cluster of machines with database engines. One of these engines acts as a master copy while the others are read-only snapshots which we call satellites. The satellites are lightweight DBMSs used for scalability and to provide functionality difficult or expensive to implement in the main engine. Our approach also supports the dynamic creation of satellites to be able to autonomously adapt to varying loads. The paper presents the architecture, discusses the research problems it raises, and validates its feasibility with extensive experimental result

Adaptive transaction scheduling for transactional memory systems

Transactional memory systems are expected to enable parallel programming at lower programming complexity, while delivering improved performance over traditional lock-based systems. Nonetheless, there are certain situations where transactional memory systems could actually perform worse. Transactional memory systems can outperform locks only when the executing workloads contain sufficient parallelism. When the workload lacks inherent parallelism, launching excessive transactions can adversely degrade performance. These situations will actually become dominant in future workloads when large-scale transactions are frequently executed. In this thesis, we propose a new paradigm called adaptive transaction scheduling to address this issue. Based on the parallelism feedback from applications, our adaptive transaction scheduler dynamically dispatches and controls the number of concurrently executing transactions. In our case study, we show that our low-cost mechanism not only guarantees that hardware transactional memory systems perform no worse than a single global lock, but also significantly improves performance for both hardware and software transactional memory systems.M.S.Committee Chair: Lee, Hsien-Hsin; Committee Member: Blough, Douglas; Committee Member: Yalamanchili, Sudhaka

Concurrency and dynamic protocol update for group communication middleware

The last three decades have seen computers invading our society: computers are now present at work to improve productivity and at home to enlarge the scope of our hobbies and to communicate. Furthermore, computers have been involved in many critical systems such as anti-locking braking systems (ABS) in our cars, airplane control systems, space rockets, nuclear power plants, banking and trading systems, medical care systems, and so on. The importance of these systems requires a high level of trust in computer-based systems. For example, a failure in a trading system (even if it is temporary) may result in severe economical losses. Hence coping with failures is a key aspect of computer systems. A common approach to tolerate failures is to replicate a system that provides a critical service, so that once a failure occurs on a given replica, the requests to the critical service are still executed by other replicas. This approach has the advantage of masking failures, i.e., requests to the service are continuously executed even in the presence of failures. However, replication introduces a performance cost, mainly because the execution of the service requests must be coordinated among all replicas. Furthermore, despite its apparent simplicity, replication is rather complex to implement. Replication is made easier by group communication which defines several abstractions that can be used by the designer of replicated systems. The group communication abstractions are implemented by distributed protocols that compose a group communication middleware. The aim of the thesis is to study two techniques to improve the performance of group communication middleware, and thus, reduce the cost of replication. First, we study dynamic protocol update, which allows group communication middleware to adapt to environment changes. More particularly, dynamic protocol update consists in replacing at runtime a given protocol composing the group communication middleware with a similar but more efficient protocol. The thesis provides several solutions to dynamic protocol update. For instance, we describe two algorithms to dynamically replace consensus and atomic broadcast, two essential protocols of a group communication middleware. Second, we propose solutions to introduce concurrency within a group communication middleware in order to benefit from the advantages offered by multiprocessor (or multicore) computers

Inferring Robot Task Plans from Human Team Meetings: A Generative Modeling Approach with Logic-Based Prior

We aim to reduce the burden of programming and deploying autonomous systems to work in concert with people in time-critical domains, such as military field operations and disaster response. Deployment plans for these operations are frequently negotiated on-the-fly by teams of human planners. A human operator then translates the agreed upon plan into machine instructions for the robots. We present an algorithm that reduces this translation burden by inferring the final plan from a processed form of the human team's planning conversation. Our approach combines probabilistic generative modeling with logical plan validation used to compute a highly structured prior over possible plans. This hybrid approach enables us to overcome the challenge of performing inference over the large solution space with only a small amount of noisy data from the team planning session. We validate the algorithm through human subject experimentation and show we are able to infer a human team's final plan with 83% accuracy on average. We also describe a robot demonstration in which two people plan and execute a first-response collaborative task with a PR2 robot. To the best of our knowledge, this is the first work that integrates a logical planning technique within a generative model to perform plan inference.Comment: Appears in Proceedings of the Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI-13

Transactional actors in cooperative information systems

Transaction management in advanced distributed information systems is a very important issue under research scrutiny with many technical and open problems. Most of the research and development activities use conventional database technology to address this important issue. The transaction model presented in this thesis combines attractive properties of the actor model of computation with advanced database transaction concepts in an object-oriented environment to address transactional necessities of cooperative information systems. The novel notion of transaction tree in our model includes subtransactions as well as a rich collection of decision making, chronological ordering, and communication and synchronization constructs for them. Advanced concepts such as blocking/ non_blocking synchronization, vital and non_vital subtransactions , contingency transactions, temporal and value dependencies, and delegation are supported. Compensatable subtransactions are distinguished and early commit is accomplished in order to release resources and facilitate cooperative as well as longduration transactions. Automatic cancel procedures are provided to logically undo the effects of such commits if the global transaction fails. The complexity and semantics-orientation of advanced database applications is our main motivation to design and implement a high-level scripting language for the proposed transaction model. Database programming can gain in performance and problem-orientation if the semantic dependencies between transactions can be expressed directly. Simple and flexible mechanisms are provided for advanced users to query the databases, program their transactions accordingly, and accept weak forms of semantic coherence that allows for more concurrency. The transaction model is grafted onto the concurrent obj ect-oriented programming language Sather developed at UC Berkeley which has a nice high-level syntax, supports advanced obj ect-oriented concepts, and aims toward performance and reusability. W have augmented the language with distributed programming facilities and various types of message passing routines as well as advanced transactions management constructs . The thesis is organized in three parts. The first part introduces the problem, reviews state of the art, and presents the transaction model. The second part describes the scripting language and talks about implementation details. The third part presents the formal semantics of the transaction model using mathematical notations and concludes the thesis

Flexible Scheduling in Middleware for Distributed rate-based real-time applications - Doctoral Dissertation, May 2002

Distributed rate-based real-time systems, such as process control and avionics mission computing systems, have traditionally been scheduled statically. Static scheduling provides assurance of schedulability prior to run-time overhead. However, static scheduling is brittle in the face of unanticipated overload, and treats invocation-to-invocation variations in resource requirements inflexibly. As a consequence, processing resources are often under-utilized in the average case, and the resulting systems are hard to adapt to meet new real-time processing requirements. Dynamic scheduling offers relief from the limitations of static scheduling. However, dynamic scheduling offers relief from the limitations of static scheduling. However, dynamic scheduling often has a high run-time cost because certain decisions are enforced on-line. Furthermore, under conditions of overload tasks can be scheduled dynamically that may never be dispatched, or that upon dispatch would miss their deadlines. We review the implications of these factors on rate-based distributed systems, and posits the necessity to combine static and dynamic approaches to exploit the strengths and compensate for the weakness of either approach in isolation. We present a general hybrid approach to real-time scheduling and dispatching in middleware, that can employ both static and dynamic components. This approach provides (1) feasibility assurance for the most critical tasks, (2) the ability to extend this assurance incrementally to operations in successively lower criticality equivalence classes, (3) the ability to trade off bounds on feasible utilization and dispatching over-head in cases where, for example, execution jitter is a factor or rates are not harmonically related, and (4) overall flexibility to make more optimal use of scarce computing resources and to enforce a wider range of application-specified execution requirements. This approach also meets additional constraints of an increasingly important class of rate-based systems, those with requirements for robust management of real-time performance in the face of rapidly and widely changing operating conditions. To support these requirements, we present a middleware framework that implements the hybrid scheduling and dispatching approach described above, and also provides support for (1) adaptive re-scheduling of operations at run-time and (2) reflective alternation among several scheduling strategies to improve real-time performance in the face of changing operating conditions. Adaptive re-scheduling must be performed whenever operating conditions exceed the ability of the scheduling and dispatching infrastructure to meet the critical real-time requirements of the system under the currently specified rates and execution times of operations. Adaptive re-scheduling relies on the ability to change the rates of execution of at least some operations, and may occur under the control of a higher-level middleware resource manager. Different rates of execution may be specified under different operating conditions, and the number of such possible combinations may be arbitrarily large. Furthermore, adaptive rescheduling may in turn require notification of rate-sensitive application components. It is therefore desirable to handle variations in operating conditions entirely within the scheduling and dispatching infrastructure when possible. A rate-based distributed real-time application, or a higher-level resource manager, could thus fall back on adaptive re-scheduling only when it cannot achieve acceptable real-time performance through self-adaptation. Reflective alternation among scheduling heuristics offers a way to tune real-time performance internally, and we offer foundational support for this approach. In particular, run-time observable information such as that provided by our metrics-feedback framework makes it possible to detect that a given current scheduling heuristic is underperforming the level of service another could provide. Furthermore we present empirical results for our framework in a realistic avionics mission computing environment. This forms the basis for guided adaption. This dissertation makes five contributions in support of flexible and adaptive scheduling and dispatching in middleware. First, we provide a middle scheduling framework that supports arbitrary and fine-grained composition of static/dynamic scheduling, to assure critical timeliness constraints while improving noncritical performance under a range of conditions. Second, we provide a flexible dispatching infrastructure framework composed of fine-grained primitives, and describe how appropriate configurations can be generated automatically based on the output of the scheduling framework. Third, we describe algorithms to reduce the overhead and duration of adaptive rescheduling, based on sorting for rate selection and priority assignment. Fourth, we provide timely and efficient performance information through an optimized metrics-feedback framework, to support higher-level reflection and adaptation decisions. Fifth, we present the results of empirical studies to quantify and evaluate the performance of alternative canonical scheduling heuristics, across a range of load and load jitter conditions. These studies were conducted within an avionics mission computing applications framework running on realistic middleware and embedded hardware. The results obtained from these studies (1) demonstrate the potential benefits of reflective alternation among distinct scheduling heuristics at run-time, and (2) suggest performance factors of interest for future work on adaptive control policies and mechanisms using this framework