Requirements for implementing real-time control functional modules on a hierarchical parallel pipelined system

Analysis of a robot control system leads to a broad range of processing requirements. One fundamental requirement of a robot control system is the necessity of a microcomputer system in order to provide sufficient processing capability.The use of multiple processors in a parallel architecture is beneficial for a number of reasons, including better cost performance, modular growth, increased reliability through replication, and flexibility for testing alternate control strategies via different partitioning. A survey of the progression from low level control synchronizing primitives to higher level communication tools is presented. The system communication and control mechanisms of existing robot control systems are compared to the hierarchical control model. The impact of this design methodology on the current robot control systems is explored

Reconfigurable interconnects in DSM systems: a focus on context switch behavior

Recent advances in the development of reconfigurable optical interconnect technologies allow for the fabrication of low cost and run-time adaptable interconnects in large distributed shared-memory (DSM) multiprocessor machines. This can allow the use of adaptable interconnection networks that alleviate the huge bottleneck present due to the gap between the processing speed and the memory access time over the network. In this paper we have studied the scheduling of tasks by the kernel of the operating system (OS) and its influence on communication between the processing nodes of the system, focusing on the traffic generated just after a context switch. We aim to use these results as a basis to propose a potential reconfiguration of the network that could provide a significant speedup

Architectural study of reconfigurable photonic networks-on-chip for multi-core processors

Photonic Networks-on-Chip (NoCs) have become a promising route to interconnect processor cores on chip multiprocessors (CMP) in a power efficient way. Although several photonic NoC proposals exist, their use is limited to the communication of large data messages due to a relatively long set-up time for the photonic channels. In this work, we evaluate a reconfigurable photonic NoC in which the topology is adapted automatically to the evolving traffic situation. This way, long photonic channel set-up times can be tolerated which makes our approach more compatible in the context of shared-memory CMPs

Distributed memory compiler methods for irregular problems: Data copy reuse and runtime partitioning

Outlined here are two methods which we believe will play an important role in any distributed memory compiler able to handle sparse and unstructured problems. We describe how to link runtime partitioners to distributed memory compilers. In our scheme, programmers can implicitly specify how data and loop iterations are to be distributed between processors. This insulates users from having to deal explicitly with potentially complex algorithms that carry out work and data partitioning. We also describe a viable mechanism for tracking and reusing copies of off-processor data. In many programs, several loops access the same off-processor memory locations. As long as it can be verified that the values assigned to off-processor memory locations remain unmodified, we show that we can effectively reuse stored off-processor data. We present experimental data from a 3-D unstructured Euler solver run on iPSC/860 to demonstrate the usefulness of our methods

Computational methods and software systems for dynamics and control of large space structures

Two key areas of crucial importance to the computer-based simulation of large space structures are discussed. The first area involves multibody dynamics (MBD) of flexible space structures, with applications directed to deployment, construction, and maneuvering. The second area deals with advanced software systems, with emphasis on parallel processing. The latest research thrust in the second area involves massively parallel computers

Vienna FORTRAN: A FORTRAN language extension for distributed memory multiprocessors

Exploiting the performance potential of distributed memory machines requires a careful distribution of data across the processors. Vienna FORTRAN is a language extension of FORTRAN which provides the user with a wide range of facilities for such mapping of data structures. However, programs in Vienna FORTRAN are written using global data references. Thus, the user has the advantage of a shared memory programming paradigm while explicitly controlling the placement of data. The basic features of Vienna FORTRAN are presented along with a set of examples illustrating the use of these features

Efficient Machine-Independent Programming of High-Performance Multiprocessors

Parallel computing is regarded by most computer scientists as the most likely approach for significantly improving computing power for scientists and engineers. Advances in programming languages and parallelizing compilers are making parallel computers easier to use by providing a high-level portable programming model that protects software investment. However, experience has shown that simply finding parallelism is not always sufficient for obtaining good performance from today's multiprocessors. The goal of this project is to develop advanced compiler analysis of data and computation decompositions, thread placement, communication, synchronization, and memory system effects needed in order to take advantage of performance-critical elements in modern parallel architectures

Programming distributed memory architectures using Kali

Programming nonshared memory systems is more difficult than programming shared memory systems, in part because of the relatively low level of current programming environments for such machines. A new programming environment is presented, Kali, which provides a global name space and allows direct access to remote data values. In order to retain efficiency, Kali provides a system on annotations, allowing the user to control those aspects of the program critical to performance, such as data distribution and load balancing. The primitives and constructs provided by the language is described, and some of the issues raised in translating a Kali program for execution on distributed memory systems are also discussed