A new meta-module for efficient reconfiguration of hinged-units modular robots

We present a robust and compact meta-module for edge-hinged modular robot units such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, as well as for central-point-hinged ones such as Molecubes and Roombots. Thanks to the rotational degrees of freedom of these units, the novel meta-module is able to expand and contract, as to double/halve its length in each dimension. Moreover, for a large class of edge-hinged robots the proposed meta-module also performs the scrunch/relax and transfer operations required by any tunneling-based reconfiguration strategy, such as those designed for Crystalline and Telecube robots. These results make it possible to apply efficient geometric reconfiguration algorithms to this type of robots. We prove the size of this new meta-module to be optimal. Its robustness and performance substantially improve over previous results.Peer ReviewedPostprint (author's final draft

Reconfiguration for Fault Tolerance and Performance Analysis

Architecture reconfiguration, the ability of a system to alter the active interconnection among modules, has a history of different purposes and strategies. Its purposes develop from the relatively simple desire to formalize procedures that all processes have in common to reconfiguration for the improvement of fault-tolerance, to reconfiguration for performance enhancement, either through the simple maximizing of system use or by sophisticated notions of wedding topology to the specific needs of a given process. Strategies range from straightforward redundancy by means of an identical backup system to intricate structures employing multistage interconnection networks. The present discussion surveys the more important contributions to developments in reconfigurable architecture. The strategy here is in a sense to approach the field from an historical perspective, with the goal of developing a more coherent theory of reconfiguration. First, the Turing and von Neumann machines are discussed from the perspective of system reconfiguration, and it is seen that this early important theoretical work contains little that anticipates reconfiguration. Then some early developments in reconfiguration are analyzed, including the work of Estrin and associates on the fixed plus variable restructurable computer system, the attempt to theorize about configurable computers by Miller and Cocke, and the work of Reddi and Feustel on their restructable computer system. The discussion then focuses on the most sustained systems for fault tolerance and performance enhancement that have been proposed. An attempt will be made to define fault tolerance and to investigate some of the strategies used to achieve it. By investigating four different systems, the Tandern computer, the C.vmp system, the Extra Stage Cube, and the Gamma network, the move from dynamic redundancy to reconfiguration is observed. Then reconfiguration for performance enhancement is discussed. A survey of some proposals is attempted, then the discussion focuses on the most sustained systems that have been proposed: PASM, the DC architecture, the Star local network, and the NYU Ultracomputer. The discussion is organized around a comparison of control, scheduling, communication, and network topology. Finally, comparisons are drawn between fault tolerance and performance enhancement, in order to clarify the notion of reconfiguration and to reveal the common ground of fault tolerance and performance enhancement as well as the areas in which they diverge. An attempt is made in the conclusion to derive from this survey and analysis some observations on the nature of reconfiguration, as well as some remarks on necessary further areas of research

Parallel Tempering Simulation of the three-dimensional Edwards-Anderson Model with Compact Asynchronous Multispin Coding on GPU

Monte Carlo simulations of the Ising model play an important role in the field of computational statistical physics, and they have revealed many properties of the model over the past few decades. However, the effect of frustration due to random disorder, in particular the possible spin glass phase, remains a crucial but poorly understood problem. One of the obstacles in the Monte Carlo simulation of random frustrated systems is their long relaxation time making an efficient parallel implementation on state-of-the-art computation platforms highly desirable. The Graphics Processing Unit (GPU) is such a platform that provides an opportunity to significantly enhance the computational performance and thus gain new insight into this problem. In this paper, we present optimization and tuning approaches for the CUDA implementation of the spin glass simulation on GPUs. We discuss the integration of various design alternatives, such as GPU kernel construction with minimal communication, memory tiling, and look-up tables. We present a binary data format, Compact Asynchronous Multispin Coding (CAMSC), which provides an additional $28.4\%$ speedup compared with the traditionally used Asynchronous Multispin Coding (AMSC). Our overall design sustains a performance of 33.5 picoseconds per spin flip attempt for simulating the three-dimensional Edwards-Anderson model with parallel tempering, which significantly improves the performance over existing GPU implementations.Comment: 15 pages, 18 figure