Special purpose parallel computer architecture for real-time control and simulation in robotic applications

This is a real-time robotic controller and simulator which is a MIMD-SIMD parallel architecture for interfacing with an external host computer and providing a high degree of parallelism in computations for robotic control and simulation. It includes a host processor for receiving instructions from the external host computer and for transmitting answers to the external host computer. There are a plurality of SIMD microprocessors, each SIMD processor being a SIMD parallel processor capable of exploiting fine grain parallelism and further being able to operate asynchronously to form a MIMD architecture. Each SIMD processor comprises a SIMD architecture capable of performing two matrix-vector operations in parallel while fully exploiting parallelism in each operation. There is a system bus connecting the host processor to the plurality of SIMD microprocessors and a common clock providing a continuous sequence of clock pulses. There is also a ring structure interconnecting the plurality of SIMD microprocessors and connected to the clock for providing the clock pulses to the SIMD microprocessors and for providing a path for the flow of data and instructions between the SIMD microprocessors. The host processor includes logic for controlling the RRCS by interpreting instructions sent by the external host computer, decomposing the instructions into a series of computations to be performed by the SIMD microprocessors, using the system bus to distribute associated data among the SIMD microprocessors, and initiating activity of the SIMD microprocessors to perform the computations on the data by procedure call

Percolation scheduling for non-VLIW machines

Percolation Scheduling, a technique for compile-time code parallelization, has proven very successful for exploiting fine-grain irregular parallelism in ordinary programs. Currently, this technology is targeted only to VLIW (Very Long Instruction Word) machines, which have the advantages of 'free' synchronization and communication. Shared memory multi-processors can simulate the execution characteristics of VLIW machines with the use of static barriers. Preliminary results show that Percolation Scheduling can be used with good results on this type of architecture by increasing the granularity from operation level to source statement level, removing any redundant synchronization, and providing an efficient implementation of multi-way jumps

The communication processor of TUMULT-64

Tumult (Twente University MULTi-processor system) is a modular extendible multi-processor system designed and implemented at the Twente University of Technology in co-operation with Oce Nederland B.V. and the Dr. Neher Laboratories (Dutch PTT). Characteristics of the hardware are: MIMD type, distributed memory, message passing, high performance, real-time and fault tolerant. A distributed real-time operating system has been realized, consisting of a multi-tasking kernel per node, inter process communication via typed messages and a distributed file system. In this paper first a brief description of the system is given, after that the architecture of the communication processor will be discussed. Reduction of the communication overhead due to message passing will be emphasized.\ud \u

Turbomachinery CFD on parallel computers

The role of multistage turbomachinery simulation in the development of propulsion system models is discussed. Particularly, the need for simulations with higher fidelity and faster turnaround time is highlighted. It is shown how such fast simulations can be used in engineering-oriented environments. The use of parallel processing to achieve the required turnaround times is discussed. Current work by several researchers in this area is summarized. Parallel turbomachinery CFD research at the NASA Lewis Research Center is then highlighted. These efforts are focused on implementing the average-passage turbomachinery model on MIMD, distributed memory parallel computers. Performance results are given for inviscid, single blade row and viscous, multistage applications on several parallel computers, including networked workstations

System software for the finite element machine

The Finite Element Machine is an experimental parallel computer developed at Langley Research Center to investigate the application of concurrent processing to structural engineering analysis. This report describes system-level software which has been developed to facilitate use of the machine by applications researchers. The overall software design is outlined, and several important parallel processing issues are discussed in detail, including processor management, communication, synchronization, and input/output. Based on experience using the system, the hardware architecture and software design are critiqued, and areas for further work are suggested

Message-Passing Multi-Cell Molecular Dynamics on the Connection Machine 5

We present a new scalable algorithm for short-range molecular dynamics simulations on distributed memory MIMD multicomputer based on a message-passing multi-cell approach. We have implemented the algorithm on the Connection Machine 5 (CM-5) and demonstrate that meso-scale molecular dynamics with more than $10^8$ particles is now possible on massively parallel MIMD computers. Typical runs show single particle update-times of $0.15 \mu s$ in 2 dimensions (2D) and approximately $1 \mu s$ in 3 dimensions (3D) on a 1024 node CM-5 without vector units, corresponding to more than 1.8 GFlops overall performance. We also present a scaling equation which agrees well with actually observed timings.Comment: 17 pages, Uuencoded compressed PostScript fil

Asynchronous and corrected-asynchronous numerical solutions of parabolic PDES on MIMD multiprocessors

A major problem in achieving significant speed-up on parallel machines is the overhead involved with synchronizing the concurrent process. Removing the synchronization constraint has the potential of speeding up the computation. The authors present asynchronous (AS) and corrected-asynchronous (CA) finite difference schemes for the multi-dimensional heat equation. Although the discussion concentrates on the Euler scheme for the solution of the heat equation, it has the potential for being extended to other schemes and other parabolic partial differential equations (PDEs). These schemes are analyzed and implemented on the shared memory multi-user Sequent Balance machine. Numerical results for one and two dimensional problems are presented. It is shown experimentally that the synchronization penalty can be about 50 percent of run time: in most cases, the asynchronous scheme runs twice as fast as the parallel synchronous scheme. In general, the efficiency of the parallel schemes increases with processor load, with the time level, and with the problem dimension. The efficiency of the AS may reach 90 percent and over, but it provides accurate results only for steady-state values. The CA, on the other hand, is less efficient, but provides more accurate results for intermediate (non steady-state) values

Automatic data/program partitioning using the single assignment principle

Loosely-coupled MIMD architectures do not suffer from memory contention; hence large numbers of processors may be utilized. The main problem, however, is how to partition data and programs in order to exploit the available parallelism. In this paper we show that efficient schemes for automatic data/program partitioning and synchronization may be employed if single assignment is used. Using simulations of program loops common to scientific computations (the Livermore Loops), we demonstrate that only a small fraction of data accesses are remote and thus the degradation in network performance due to multiprocessing is minimal

Experimental Evaluation of SIMD PE-Mask Generation and Hybrid Mode Parallel Computing on Multi- Microprocessor Systems

Experimentation aimed at determining the potential efficiency of multi-microprocessor designs of SIMD machines is reported. The experimentation is based on timing measurements made on the PASM system prototype at Purdue. The application used to measure and evaluate this phenomenon was bitonic sorting, which has feasible solutions in both SIMD and MIMD modes of computation, as well as in at least two hybrids of SlMD and MIMD modes. Bitonic sorting was coded in these four ways and experiments were performed that examine the tradeoffs among all of these modes. Also, a new PE mask generation scheme for multiple of-the-shelf microprocessor based SIMD systems is proposed, and its performance was measured