On the Manhattan-distance between points on space-filling mesh-indexings

Indexing schemes based on space filling curves like the Hilbert curve are a powerful tool for building efficient parallel algorithms on mesh-connected computers. The main reason is that they are locality-preserving, i.e., the Manhattan-distance between processors grows only slowly with increasing index differences. We present a simple and easy-to-verify proof that the Manhattan- distance of any indices i and j is bounded by 3*sqrt

A fast adaptive convex hull algorithm on two-dimensional processor arrays with a reconfigurable BUS system

A bus system that can change dynamically to suit computational needs is referred to as reconfigurable. We present a fast adaptive convex hull algorithm on a two-dimensional processor array with a reconfigurable bus system (2-D PARBS, for short). Specifically, we show that computing the convex hull of a planar set of n points taken O(log n/log m) time on a 2-D PARBS of size mn x n with 3 less than or equal to m less than or equal to n. Our result implies that the convex hull of n points in the plane can be computed in O(1) time in a 2-D PARBS of size n(exp 1.5) x n

Optimal Mesh Algorithms for the Voronoi Diagram of Line Segments, Visibility Graphs and Motion Planning in the Plane

The motion planning problem for an object with two degrees of freedom moving in the plane can be stated as follows: Given a set of polygonal obstacles in the plane, and a two-dimensional mobile object B with two degrees of freedom, determine if it is possible to move B from a start position to a final position while avoiding the obstacles. If so, plan a path for such a motion. Techniques from computational geometry have been used to develop exact algorithms for this fundamental case of motion planning. In this paper we obtain optimal mesh implementations of two different methods for planning motion in the plane. We do this by first presenting optimal mesh algorithms for some geometric problems that, in addition to being important substeps in motion planning, have numerous independent applications in computational geometry. In particular, we first show that the Voronoi diagram of a set of n nonintersecting (except possibly at endpoints) line segments in the plane can be constructed in O(√n) time on a √n x √n mesh, which is optimal for the mesh. Consequently, we obtain an optimal mesh implementation of the sequential motion planning algorithm described in [14]; in other words, given a disc B and a polygonal obstacle set of size n, we can plan a path (if it exists) for the motion of B from a start position to a final position in O (√n) time on a mesh of size n. Next we show that given a set of n line segments and a point p, the set of segment endpoints that are visible from p can be computed in O (√n) mesh-optimal time on a √n x √n mesh. As a result, the visibility graph of a set of n line segments can be computed in O(n) time on an n x n mesh. This result leads to an O(n) algorithm on an n x n mesh for planning the shortest path motion between a start position and a final position for a convex object B (of constant size) moving among convex polygonal obstacles of total size n

Efficient convexity and domination algorithms for fine- and medium-grain hypercube computers

This paper gives hypercube algorithms for some simple problems involving geometric properties of sets of points. The properties considered emphasize aspects of convexity and domination. Efficient algorithms are given for both fine- and medium-grain hypercube computers, including a discussion of implementation, running times and results on an Intel iPSC hypercube, as well as theoretical results. For both serial and parallel computers, sorting plays an important role in geometric algorithms for determining simple properties, often being the dominant component of the running time. Since the time required to sort data on a hypercube computer is still not fully understood, the running times of some of our algorithms for unsorted data are not completely determined. For both the fine- and medium-grain models, we show that faster expected-case running time algorithms are possible for point sets generated randomly. Our algorithms are developed for sets of planar points, with several of them extending to sets of points in spaces of higher dimension.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/41352/1/453_2005_Article_BF01758751.pd

Algorithmic Motion Planning and Related Geometric Problems on Parallel Machines (Dissertation Proposal)

The problem of algorithmic motion planning is one that has received considerable attention in recent years. The automatic planning of motion for a mobile object moving amongst obstacles is a fundamentally important problem with numerous applications in computer graphics and robotics. Numerous approximate techniques (AI-based, heuristics-based, potential field methods, for example) for motion planning have long been in existence, and have resulted in the design of experimental systems that work reasonably well under various special conditions [7, 29, 30]. Our interest in this problem, however, is in the use of algorithmic techniques for motion planning, with provable worst case performance guarantees. The study of algorithmic motion planning has been spurred by recent research that has established the mathematical depth of motion planning. Classical geometry, algebra, algebraic geometry and combinatorics are some of the fields of mathematics that have been used to prove various results that have provided better insight into the issues involved in motion planning [49]. In particular, the design and analysis of geometric algorithms has proved to be very useful for numerous important special cases. In the remainder of this proposal we will substitute the more precise term of algorithmic motion planning by just motion planning

Properties and algorithms of the (n, k)-arrangement graphs

The (n, k)-arrangement interconnection topology was first introduced in 1992. The (n, k )-arrangement graph is a class of generalized star graphs. Compared with the well known n-star, the (n, k )-arrangement graph is more flexible in degree and diameter. However, there are few algorithms designed for the (n, k)-arrangement graph up to present. In this thesis, we will focus on finding graph theoretical properties of the (n, k)- arrangement graph and developing parallel algorithms that run on this network. The topological properties of the arrangement graph are first studied. They include the cyclic properties. We then study the problems of communication: broadcasting and routing. Embedding problems are also studied later on. These are very useful to develop efficient algorithms on this network. We then study the (n, k )-arrangement network from the algorithmic point of view. Specifically, we will investigate both fundamental and application algorithms such as prefix sums computation, sorting, merging and basic geometry computation: finding convex hull on the (n, k )-arrangement graph. A literature review of the state-of-the-art in relation to the (n, k)-arrangement network is also provided, as well as some open problems in this area

Parallel Algorithms for Constructing Convex Hulls.

For a given set of planar points S, the convex hull of S, CH(S), is defined to be a list of ordered points which represents the smallest convex polygon that contains all of the points. The convex hull problem, one of the most important problems in computational geometry, has many applications in areas such as computer graphics, simulation and pattern recognition. There are two strategies used in designing parallel convex hull algorithms. One strategy is the divide-and-conquer paradigm. The disadvantage to this strategy is that the recursive merge step is complicated and difficult to implement on current parallel machines. The second strategy is to parallelize sequential convex hull algorithms. The algorithms designed using the second strategy are often iterative algorithms which can be more easily implemented on the current parallel machines. This research focuses on designing parallel convex hull algorithms using the second strategy because we intend to facilitate the implementation of the newly designed algorithms on massively parallel machines. We first design a sequential algorithm for constructing a convex hull of a simple polygon, which is a special case of a set of planar points. This optimal algorithm is extended to handle a set of planar points without increasing the time complexity. Next, the sequential algorithm is converted for linear array and two or more dimensional mesh-array architectures. The algorithms for the case where the number of points is greater than the number of processors is also addressed. Each of the algorithms developed is optimal. To analyze the performance of the algorithms compared to previous algorithms, a system called the Parallel Convex Hull Simulation System was developed. The results of the analysis indicate that the new algorithms exhibit better performance than previous algorithms

Energy-Efficient Algorithms on Mesh-Connected Systems with Additional Communication Links.

Energy consumption has become a critical factor constraining the design of massively parallel computers, necessitating the development of new models and energy-efficient algorithms. In this work we take a fundamental abstract model of massive parallelism, the mesh-connected computer, and extend it with additional communication links motivated by recent advances in on-chip photonic interconnects. This new means of communication with optical signals rather than electrical signals can reduce the energy and/or time of calculations by providing faster communication between distant processing elements. Processors are arranged in a two-dimensional grid with wire connections between adjacent neighbors and an additional one or two layers of noncrossing optical connections. Varying constraints on the layout of optics affect how powerful the model can be. In this dissertation, three optical interconnection layouts are defined: the optical mesh, the optical mesh of trees, and the optical pyramid. For each layout, algorithms for solving important problems are presented. Since energy usage is an important factor, running times are given in terms of a peak-power constraint, where peak power is the maximum number of processors active at any one time. These results demonstrate advantages of optics in terms of improved time and energy usage over the standard mesh computer without optics. One of the most significant results shows an optimal nonlinear time/peak-power tradeoff for sorting on the optical pyramid. This work shows asymptotic theoretical limits of computation and energy usage on an abstract model which takes physical constraints and developing interconnection technology into account.PhDComputer Science & EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/102474/1/ppoon_1.pd