DeepPicar: A Low-cost Deep Neural Network-based Autonomous Car

We present DeepPicar, a low-cost deep neural network based autonomous car platform. DeepPicar is a small scale replication of a real self-driving car called DAVE-2 by NVIDIA. DAVE-2 uses a deep convolutional neural network (CNN), which takes images from a front-facing camera as input and produces car steering angles as output. DeepPicar uses the same network architecture---9 layers, 27 million connections and 250K parameters---and can drive itself in real-time using a web camera and a Raspberry Pi 3 quad-core platform. Using DeepPicar, we analyze the Pi 3's computing capabilities to support end-to-end deep learning based real-time control of autonomous vehicles. We also systematically compare other contemporary embedded computing platforms using the DeepPicar's CNN-based real-time control workload. We find that all tested platforms, including the Pi 3, are capable of supporting the CNN-based real-time control, from 20 Hz up to 100 Hz, depending on hardware platform. However, we find that shared resource contention remains an important issue that must be considered in applying CNN models on shared memory based embedded computing platforms; we observe up to 11.6X execution time increase in the CNN based control loop due to shared resource contention. To protect the CNN workload, we also evaluate state-of-the-art cache partitioning and memory bandwidth throttling techniques on the Pi 3. We find that cache partitioning is ineffective, while memory bandwidth throttling is an effective solution.Comment: To be published as a conference paper at RTCSA 201

On Improving The Performance And Resource Utilization of Consolidated Virtual Machines: Measurement, Modeling, Analysis, and Prediction

This dissertation addresses the performance related issues of consolidated \emph{Virtual Machines} (VMs). \emph{Virtualization} is an important technology for the \emph{Cloud} and data centers. Essential features of a data center like the fault tolerance, high-availability, and \emph{pay-as-you-go} model of services are implemented with the help of VMs. Cloud had become one of the significant innovations over the past decade. Research has been going on the deployment of newer and diverse set of applications like the \emph{High-Performance Computing} (HPC), and parallel applications on the Cloud. The primary method to increase the server resource utilization is VM consolidation, running as many VMs as possible on a server is the key to improving the resource utilization. On the other hand, consolidating too many VMs on a server can degrade the performance of all VMs. Therefore, it is necessary to measure, analyze and find ways to predict the performance variation of consolidated VMs. This dissertation investigates the causes of performance variation of consolidated VMs; the relationship between the resource contention and consolidation performance, and ways to predict the performance variation. Experiments have been conducted with real virtualized servers without using any simulation. All the results presented here are real system data. In this dissertation, a methodology is introduced to do the experiments with a large number of tasks and VMs; it is called the \emph{Incremental Consolidation Benchmarking Method} (ICBM). The experiments have been done with different types of resource-intensive tasks, parallel workflow, and VMs. Furthermore, to experiment with a large number of VMs and collect the data; a scheduling framework is also designed and implemented. Experimental results are presented to demonstrate the efficiency of the ICBM and framework

PIASA: A power and interference aware resource management strategy for heterogeneous workloads in cloud data centers

Cloud data centers have been progressively adopted in different scenarios, as reflected in the execution of heterogeneous applications with diverse workloads and diverse quality of service (QoS) requirements. Virtual machine (VM) technology eases resource management in physical servers and helps cloud providers achieve goals such as optimization of energy consumption. However, the performance of an application running inside a VM is not guaranteed due to the interference among co-hosted workloads sharing the same physical resources. Moreover, the different types of co-hosted applications with diverse QoS requirements as well as the dynamic behavior of the cloud makes efficient provisioning of resources even more difficult and a challenging problem in cloud data centers. In this paper, we address the problem of resource allocation within a data center that runs different types of application workloads, particularly CPU- and network-intensive applications. To address these challenges, we propose an interference- and power-aware management mechanism that combines a performance deviation estimator and a scheduling algorithm to guide the resource allocation in virtualized environments. We conduct simulations by injecting synthetic workloads whose characteristics follow the last version of the Google Cloud tracelogs. The results indicate that our performance-enforcing strategy is able to fulfill contracted SLAs of real-world environments while reducing energy costs by as much as 21%

Power Bounded Computing on Current & Emerging HPC Systems

Power has become a critical constraint for the evolution of large scale High Performance Computing (HPC) systems and commercial data centers. This constraint spans almost every level of computing technologies, from IC chips all the way up to data centers due to physical, technical, and economic reasons. To cope with this reality, it is necessary to understand how available or permissible power impacts the design and performance of emergent computer systems. For this reason, we propose power bounded computing and corresponding technologies to optimize performance on HPC systems with limited power budgets. We have multiple research objectives in this dissertation. They center on the understanding of the interaction between performance, power bounds, and a hierarchical power management strategy. First, we develop heuristics and application aware power allocation methods to improve application performance on a single node. Second, we develop algorithms to coordinate power across nodes and components based on application characteristic and power budget on a cluster. Third, we investigate performance interference induced by hardware and power contentions, and propose a contention aware job scheduling to maximize system throughput under given power budgets for node sharing system. Fourth, we extend to GPU-accelerated systems and workloads and develop an online dynamic performance & power approach to meet both performance requirement and power efficiency. Power bounded computing improves performance scalability and power efficiency and decreases operation costs of HPC systems and data centers. This dissertation opens up several new ways for research in power bounded computing to address the power challenges in HPC systems. The proposed power and resource management techniques provide new directions and guidelines to green exscale computing and other computing systems

Autonomous management of cost, performance, and resource uncertainty for migration of applications to infrastructure-as-a-service (IaaS) clouds

2014 Fall.Includes bibliographical references.Infrastructure-as-a-Service (IaaS) clouds abstract physical hardware to provide computing resources on demand as a software service. This abstraction leads to the simplistic view that computing resources are homogeneous and infinite scaling potential exists to easily resolve all performance challenges. Adoption of cloud computing, in practice however, presents many resource management challenges forcing practitioners to balance cost and performance tradeoffs to successfully migrate applications. These challenges can be broken down into three primary concerns that involve determining what, where, and when infrastructure should be provisioned. In this dissertation we address these challenges including: (1) performance variance from resource heterogeneity, virtualization overhead, and the plethora of vaguely defined resource types; (2) virtual machine (VM) placement, component composition, service isolation, provisioning variation, and resource contention for multitenancy; and (3) dynamic scaling and resource elasticity to alleviate performance bottlenecks. These resource management challenges are addressed through the development and evaluation of autonomous algorithms and methodologies that result in demonstrably better performance and lower monetary costs for application deployments to both public and private IaaS clouds. This dissertation makes three primary contributions to advance cloud infrastructure management for application hosting. First, it includes design of resource utilization models based on step-wise multiple linear regression and artificial neural networks that support prediction of better performing component compositions. The total number of possible compositions is governed by Bell's Number that results in a combinatorially explosive search space. Second, it includes algorithms to improve VM placements to mitigate resource heterogeneity and contention using a load-aware VM placement scheduler, and autonomous detection of under-performing VMs to spur replacement. Third, it describes a workload cost prediction methodology that harnesses regression models and heuristics to support determination of infrastructure alternatives that reduce hosting costs. Our methodology achieves infrastructure predictions with an average mean absolute error of only 0.3125 VMs for multiple workloads