Performance evaluation of a distributed integrative architecture for robotics

The eld of robotics employs a vast amount of coupled sub-systems. These need to interact cooperatively and concurrently in order to yield the desired results. Some hybrid algorithms also require intensive cooperative interactions internally. The architecture proposed lends it- self amenable to problem domains that require rigorous calculations that are usually impeded by the capacity of a single machine, and incompatibility issues between software computing elements. Implementations are abstracted away from the physical hardware for ease of de- velopment and competition in simulation leagues. Monolithic developments are complex, and the desire for decoupled architectures arises. Decoupling also lowers the threshold for using distributed and parallel resources. The ability to re-use and re-combine components on de- mand, therefore is essential, while maintaining the necessary degree of interaction. For this reason we propose to build software components on top of a Service Oriented Architecture (SOA) using Web Services. An additional bene t is platform independence regarding both the operating system and the implementation language. The robot soccer platform as well as the associated simulation leagues are the target domain for the development. Furthermore are machine vision and remote process control related portions of the architecture currently in development and testing for industrial environments. We provide numerical data based on the Python frameworks ZSI and SOAPpy undermining the suitability of this approach for the eld of robotics. Response times of signi cantly less than 50 ms even for fully interpreted, dynamic languages provides hard information showing the feasibility of Web Services based SOAs even in time critical robotic applications

S-Net for multi-memory multicores

Copyright ACM, 2010. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in Proceedings of the 5th ACM SIGPLAN Workshop on Declarative Aspects of Multicore Programming: http://doi.acm.org/10.1145/1708046.1708054S-Net is a declarative coordination language and component technology aimed at modern multi-core/many-core architectures and systems-on-chip. It builds on the concept of stream processing to structure dynamically evolving networks of communicating asynchronous components. Components themselves are implemented using a conventional language suitable for the application domain. This two-level software architecture maintains a familiar sequential development environment for large parts of an application and offers a high-level declarative approach to component coordination. In this paper we present a conservative language extension for the placement of components and component networks in a multi-memory environment, i.e. architectures that associate individual compute cores or groups thereof with private memories. We describe a novel distributed runtime system layer that complements our existing multithreaded runtime system for shared memory multicores. Particular emphasis is put on efficient management of data communication. Last not least, we present preliminary experimental data

Componentising a scientific application for the grid

CoreGRID is a Network of Excellence funded by the European Commission under the Sixth Framework Programm

The statistical models of parallel applications performance

In the above raport the usage of the statistical methods to predict the efficiency of the parallel application was proposed. Statistical models can be helpful in choosing the suitable working environment and also parameters to put in motion the applications. With the help of statistical models it can be stated if the inclusion of parallel computers is justifiable. According to the execution time, speed up with regard to sequential program and efficiency of exploiting the processors

Implementing Multithreaded Protocols for Release Consistency on Top of the Generic DSM-PM2 Platform

10.1007/3-540-47840-X_18DSM-PM2 is an implementation platform designed to facilitate the experimental studies with consistency protocoles for distributed shared memory. This platform provides basic building blocks, allowing for an easy design, implementation and evaluation of a large variety of multithreaded consistency protocols within a unified framework. DSM-PM2 is portable over a large variety of cluster architectures, using various communication interfaces (TCP, MPI, BIP, SCI, VIA, etc.). This paper presents the design of two multithreaded protocols implementing the release consistency model. We evaluate the impact of these consistency protocols on the overall performance of a typical distributed application, for two clusters with different interconnection networks and communication interfaces