55,411 research outputs found
A Platform-independent Programming Environment for Robot Control
The development of robot control programs is a complex task. Many robots are
different in their electrical and mechanical structure which is also reflected
in the software. Specific robot software environments support the program
development, but are mainly text-based and usually applied by experts in the
field with profound knowledge of the target robot. This paper presents a
graphical programming environment which aims to ease the development of robot
control programs. In contrast to existing graphical robot programming
environments, our approach focuses on the composition of parallel action
sequences. The developed environment allows to schedule independent robot
actions on parallel execution lines and provides mechanism to avoid
side-effects of parallel actions. The developed environment is
platform-independent and based on the model-driven paradigm. The feasibility of
our approach is shown by the application of the sequencer to a simulated
service robot and a robot for educational purpose
PENCIL: Towards a Platform-Neutral Compute Intermediate Language for DSLs
We motivate the design and implementation of a platform-neutral compute
intermediate language (PENCIL) for productive and performance-portable
accelerator programming
A Comparison of Big Data Frameworks on a Layered Dataflow Model
In the world of Big Data analytics, there is a series of tools aiming at
simplifying programming applications to be executed on clusters. Although each
tool claims to provide better programming, data and execution models, for which
only informal (and often confusing) semantics is generally provided, all share
a common underlying model, namely, the Dataflow model. The Dataflow model we
propose shows how various tools share the same expressiveness at different
levels of abstraction. The contribution of this work is twofold: first, we show
that the proposed model is (at least) as general as existing batch and
streaming frameworks (e.g., Spark, Flink, Storm), thus making it easier to
understand high-level data-processing applications written in such frameworks.
Second, we provide a layered model that can represent tools and applications
following the Dataflow paradigm and we show how the analyzed tools fit in each
level.Comment: 19 pages, 6 figures, 2 tables, In Proc. of the 9th Intl Symposium on
High-Level Parallel Programming and Applications (HLPP), July 4-5 2016,
Muenster, German
A Survey on Compiler Autotuning using Machine Learning
Since the mid-1990s, researchers have been trying to use machine-learning
based approaches to solve a number of different compiler optimization problems.
These techniques primarily enhance the quality of the obtained results and,
more importantly, make it feasible to tackle two main compiler optimization
problems: optimization selection (choosing which optimizations to apply) and
phase-ordering (choosing the order of applying optimizations). The compiler
optimization space continues to grow due to the advancement of applications,
increasing number of compiler optimizations, and new target architectures.
Generic optimization passes in compilers cannot fully leverage newly introduced
optimizations and, therefore, cannot keep up with the pace of increasing
options. This survey summarizes and classifies the recent advances in using
machine learning for the compiler optimization field, particularly on the two
major problems of (1) selecting the best optimizations and (2) the
phase-ordering of optimizations. The survey highlights the approaches taken so
far, the obtained results, the fine-grain classification among different
approaches and finally, the influential papers of the field.Comment: version 5.0 (updated on September 2018)- Preprint Version For our
Accepted Journal @ ACM CSUR 2018 (42 pages) - This survey will be updated
quarterly here (Send me your new published papers to be added in the
subsequent version) History: Received November 2016; Revised August 2017;
Revised February 2018; Accepted March 2018
pocl: A Performance-Portable OpenCL Implementation
OpenCL is a standard for parallel programming of heterogeneous systems. The
benefits of a common programming standard are clear; multiple vendors can
provide support for application descriptions written according to the standard,
thus reducing the program porting effort. While the standard brings the obvious
benefits of platform portability, the performance portability aspects are
largely left to the programmer. The situation is made worse due to multiple
proprietary vendor implementations with different characteristics, and, thus,
required optimization strategies.
In this paper, we propose an OpenCL implementation that is both portable and
performance portable. At its core is a kernel compiler that can be used to
exploit the data parallelism of OpenCL programs on multiple platforms with
different parallel hardware styles. The kernel compiler is modularized to
perform target-independent parallel region formation separately from the
target-specific parallel mapping of the regions to enable support for various
styles of fine-grained parallel resources such as subword SIMD extensions, SIMD
datapaths and static multi-issue. Unlike previous similar techniques that work
on the source level, the parallel region formation retains the information of
the data parallelism using the LLVM IR and its metadata infrastructure. This
data can be exploited by the later generic compiler passes for efficient
parallelization.
The proposed open source implementation of OpenCL is also platform portable,
enabling OpenCL on a wide range of architectures, both already commercialized
and on those that are still under research. The paper describes how the
portability of the implementation is achieved. Our results show that most of
the benchmarked applications when compiled using pocl were faster or close to
as fast as the best proprietary OpenCL implementation for the platform at hand.Comment: This article was published in 2015; it is now openly accessible via
arxi
AutoAccel: Automated Accelerator Generation and Optimization with Composable, Parallel and Pipeline Architecture
CPU-FPGA heterogeneous architectures are attracting ever-increasing attention
in an attempt to advance computational capabilities and energy efficiency in
today's datacenters. These architectures provide programmers with the ability
to reprogram the FPGAs for flexible acceleration of many workloads.
Nonetheless, this advantage is often overshadowed by the poor programmability
of FPGAs whose programming is conventionally a RTL design practice. Although
recent advances in high-level synthesis (HLS) significantly improve the FPGA
programmability, it still leaves programmers facing the challenge of
identifying the optimal design configuration in a tremendous design space.
This paper aims to address this challenge and pave the path from software
programs towards high-quality FPGA accelerators. Specifically, we first propose
the composable, parallel and pipeline (CPP) microarchitecture as a template of
accelerator designs. Such a well-defined template is able to support efficient
accelerator designs for a broad class of computation kernels, and more
importantly, drastically reduce the design space. Also, we introduce an
analytical model to capture the performance and resource trade-offs among
different design configurations of the CPP microarchitecture, which lays the
foundation for fast design space exploration. On top of the CPP
microarchitecture and its analytical model, we develop the AutoAccel framework
to make the entire accelerator generation automated. AutoAccel accepts a
software program as an input and performs a series of code transformations
based on the result of the analytical-model-based design space exploration to
construct the desired CPP microarchitecture. Our experiments show that the
AutoAccel-generated accelerators outperform their corresponding software
implementations by an average of 72x for a broad class of computation kernels
MOLNs: A cloud platform for interactive, reproducible and scalable spatial stochastic computational experiments in systems biology using PyURDME
Computational experiments using spatial stochastic simulations have led to
important new biological insights, but they require specialized tools, a
complex software stack, as well as large and scalable compute and data analysis
resources due to the large computational cost associated with Monte Carlo
computational workflows. The complexity of setting up and managing a
large-scale distributed computation environment to support productive and
reproducible modeling can be prohibitive for practitioners in systems biology.
This results in a barrier to the adoption of spatial stochastic simulation
tools, effectively limiting the type of biological questions addressed by
quantitative modeling. In this paper, we present PyURDME, a new, user-friendly
spatial modeling and simulation package, and MOLNs, a cloud computing appliance
for distributed simulation of stochastic reaction-diffusion models. MOLNs is
based on IPython and provides an interactive programming platform for
development of sharable and reproducible distributed parallel computational
experiments
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