Towards an Adaptive Skeleton Framework for Performance Portability

The proliferation of widely available, but very different, parallel architectures makes the ability to deliver good parallel performance on a range of architectures, or performance portability, highly desirable. Irregularly-parallel problems, where the number and size of tasks is unpredictable, are particularly challenging and require dynamic coordination. The paper outlines a novel approach to delivering portable parallel performance for irregularly parallel programs. The approach combines declarative parallelism with JIT technology, dynamic scheduling, and dynamic transformation. We present the design of an adaptive skeleton library, with a task graph implementation, JIT trace costing, and adaptive transformations. We outline the architecture of the protoype adaptive skeleton execution framework in Pycket, describing tasks, serialisation, and the current scheduler.We report a preliminary evaluation of the prototype framework using 4 micro-benchmarks and a small case study on two NUMA servers (24 and 96 cores) and a small cluster (17 hosts, 272 cores). Key results include Pycket delivering good sequential performance e.g. almost as fast as C for some benchmarks; good absolute speedups on all architectures (up to 120 on 128 cores for sumEuler); and that the adaptive transformations do improve performance

Contract-Based General-Purpose GPU Programming

Using GPUs as general-purpose processors has revolutionized parallel computing by offering, for a large and growing set of algorithms, massive data-parallelization on desktop machines. An obstacle to widespread adoption, however, is the difficulty of programming them and the low-level control of the hardware required to achieve good performance. This paper suggests a programming library, SafeGPU, that aims at striking a balance between programmer productivity and performance, by making GPU data-parallel operations accessible from within a classical object-oriented programming language. The solution is integrated with the design-by-contract approach, which increases confidence in functional program correctness by embedding executable program specifications into the program text. We show that our library leads to modular and maintainable code that is accessible to GPGPU non-experts, while providing performance that is comparable with hand-written CUDA code. Furthermore, runtime contract checking turns out to be feasible, as the contracts can be executed on the GPU

Accelerating sequential programs using FastFlow and self-offloading

FastFlow is a programming environment specifically targeting cache-coherent shared-memory multi-cores. FastFlow is implemented as a stack of C++ template libraries built on top of lock-free (fence-free) synchronization mechanisms. In this paper we present a further evolution of FastFlow enabling programmers to offload part of their workload on a dynamically created software accelerator running on unused CPUs. The offloaded function can be easily derived from pre-existing sequential code. We emphasize in particular the effective trade-off between human productivity and execution efficiency of the approach.Comment: 17 pages + cove

Farms, pipes, streams and reforestation : reasoning about structured parallel processes using types and hylomorphisms

The increasing importance of parallelism has motivated the creation of better abstractions for writing parallel software, including structured parallelism using nested algorithmic skeletons. Such approaches provide high-level abstractions that avoid common problems, such as race conditions, and often allow strong cost models to be defined. However, choosing a combination of algorithmic skeletons that yields good parallel speedups for a program on some specific parallel architecture remains a difficult task. In order to achieve this, it is necessary to simultaneously reason both about the costs of different parallel structures and about the semantic equivalences between them. This paper presents a new type-based mechanism that enables strong static reasoning about these properties. We exploit well-known properties of a very general recursion pattern, hylomorphisms, and give a denotational semantics for structured parallel processes in terms of these hylomorphisms. Using our approach, it is possible to determine formally whether it is possible to introduce a desired parallel structure into a program without altering its functional behaviour, and also to choose a version of that parallel structure that minimises some given cost model.Postprin

Self-Configuration and Self-Optimization Autonomic Skeletons using Events

International audienceThis paper presents a novel way to introduce self-configuration and self-optimization autonomic characteristics to algorithmic skeletons using event driven programming techniques. Based on an algorithmic skeleton language, we show that the use of events greatly improves the estimation of the remaining computation time for skeleton execution. Events allow us to precisely monitor the status of the execution of algorithmic skeletons. Using such events, we provide a framework for the execution of skeletons with a very high level of adaptability. We focus mainly on guaranteeing a given execution time for a skeleton, by optimizing autonomically the number of threads allocated. The proposed solution is independent from the platform chosen for executing the skeleton for example we illustrate our approach in a multicore setting, but it could also be adapted to a distributed execution environment

Type-driven automated program transformations and cost modelling for optimising streaming programs on FPGAs

In this paper we present a novel approach to program optimisation based on compiler-based type-driven program transformations and a fast and accurate cost/performance model for the target architecture. We target streaming programs for the problem domain of scientific computing, such as numerical weather prediction. We present our theoretical framework for type-driven program transformation, our target high-level language and intermediate representation languages and the cost model and demonstrate the effectiveness of our approach by comparison with a commercial toolchain

Sampling-Based Methods for Factored Task and Motion Planning

This paper presents a general-purpose formulation of a large class of discrete-time planning problems, with hybrid state and control-spaces, as factored transition systems. Factoring allows state transitions to be described as the intersection of several constraints each affecting a subset of the state and control variables. Robotic manipulation problems with many movable objects involve constraints that only affect several variables at a time and therefore exhibit large amounts of factoring. We develop a theoretical framework for solving factored transition systems with sampling-based algorithms. The framework characterizes conditions on the submanifold in which solutions lie, leading to a characterization of robust feasibility that incorporates dimensionality-reducing constraints. It then connects those conditions to corresponding conditional samplers that can be composed to produce values on this submanifold. We present two domain-independent, probabilistically complete planning algorithms that take, as input, a set of conditional samplers. We demonstrate the empirical efficiency of these algorithms on a set of challenging task and motion planning problems involving picking, placing, and pushing