5,683 research outputs found
TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization
Inter-process communication (IPC) is one of the core functions of modern
robotics middleware. We propose an efficient IPC technique called TZC (Towards
Zero-Copy). As a core component of TZC, we design a novel algorithm called
partial serialization. Our formulation can generate messages that can be
divided into two parts. During message transmission, one part is transmitted
through a socket and the other part uses shared memory. The part within shared
memory is never copied or serialized during its lifetime. We have integrated
TZC with ROS and ROS2 and find that TZC can be easily combined with current
open-source platforms. By using TZC, the overhead of IPC remains constant when
the message size grows. In particular, when the message size is 4MB (less than
the size of a full HD image), TZC can reduce the overhead of ROS IPC from tens
of milliseconds to hundreds of microseconds and can reduce the overhead of ROS2
IPC from hundreds of milliseconds to less than 1 millisecond. We also
demonstrate the benefits of TZC by integrating with TurtleBot2 that are used in
autonomous driving scenarios. We show that by using TZC, the braking distance
can be shortened by 16% than ROS
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Benchmarking the Intel®Xeon®Platinum 8160 Processor
This report presents a set of results for different microbenchmarks and applications on the Intel
Xeon Platinum8160 Processor, formerly known as Skylake. For simplicity, we will use both Skylake
and SKX to refer to this processor. We use the Skylake nodes that will be available in Stampede2.
This systemwill provide Intel Knights Landing and Skylake chips interconnected by a 100 Gb/sec
Intel Omni-Path (OPA) network with a fat tree topology. The peak performance of the system will
be 18 PF.Texas Advanced Computing Center (TACC
Propagation and Decay of Injected One-Off Delays on Clusters: A Case Study
Analytic, first-principles performance modeling of distributed-memory
applications is difficult due to a wide spectrum of random disturbances caused
by the application and the system. These disturbances (commonly called "noise")
destroy the assumptions of regularity that one usually employs when
constructing simple analytic models. Despite numerous efforts to quantify,
categorize, and reduce such effects, a comprehensive quantitative understanding
of their performance impact is not available, especially for long delays that
have global consequences for the parallel application. In this work, we
investigate various traces collected from synthetic benchmarks that mimic real
applications on simulated and real message-passing systems in order to pinpoint
the mechanisms behind delay propagation. We analyze the dependence of the
propagation speed of idle waves emanating from injected delays with respect to
the execution and communication properties of the application, study how such
delays decay under increased noise levels, and how they interact with each
other. We also show how fine-grained noise can make a system immune against the
adverse effects of propagating idle waves. Our results contribute to a better
understanding of the collective phenomena that manifest themselves in
distributed-memory parallel applications.Comment: 10 pages, 9 figures; title change
Comprehensive characterization of an open source document search engine
This work performs a thorough characterization and analysis of the open source Lucene search library. The article describes in detail the architecture, functionality, and micro-architectural behavior of the search engine, and investigates prominent online document search research issues. In particular, we study how intra-server index partitioning affects the response time and throughput, explore the potential use of low power servers for document search, and examine the sources of performance degradation ands the causes of tail latencies. Some of our main conclusions are the following: (a) intra-server index partitioning can reduce tail latencies but with diminishing benefits as incoming query traffic increases, (b) low power servers given enough partitioning can provide same average and tail response times as conventional high performance servers, (c) index search is a CPU-intensive cache-friendly application, and (d) C-states are the main culprits for performance degradation in document search.Web of Science162art. no. 1
Tackling Exascale Software Challenges in Molecular Dynamics Simulations with GROMACS
GROMACS is a widely used package for biomolecular simulation, and over the
last two decades it has evolved from small-scale efficiency to advanced
heterogeneous acceleration and multi-level parallelism targeting some of the
largest supercomputers in the world. Here, we describe some of the ways we have
been able to realize this through the use of parallelization on all levels,
combined with a constant focus on absolute performance. Release 4.6 of GROMACS
uses SIMD acceleration on a wide range of architectures, GPU offloading
acceleration, and both OpenMP and MPI parallelism within and between nodes,
respectively. The recent work on acceleration made it necessary to revisit the
fundamental algorithms of molecular simulation, including the concept of
neighborsearching, and we discuss the present and future challenges we see for
exascale simulation - in particular a very fine-grained task parallelism. We
also discuss the software management, code peer review and continuous
integration testing required for a project of this complexity.Comment: EASC 2014 conference proceedin
Multicore-optimized wavefront diamond blocking for optimizing stencil updates
The importance of stencil-based algorithms in computational science has
focused attention on optimized parallel implementations for multilevel
cache-based processors. Temporal blocking schemes leverage the large bandwidth
and low latency of caches to accelerate stencil updates and approach
theoretical peak performance. A key ingredient is the reduction of data traffic
across slow data paths, especially the main memory interface. In this work we
combine the ideas of multi-core wavefront temporal blocking and diamond tiling
to arrive at stencil update schemes that show large reductions in memory
pressure compared to existing approaches. The resulting schemes show
performance advantages in bandwidth-starved situations, which are exacerbated
by the high bytes per lattice update case of variable coefficients. Our thread
groups concept provides a controllable trade-off between concurrency and memory
usage, shifting the pressure between the memory interface and the CPU. We
present performance results on a contemporary Intel processor
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