2,209 research outputs found
Modular Self-Reconfigurable Robot Systems
The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing fiel
CATS: linearizability and partition tolerance in scalable and self-organizing key-value stores
Distributed key-value stores provide scalable, fault-tolerant, and self-organizing
storage services, but fall short of guaranteeing linearizable consistency
in partially synchronous, lossy, partitionable, and dynamic networks, when data
is distributed and replicated automatically by the principle of consistent hashing.
This paper introduces consistent quorums as a solution for achieving atomic
consistency. We present the design and implementation of CATS, a distributed
key-value store which uses consistent quorums to guarantee linearizability and partition tolerance in such adverse and dynamic network conditions. CATS is
scalable, elastic, and self-organizing; key properties for modern cloud storage
middleware. Our system shows that consistency can be achieved with practical
performance and modest throughput overhead (5%) for read-intensive workloads
Transformations of High-Level Synthesis Codes for High-Performance Computing
Specialized hardware architectures promise a major step in performance and
energy efficiency over the traditional load/store devices currently employed in
large scale computing systems. The adoption of high-level synthesis (HLS) from
languages such as C/C++ and OpenCL has greatly increased programmer
productivity when designing for such platforms. While this has enabled a wider
audience to target specialized hardware, the optimization principles known from
traditional software design are no longer sufficient to implement
high-performance codes. Fast and efficient codes for reconfigurable platforms
are thus still challenging to design. To alleviate this, we present a set of
optimizing transformations for HLS, targeting scalable and efficient
architectures for high-performance computing (HPC) applications. Our work
provides a toolbox for developers, where we systematically identify classes of
transformations, the characteristics of their effect on the HLS code and the
resulting hardware (e.g., increases data reuse or resource consumption), and
the objectives that each transformation can target (e.g., resolve interface
contention, or increase parallelism). We show how these can be used to
efficiently exploit pipelining, on-chip distributed fast memory, and on-chip
streaming dataflow, allowing for massively parallel architectures. To quantify
the effect of our transformations, we use them to optimize a set of
throughput-oriented FPGA kernels, demonstrating that our enhancements are
sufficient to scale up parallelism within the hardware constraints. With the
transformations covered, we hope to establish a common framework for
performance engineers, compiler developers, and hardware developers, to tap
into the performance potential offered by specialized hardware architectures
using HLS
A component-based middleware framework for configurable and reconfigurable Grid computing
Significant progress has been made in the design and development of Grid middleware which, in its present form, is founded on Web services technologies. However, we argue that present-day Grid middleware is severely limited in supporting projected next-generation applications which will involve pervasive and heterogeneous networked infrastructures, and advanced services such as collaborative distributed visualization. In this paper we discuss a new Grid middleware framework that features (i) support for advanced network services based on the novel concept of pluggable overlay networks, (ii) an architectural framework for constructing bespoke Grid middleware platforms in terms of 'middleware domains' such as extensible interaction types and resource discovery. We believe that such features will become increasingly essential with the emergence of next-generation e-Science applications. Copyright (c) 2005 John Wiley & Sons, Ltd
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