9,970 research outputs found
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
The role of the host in a cooperating mainframe and workstation environment, volumes 1 and 2
In recent years, advancements made in computer systems have prompted a move from centralized computing based on timesharing a large mainframe computer to distributed computing based on a connected set of engineering workstations. A major factor in this advancement is the increased performance and lower cost of engineering workstations. The shift to distributed computing from centralized computing has led to challenges associated with the residency of application programs within the system. In a combined system of multiple engineering workstations attached to a mainframe host, the question arises as to how does a system designer assign applications between the larger mainframe host and the smaller, yet powerful, workstation. The concepts related to real time data processing are analyzed and systems are displayed which use a host mainframe and a number of engineering workstations interconnected by a local area network. In most cases, distributed systems can be classified as having a single function or multiple functions and as executing programs in real time or nonreal time. In a system of multiple computers, the degree of autonomy of the computers is important; a system with one master control computer generally differs in reliability, performance, and complexity from a system in which all computers share the control. This research is concerned with generating general criteria principles for software residency decisions (host or workstation) for a diverse yet coupled group of users (the clustered workstations) which may need the use of a shared resource (the mainframe) to perform their functions
An efficient multi-core implementation of a novel HSS-structured multifrontal solver using randomized sampling
We present a sparse linear system solver that is based on a multifrontal
variant of Gaussian elimination, and exploits low-rank approximation of the
resulting dense frontal matrices. We use hierarchically semiseparable (HSS)
matrices, which have low-rank off-diagonal blocks, to approximate the frontal
matrices. For HSS matrix construction, a randomized sampling algorithm is used
together with interpolative decompositions. The combination of the randomized
compression with a fast ULV HSS factorization leads to a solver with lower
computational complexity than the standard multifrontal method for many
applications, resulting in speedups up to 7 fold for problems in our test
suite. The implementation targets many-core systems by using task parallelism
with dynamic runtime scheduling. Numerical experiments show performance
improvements over state-of-the-art sparse direct solvers. The implementation
achieves high performance and good scalability on a range of modern shared
memory parallel systems, including the Intel Xeon Phi (MIC). The code is part
of a software package called STRUMPACK -- STRUctured Matrices PACKage, which
also has a distributed memory component for dense rank-structured matrices
Geometry-Oblivious FMM for Compressing Dense SPD Matrices
We present GOFMM (geometry-oblivious FMM), a novel method that creates a
hierarchical low-rank approximation, "compression," of an arbitrary dense
symmetric positive definite (SPD) matrix. For many applications, GOFMM enables
an approximate matrix-vector multiplication in or even time,
where is the matrix size. Compression requires storage and work.
In general, our scheme belongs to the family of hierarchical matrix
approximation methods. In particular, it generalizes the fast multipole method
(FMM) to a purely algebraic setting by only requiring the ability to sample
matrix entries. Neither geometric information (i.e., point coordinates) nor
knowledge of how the matrix entries have been generated is required, thus the
term "geometry-oblivious." Also, we introduce a shared-memory parallel scheme
for hierarchical matrix computations that reduces synchronization barriers. We
present results on the Intel Knights Landing and Haswell architectures, and on
the NVIDIA Pascal architecture for a variety of matrices.Comment: 13 pages, accepted by SC'1
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