64,449 research outputs found
TaskPoint: sampled simulation of task-based programs
Sampled simulation is a mature technique for reducing simulation time of single-threaded programs, but it is not directly applicable to simulation of multi-threaded architectures. Recent multi-threaded sampling techniques assume that the workload assigned to each thread does not change across multiple executions of a program. This assumption does not hold for dynamically scheduled task-based programming models. Task-based programming models allow the programmer to specify program segments as tasks which are instantiated many times and scheduled dynamically to available threads. Due to system noise and variation in scheduling decisions, two consecutive executions on the same machine typically result in different instruction streams processed by each thread. In this paper, we propose TaskPoint, a sampled simulation technique for dynamically scheduled task-based programs. We leverage task instances as sampling units and simulate only a fraction of all task instances in detail. Between detailed simulation intervals we employ a novel fast-forward mechanism for dynamically scheduled programs. We evaluate the proposed technique on a set of 19 task-based parallel benchmarks and two different architectures. Compared to detailed simulation, TaskPoint accelerates architectural simulation with 64 simulated threads by an average factor of 19.1 at an average error of 1.8% and a maximum error of 15.0%.This work has been supported by the Spanish Government (Severo Ochoa grants SEV2015-0493, SEV-2011-00067), the Spanish Ministry of Science and Innovation
(contract TIN2015-65316-P), Generalitat de Catalunya (contracts 2014-SGR-1051 and 2014-SGR-1272), the RoMoL ERC Advanced Grant (GA 321253), the European HiPEAC Network of Excellence and the Mont-Blanc project (EU-FP7-610402 and EU-H2020-671697). M. Moreto has been partially supported by the Ministry of Economy and Competitiveness under Juan de la Cierva postdoctoral fellowship JCI-2012-15047. M. Casas is supported by the Ministry of Economy
and Knowledge of the Government of Catalonia and the Cofund programme of the Marie Curie Actions of the EUFP7 (contract 2013BP B 00243). T.Grass has been partially
supported by the AGAUR of the Generalitat de Catalunya (grant 2013FI B 0058).Peer ReviewedPostprint (author's final draft
Sampled simulation of task-based programs
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksSampled simulation is a mature technique for reducing simulation time of single-threaded programs. Nevertheless, current sampling techniques do not take advantage of other execution models, like task-based execution, to provide both more accurate and faster simulation. Recent multi-threaded sampling techniques assume that the workload assigned to each thread does not change across multiple executions of a program. This assumption does not hold for dynamically scheduled task-based programming models. Task-based programming models allow the programmer to specify program segments as tasks which are instantiated many times and scheduled dynamically to available threads. Due to variation in scheduling decisions, two consecutive executions on the same machine typically result in different instruction streams processed by each thread. In this paper, we propose TaskPoint, a sampled simulation technique for dynamically scheduled task-based programs. We leverage task instances as sampling units and simulate only a fraction of all task instances in detail. Between detailed simulation intervals, we employ a novel fast-forwarding mechanism for dynamically scheduled programs. We evaluate different automatic techniques for clustering task instances and show that DBSCAN clustering combined with analytical performance modeling provides the best trade-off of simulation speed and accuracy. TaskPoint is the first technique combining sampled simulation and analytical modeling and provides a new way to trade off simulation speed and accuracy. Compared to detailed simulation, TaskPoint accelerates architectural simulation with 8 simulated threads by an average factor of 220x at an average error of 0.5 percent and a maximum error of 7.9 percent.Peer ReviewedPostprint (author's final draft
Parallel Astronomical Data Processing with Python: Recipes for multicore machines
High performance computing has been used in various fields of astrophysical
research. But most of it is implemented on massively parallel systems
(supercomputers) or graphical processing unit clusters. With the advent of
multicore processors in the last decade, many serial software codes have been
re-implemented in parallel mode to utilize the full potential of these
processors. In this paper, we propose parallel processing recipes for multicore
machines for astronomical data processing. The target audience are astronomers
who are using Python as their preferred scripting language and who may be using
PyRAF/IRAF for data processing. Three problems of varied complexity were
benchmarked on three different types of multicore processors to demonstrate the
benefits, in terms of execution time, of parallelizing data processing tasks.
The native multiprocessing module available in Python makes it a relatively
trivial task to implement the parallel code. We have also compared the three
multiprocessing approaches - Pool/Map, Process/Queue, and Parallel Python. Our
test codes are freely available and can be downloaded from our website.Comment: 15 pages, 7 figures, 1 table, "for associated test code, see
http://astro.nuigalway.ie/staff/navtejs", Accepted for publication in
Astronomy and Computin
Evolutionary improvement of programs
Most applications of genetic programming (GP) involve the creation of an entirely new function, program or expression to solve a specific problem. In this paper, we propose a new approach that applies GP to improve existing software by optimizing its non-functional properties such as execution time, memory usage, or power consumption. In general, satisfying non-functional requirements is a difficult task and often achieved in part by optimizing compilers. However, modern compilers are in general not always able to produce semantically equivalent alternatives that optimize non-functional properties, even if such alternatives are known to exist: this is usually due to the limited local nature of such optimizations. In this paper, we discuss how best to combine and extend the existing evolutionary methods of GP, multiobjective optimization, and coevolution in order to improve existing software. Given as input the implementation of a function, we attempt to evolve a semantically equivalent version, in this case optimized to reduce execution time subject to a given probability distribution of inputs. We demonstrate that our framework is able to produce non-obvious optimizations that compilers are not yet able to generate on eight example functions. We employ a coevolved population of test cases to encourage the preservation of the function's semantics. We exploit the original program both through seeding of the population in order to focus the search, and as an oracle for testing purposes. As well as discussing the issues that arise when attempting to improve software, we employ rigorous experimental method to provide interesting and practical insights to suggest how to address these issues
Reuleaux: Robot Base Placement by Reachability Analysis
Before beginning any robot task, users must position the robot's base, a task
that now depends entirely on user intuition. While slight perturbation is
tolerable for robots with moveable bases, correcting the problem is imperative
for fixed-base robots if some essential task sections are out of reach. For
mobile manipulation robots, it is necessary to decide on a specific base
position before beginning manipulation tasks.
This paper presents Reuleaux, an open source library for robot reachability
analyses and base placement. It reduces the amount of extra repositioning and
removes the manual work of identifying potential base locations. Based on the
reachability map, base placement locations of a whole robot or only the arm can
be efficiently determined. This can be applied to both statically mounted
robots, where position of the robot and work piece ensure the maximum amount of
work performed, and to mobile robots, where the maximum amount of workable area
can be reached. Solutions are not limited only to vertically constrained
placement, since complicated robotics tasks require the base to be placed at
unique poses based on task demand.
All Reuleaux library methods were tested on different robots of different
specifications and evaluated for tasks in simulation and real world
environment. Evaluation results indicate that Reuleaux had significantly
improved performance than prior existing methods in terms of time-efficiency
and range of applicability.Comment: Submitted to International Conference of Robotic Computing 201
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