Manticore: Hardware-Accelerated RTL Simulation with Static Bulk-Synchronous Parallelism

The demise of Moore's Law and Dennard Scaling has revived interest in specialized computer architectures and accelerators. Verification and testing of this hardware heavily uses cycle-accurate simulation of register-transfer-level (RTL) designs. The best software RTL simulators can simulate designs at 1--1000~kHz, i.e., more than three orders of magnitude slower than hardware. Faster simulation can increase productivity by speeding design iterations and permitting more exhaustive exploration. One possibility is to use parallelism as RTL exposes considerable fine-grain concurrency. However, state-of-the-art RTL simulators generally perform best when single-threaded since modern processors cannot effectively exploit fine-grain parallelism. This work presents Manticore: a parallel computer designed to accelerate RTL simulation. Manticore uses a static bulk-synchronous parallel (BSP) execution model to eliminate runtime synchronization barriers among many simple processors. Manticore relies entirely on its compiler to schedule resources and communication. Because RTL code is practically free of long divergent execution paths, static scheduling is feasible. Communication and synchronization no longer incur runtime overhead, enabling efficient fine-grain parallelism. Moreover, static scheduling dramatically simplifies the physical implementation, significantly increasing the potential parallelism on a chip. Our 225-core FPGA prototype running at 475 MHz outperforms a state-of-the-art RTL simulator on an Intel Xeon processor running at $\approx$ 3.3 GHz by up to 27.9$\times$ (geomean 5.3$\times$) in nine Verilog benchmarks

SPICE²: A Spatial, Parallel Architecture for Accelerating the Spice Circuit Simulator

Spatial processing of sparse, irregular floating-point computation using a single FPGA enables up to an order of magnitude speedup (mean 2.8X speedup) over a conventional microprocessor for the SPICE circuit simulator. We deliver this speedup using a hybrid parallel architecture that spatially implements the heterogeneous forms of parallelism available in SPICE. We decompose SPICE into its three constituent phases: Model-Evaluation, Sparse Matrix-Solve, and Iteration Control and parallelize each phase independently. We exploit data-parallel device evaluations in the Model-Evaluation phase, sparse dataflow parallelism in the Sparse Matrix-Solve phase and compose the complete design in streaming fashion. We name our parallel architecture SPICE²: Spatial Processors Interconnected for Concurrent Execution for accelerating the SPICE circuit simulator. We program the parallel architecture with a high-level, domain-specific framework that identifies, exposes and exploits parallelism available in the SPICE circuit simulator. This design is optimized with an auto-tuner that can scale the design to use larger FPGA capacities without expert intervention and can even target other parallel architectures with the assistance of automated code-generation. This FPGA architecture is able to outperform conventional processors due to a combination of factors including high utilization of statically-scheduled resources, low-overhead dataflow scheduling of fine-grained tasks, and overlapped processing of the control algorithms. We demonstrate that we can independently accelerate Model-Evaluation by a mean factor of 6.5X(1.4--23X) across a range of non-linear device models and Matrix-Solve by 2.4X(0.6--13X) across various benchmark matrices while delivering a mean combined speedup of 2.8X(0.2--11X) for the two together when comparing a Xilinx Virtex-6 LX760 (40nm) with an Intel Core i7 965 (45nm). With our high-level framework, we can also accelerate Single-Precision Model-Evaluation on NVIDIA GPUs, ATI GPUs, IBM Cell, and Sun Niagara 2 architectures. We expect approaches based on exploiting spatial parallelism to become important as frequency scaling slows down and modern processing architectures turn to parallelism (\eg multi-core, GPUs) due to constraints of power consumption. This thesis shows how to express, exploit and optimize spatial parallelism for an important class of problems that are challenging to parallelize.</p

Application aware performance, power consumption, and reliability tradeoff

There has been an unprecedented increase in the drive for microprocessor performance. This drive is motivated by the increase in software complexity, opportunity to solve previously unattempted problems especially in scientific domain, and a need to crunch the ever growing `Big Data\u27 to enable a multitude of technological advances to benefit mankind. A consequence of these phenomena is the ever increasing transistor count in deployed computing systems. Although technology scaling leads to lower power consumption per transistor, the overall system level power consumption is on the rise. This leads to a variety of power supply related issues. As the chip die area is not increasing significantly, and the supply voltage reduction is not keeping on par with the reduction in device dimensions, an increase in power density is observed. This manifests as an increased temperature profile on the chip floorplan. A rise in temperature necessitates aggressive and costly cooling mechanisms adding to the design complexity and manufacturing efforts. It also triggers various failure mechanisms leading to reduction in the expected chip lifetime/reliability. Given the conflicting trends in Performance, Power consumption, and chip Reliability (PPR), it is imperative to balance them in a fine-grained fashion to meet system level goals and expectations. Sole dependence on the advancements in manufacturing technology is no longer sufficient. Alternate venues for PPR management are being increasingly paid attention to. On the other hand, the PPR demands are usually time dependent. For example, the constraint on power consumption in a green data center is dictated by the energy reserve. The demand on performance in a cloud based platform depends on the agreed Quality of Service (QOS) requirements. The reliability of a microprocessor is dependent on the deployment domain. The goal of our research is to address the issue of growing microprocessor power consumption subject to performance and/or reliability goals. Through our developed schemes, we tailor the execution context to match application requirements. This leads to judicious use of power while adhering to aforementioned constraints. It is to be noted that the actual demands on performance, power consumption, and reliability are highly variant, and depend upon executing applications and operating conditions. As such, we develop schemes to cater to these variant demands. To meet these demands efficiently, the solutions developed are tailored to current hardware-software interaction characteristics. Two techniques that are very relevant in this area, namely dynamic voltage and frequency scaling (DVFS) and microarchitectural adaptation, are leveraged to produce expected PPR characteristics when executing a wide variety of tasks. In this dissertation, we demonstrate how the expected chip lifetime can be augmented in a real-time setting using DVFS while paying heed to performance constraints modeled as QoS requirements. Individual tasks in a task queue are assigned specific voltage and frequency pairs to utilize for their execution. This assignment is empowered by knowledge of application-wise hardware-software interactions to reach solutions that are tailored to the current execution scenario. Our observations indicate that a 2 to 18 fold improvement in chip lifetime can be expected by the utilization of the schemes we develop in this regard. Capitalizing on the power of microarchitectural adaptation, we further improve chip lifetime expectations 2-8 times, based on the failure mechanism investigated. This increase in expected chip lifetime directly translates to reduction of both operational and replacement costs. We also provide mechanisms to co-manage performance and power consumption constraints. Comprehensive microarchitectural adaptation space is very complex and its usage thus leads to significant runtime overhead. To tackle this, we devote a fair bit of attention to its pruning so as to narrow down on and utilize only the most effective adaptations. A two stage adaptation process is provided to a) improve optimality of the solutions delivered, and b) to keep the runtime overhead in check. We observe that our schemes provide 20\% higher normalized energy efficiency compared to the state of the art techniques proposed, while using just a very small fraction of the configuration space. We also find that our schemes effectively cater to a wide variety of demands on performance and power consumption, providing the necessary hardware characteristics within 10\% bound. Since only the most useful configuration space is retained for adaptation, occurrence of a fault that prohibits the usage of a certain adaptive control can lead to the inability to satisfy a subset of hardware demands. A detailed analysis has been carried out to understand how the remaining active configurations can preserve the expected hardware behavior. To a good extent, we observe that the system behavior under a failure closely tracks (with less than 5\% tracking error) the obtainable behavior without the presence of the fault. We believe that application tailored schemes for PPR management become increasingly relevant as the microprocessor design advancements saturate in the future. They will be extremely relevant to extract every possible ounce of performance while confirming to constraints on power consumption and reliability. Given the effectiveness of our schemes, we are confident that such schemes are applicable in different markets like embedded computing, desktop computing, cloud platforms and high performance computing. Insights drawn from our research will guide chip designers in the provision of effective adaptive controls to combat increasing demands on PPR characteristics

Development of control systems for space shuttle vehicles, volume 1

Control of winged two-stage space shuttle vehicles was investigated. Control requirements were determined and systems capable of meeting these requirements were synthesized. Control requirements unique to shuttles were identified. It is shown that these requirements can be satisfied by conventional control logics. Linear gain schedule controllers predominate. Actuator saturations require nonlinear compensation in some of the control systems

Design and analysis issues of integrated control systems for high-speed civil transports

A study was conducted to identify, rank, and define development plans for the critical guidance and control design and analysis issues as related to economically viable and environmentally acceptable high-speed civil transport. The issues were identified in a multistep process. First, pertinent literature on supersonic cruise aircraft was reviewed, and experts were consulted to establish the fundamental characteristics and problems inherent to supersonic cruise aircraft. Next, the advanced technologies and strategies being pursued for the high-speed civil transport were considered to determine any additional unique control problems the transport may have. Finally, existing technologies and methods were examined to determine their capabilities for the design and analysis of high-speed civil transport control systems and to identify the shortcomings and issues. Three priority levels - mandatory, highly beneficial, and desirable - were established. Within each of these levels, the issues were further ranked. Technology development plans for each issue were defined. Each plan contains a task breakdown and schedule

An automated OpenCL FPGA compilation framework targeting a configurable, VLIW chip multiprocessor

Modern system-on-chips augment their baseline CPU with coprocessors and accelerators to increase overall computational capacity and power efficiency, and thus have evolved into heterogeneous systems. Several languages have been developed to enable this paradigm shift, including CUDA and OpenCL. This thesis discusses a unified compilation environment to enable heterogeneous system design through the use of OpenCL and a customised VLIW chip multiprocessor (CMP) architecture, known as the LE1. An LLVM compilation framework was researched and a prototype developed to enable the execution of OpenCL applications on the LE1 CPU. The framework fully automates the compilation flow and supports work-item coalescing to better utilise the CPU cores and alleviate the effects of thread divergence. This thesis discusses in detail both the software stack and target hardware architecture and evaluates the scalability of the proposed framework on a highly precise cycle-accurate simulator. This is achieved through the execution of 12 benchmarks across 240 different machine configurations, as well as further results utilising an incomplete development branch of the compiler. It is shown that the problems generally scale well with the LE1 architecture, up to eight cores, when the memory system becomes a serious bottleneck. Results demonstrate superlinear performance on certain benchmarks (x9 for the bitonic sort benchmark with 8 dual-issue cores) with further improvements from compiler optimisations (x14 for bitonic with the same configuration

Power efficient resource scaling in partitioned architectures through dynamic heterogeneity

Journal ArticleThe ever increasing demand for high clock speeds and the desire to exploit abundant transistor budgets have resulted in alarming increases in processor power dissipation. Partitioned (or clustered) architectures have been proposed in recent years to address scalability concerns in future billion-transistor microprocessors. Our analysis shows that increasing processor resources in a clustered architecture results in a linear increase in power consumption, while providing diminishing improvements in single-thread performance. To preserve high performance to power ratios, we claim that the power consumption of additional resources should be in proportion to the performance improvements they yield. Hence, in this paper, we propose the implementation of heterogeneous clusters that have varying delay and power characteristics. A cluster's performance and power characteristic is tuned by scaling its frequency and novel policies dynamically assign frequencies to clusters, while attempting to either meet a fixed power budget or minimize a metric such as Energy×Delay2 (ED2). By increasing resources in a power-efficient manner, we observe a 11% improvement in ED2 and a 22.4% average reduction in peak temperature, when compared to a processor with homogeneous units. Our proposed processor model also provides strategies to handle thermal emergencies that have a relatively low impact on performance