Astrophysical Supercomputing with GPUs: Critical Decisions for Early Adopters

General purpose computing on graphics processing units (GPGPU) is dramatically changing the landscape of high performance computing in astronomy. In this paper, we identify and investigate several key decision areas, with a goal of simplyfing the early adoption of GPGPU in astronomy. We consider the merits of OpenCL as an open standard in order to reduce risks associated with coding in a native, vendor-specific programming environment, and present a GPU programming philosophy based on using brute force solutions. We assert that effective use of new GPU-based supercomputing facilities will require a change in approach from astronomers. This will likely include improved programming training, an increased need for software development best-practice through the use of profiling and related optimisation tools, and a greater reliance on third-party code libraries. As with any new technology, those willing to take the risks, and make the investment of time and effort to become early adopters of GPGPU in astronomy, stand to reap great benefits.Comment: 13 pages, 5 figures, accepted for publication in PAS

Rhythmic Representations: Learning Periodic Patterns for Scalable Place Recognition at a Sub-Linear Storage Cost

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be computationally tractable from both a speed and storage perspective. With regards to map storage, the mammalian brain appears to take a diametrically opposed approach to all current robotic mapping systems. Where robotic mapping systems attempt to solve the data association problem to minimise representational aliasing, neurons in the brain intentionally break data association by encoding large (potentially unlimited) numbers of places with a single neuron. In this paper, we propose a novel method based on supervised learning techniques that seeks out regularly repeating visual patterns in the environment with mutually complementary co-prime frequencies, and an encoding scheme that enables storage requirements to grow sub-linearly with the size of the environment being mapped. To improve robustness in challenging real-world environments while maintaining storage growth sub-linearity, we incorporate both multi-exemplar learning and data augmentation techniques. Using large benchmark robotic mapping datasets, we demonstrate the combined system achieving high-performance place recognition with sub-linear storage requirements, and characterize the performance-storage growth trade-off curve. The work serves as the first robotic mapping system with sub-linear storage scaling properties, as well as the first large-scale demonstration in real-world environments of one of the proposed memory benefits of these neurons.Comment: Pre-print of article that will appear in the IEEE Robotics and Automation Letter

Two- and Three-dimensional High Performance, Patterned Overlay Multi-chip Module Technology

A two- and three-dimensional multi-chip module technology was developed in response to the continuum in demand for increased performance in electronic systems, as well as the desire to reduce the size, weight, and power of space systems. Though developed to satisfy the needs of military programs, such as the Strategic Defense Initiative Organization, the technology, referred to as High Density Interconnect, can also be advantageously exploited for a wide variety of commercial applications, ranging from computer workstations to instrumentation and microwave telecommunications. The robustness of the technology, as well as its high performance, make this generality in application possible. More encouraging is the possibility of this technology for achieving low cost through high volume usage