Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed

Software Support for Irregular and Loosely Synchronous Problems

A large class of scientific and engineering applications may be classified as irregular and loosely synchronous from the perspective of parallel processing. We present a partial classification of such problems. This classification has motivated us to enhance Fortran D to provide language support for irregular, loosely synchronous problems. We present techniques for parallelization of such problems in the context of Fortran D

Software Support for Irregular and Loosely Synchronous Problems

A large class of scientific and engineering applications may be classified as irregular and loosely synchronous from the perspective of parallel processing. We present a partial classification of such problems. This classification has motivated us to enhance Fortran D to provide language support for irregular, loosely synchronous problems. We present techniques for parallelization of such problems in the context of Fortran D

On the design of architecture-aware algorithms for emerging applications

This dissertation maps various kernels and applications to a spectrum of programming models and architectures and also presents architecture-aware algorithms for different systems. The kernels and applications discussed in this dissertation have widely varying computational characteristics. For example, we consider both dense numerical computations and sparse graph algorithms. This dissertation also covers emerging applications from image processing, complex network analysis, and computational biology. We map these problems to diverse multicore processors and manycore accelerators. We also use new programming models (such as Transactional Memory, MapReduce, and Intel TBB) to address the performance and productivity challenges in the problems. Our experiences highlight the importance of mapping applications to appropriate programming models and architectures. We also find several limitations of current system software and architectures and directions to improve those. The discussion focuses on system software and architectural support for nested irregular parallelism, Transactional Memory, and hybrid data transfer mechanisms. We believe that the complexity of parallel programming can be significantly reduced via collaborative efforts among researchers and practitioners from different domains. This dissertation participates in the efforts by providing benchmarks and suggestions to improve system software and architectures.Ph.D.Committee Chair: Bader, David; Committee Member: Hong, Bo; Committee Member: Riley, George; Committee Member: Vuduc, Richard; Committee Member: Wills, Scot

DALiuGE: A Graph Execution Framework for Harnessing the Astronomical Data Deluge

The Data Activated Liu Graph Engine - DALiuGE - is an execution framework for processing large astronomical datasets at a scale required by the Square Kilometre Array Phase 1 (SKA1). It includes an interface for expressing complex data reduction pipelines consisting of both data sets and algorithmic components and an implementation run-time to execute such pipelines on distributed resources. By mapping the logical view of a pipeline to its physical realisation, DALiuGE separates the concerns of multiple stakeholders, allowing them to collectively optimise large-scale data processing solutions in a coherent manner. The execution in DALiuGE is data-activated, where each individual data item autonomously triggers the processing on itself. Such decentralisation also makes the execution framework very scalable and flexible, supporting pipeline sizes ranging from less than ten tasks running on a laptop to tens of millions of concurrent tasks on the second fastest supercomputer in the world. DALiuGE has been used in production for reducing interferometry data sets from the Karl E. Jansky Very Large Array and the Mingantu Ultrawide Spectral Radioheliograph; and is being developed as the execution framework prototype for the Science Data Processor (SDP) consortium of the Square Kilometre Array (SKA) telescope. This paper presents a technical overview of DALiuGE and discusses case studies from the CHILES and MUSER projects that use DALiuGE to execute production pipelines. In a companion paper, we provide in-depth analysis of DALiuGE's scalability to very large numbers of tasks on two supercomputing facilities.Comment: 31 pages, 12 figures, currently under review by Astronomy and Computin

Parallel, Adaptive Grid Computing of Multiphase Flows in Spacecraft Fuel Tanks

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/97138/1/AIAA2012-761.pd

A framework for efficient execution of data parallel irregular applications on heterogeneous systems

Exploiting the computing power of the diversity of resources available on heterogeneous systems is mandatory but a very challenging task. The diversity of architectures, execution models and programming tools, together with disjoint address spaces and di erent computing capabilities, raise a number of challenges that severely impact on application performance and programming productivity. This problem is further compounded in the presence of data parallel irregular applications. This paper presents a framework that addresses development and execution of data parallel irregular applications in heterogeneous systems. A uni ed task-based programming and execution model is proposed, together with inter and intra-device scheduling, which, coupled with a data management system, aim to achieve performance scalability across multiple devices, while maintaining high programming productivity. Intradevice scheduling on wide SIMD/SIMT architectures resorts to consumer-producer kernels, which, by allowing dynamic generation and rescheduling of new work units, enable balancing irregular workloads and increase resource utilization. Results show that regular and irregular applications scale well with the number of devices, while requiring minimal programming e ort. Consumer-producer kernels are able to sustain signi cant performance gains as long as the workload per basic work unit is enough to compensate overheads associated with intra-device scheduling. This not being the case, consumer kernels can still be used for the irregular application. Comparisons with an alternative framework, StarPU, which targets regular workloads, consistently demonstrate signi cant speedups. This is, to the best of our knowledge, the rst published integrated approach that successfully handles irregular workloads over heterogeneous systems.This work is funded by National Funds through the FCT - Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) and by ERDF - European Regional Development Fund through the COMPETE Programme (operational programme for competitiveness) within projects PEst-OE/EEI/UI0752/2014 and FCOMP-01-0124-FEDER-010067. Also by the School of Engineering, Universidade do Minho within project P2SHOCS - Performance Portability on Scalable Heterogeneous Computing Systems

Parallel Computers and Complex Systems

We present an overview of the state of the art and future trends in high performance parallel and distributed computing, and discuss techniques for using such computers in the simulation of complex problems in computational science. The use of high performance parallel computers can help improve our understanding of complex systems, and the converse is also true --- we can apply techniques used for the study of complex systems to improve our understanding of parallel computing. We consider parallel computing as the mapping of one complex system --- typically a model of the world --- into another complex system --- the parallel computer. We study static, dynamic, spatial and temporal properties of both the complex systems and the map between them. The result is a better understanding of which computer architectures are good for which problems, and of software structure, automatic partitioning of data, and the performance of parallel machines