Validating optimisations for chaotic simulations

It is non-trivial to optimise computations of chaotic systems since slightly perturbed simulations diverge exponentially over time due to the well-known butterfly effect if bit-reproducible results are not achieved. Therefore, two model setups that show the same quality in the representation of a chaotic system will show uncorrelated behaviour if integrated long enough, hence it is challenging to check whether a given optimisation degrades model quality. Most models in computational fluid dynamics show chaotic behaviour. In this paper we focus on models of atmosphere and ocean that are vital for predictions of future weather and climate. Since forecast quality is usually limited by the available computational power, optimisation is highly desirable. We describe a new method for accepting or rejecting an optimised implementation of a reconfigurable design to simulate dynamics of a chaotic system. We apply this method to optimise numerical precision to a minimal level of stencil computations that can be used in an idealised ocean model, and show the performance improvements gained on an FPGA. The proposed method enables precision reduction for the FPGA so that it computes up to 9 times faster with 6 times lower energy consumption than an implementation on the same device with double precision arithmetic, while ensuring the optimised design to have acceptable numerical behaviour

Working With Incremental Spatial Data During Parallel (GPU) Computation

Central to many complex systems, spatial actors require an awareness of their local environment to enable behaviours such as communication and navigation. Complex system simulations represent this behaviour with Fixed Radius Near Neighbours (FRNN) search. This algorithm allows actors to store data at spatial locations and then query the data structure to find all data stored within a fixed radius of the search origin. The work within this thesis answers the question: What techniques can be used for improving the performance of FRNN searches during complex system simulations on Graphics Processing Units (GPUs)? It is generally agreed that Uniform Spatial Partitioning (USP) is the most suitable data structure for providing FRNN search on GPUs. However, due to the architectural complexities of GPUs, the performance is constrained such that FRNN search remains one of the most expensive common stages between complex systems models. Existing innovations to USP highlight a need to take advantage of recent GPU advances, reducing the levels of divergence and limiting redundant memory accesses as viable routes to improve the performance of FRNN search. This thesis addresses these with three separate optimisations that can be used simultaneously. Experiments have assessed the impact of optimisations to the general case of FRNN search found within complex system simulations and demonstrated their impact in practice when applied to full complex system models. Results presented show the performance of the construction and query stages of FRNN search can be improved by over 2x and 1.3x respectively. These improvements allow complex system simulations to be executed faster, enabling increases in scale and model complexity

Design of high-performance legged robots: A case study on a hopping and balancing robot

The availability and capabilities of present-day technology suggest that legged robots should be able to physically outperform their biological counterparts. This thesis revolves around the philosophy that the observed opposite is caused by over-complexity in legged robot design, which is believed to substantially suppress design for high-performance. In this dissertation a design philosophy is elaborated with a focus on simple but high performance design. This philosophy is governed by various key points, including holistic design, technology-inspired design, machine and behaviour co-design and design at the performance envelope. This design philosophy also focuses on improving progress in robot design, which is inevitably complicated by the aspire for high performance. It includes an approach of iterative design by trial-and-error, which is believed to accelerate robot design through experience. This thesis mainly focuses on the case study of Skippy, a fully autonomous monopedal balancing and hopping robot. Skippy is maximally simple in having only two actuators, which is the minimum number of actuators required to control a robot in 3D. Despite its simplicity, it is challenged with a versatile set of high-performance activities, ranging from balancing to reaching record jump heights, to surviving crashes from several meters and getting up unaided after a crash, while being built from off-the-shelf technology. This thesis has contributed to the detailed mechanical design of Skippy and its optimisations that abide the design philosophy, and has resulted in a robust and realistic design that is able to reach a record jump height of 3.8m. Skippy is also an example of iterative design through trial-and-error, which has lead to the successful design and creation of the balancing-only precursor Tippy. High-performance balancing has been successfully demonstrated on Tippy, using a recently developed balancing algorithm that combines the objective of tracking a desired position command with balancing, as required for preparing hopping motions. This thesis has furthermore contributed to several ideas and theories on Skippy's road of completion, which are also useful for designing other high-performance robots. These contributions include (1) the introduction of an actuator design criterion to maximize the physical balance recovery of a simple balancing machine, (2) a generalization of the centre of percussion for placement of components that are sensitive to shock and (3) algebraic modelling of a non-linear high-gravimetric energy density compression spring with a regressive stress-strain profile. The activities performed and the results achieved have been proven to be valuable, however they have also delayed the actual creation of Skippy itself. A possible explanation for this happening is that Skippy's requirements and objectives were too ambitious, for which many complications were encountered in the decision-making progress of the iterative design strategy, involving trade-offs between exercising trial-and-error, elaborate simulation studies and the development of above-mentioned new theories. Nevertheless, from (1) the resulting realistic design of Skippy, (2) the successful creation and demonstrations of Tippy and (3) the contributed theories for high-performance robot design, it can be concluded that the adopted design philosophy has been generally successful. Through the case study design project of the hopping and balancing robot Skippy, it is shown that proper design for high physical performance (1) can indeed lead to a robot design that is capable of physically outperforming humans and animals and (2) is already very challenging for a robot that is intended to be very simple

Towards AMR Simulations of Galaxy Formation

Numerical simulations present a fundamental building block of our modern theoretical understanding of the Universe. As such the work in this thesis is primarily concerned with understanding fundamental differences that lie between the different hydrodynamic schemes. In chapter 3 I outline the optimisations I make to the FLASH code to enable larger simulations to be run. These include developing and testing a new FFT gravity solver. With these complete, in chapter 4 I present results from a collaborative code comparison project in which we test a series of different hydrodynamics codes against a suite of demanding test problems with astrophysical relevance. As the problems have known solutions, we can quantify their performance and are able to develop a resolution criteria which allows for the two different types to be reliably compared. In chapter 5 we develop an analytic model for ram pressure stripping of the hot gaseous haloes of galaxies in groups and clusters. We test the model against a suite of hydrodynamic simulations in the SPH GADGET-2 code. To ensure that the spurious suppression of hydrodynamic instabilities by SPH codes does not bias our results, I compare our findings to those obtained with the FLASH AMR code and find excellent agreement. Chapter 6 presents work in which we unambiguously determine the origin of the difference between the entropy cores formed in AMR and SPH codes. By running mergers of model clusters we are able to systematically explore the various proposed mechanisms and determine that turbulent mixing generates the higher entropy cores within AMR codes but is suppressed in SPH codes. The startling differences between the two hydrodynamic schemes presented in chapter 6 leads me to investigate their affect upon different sub-grid physical recipes. In chapter 7 I present the implementation of a sub-grid star formation recipe in FLASH and find strong differences in the way the two codes model pressure laws. I extend the work in chapter 8 by implementing a kinetic supernova feedback mechanism in FLASH and contrasting it with the results from the GADGET-2 code. I find that AMR codes dissipate energy much more efficiently than in SPH codes

Simulated Annealing

The book contains 15 chapters presenting recent contributions of top researchers working with Simulated Annealing (SA). Although it represents a small sample of the research activity on SA, the book will certainly serve as a valuable tool for researchers interested in getting involved in this multidisciplinary field. In fact, one of the salient features is that the book is highly multidisciplinary in terms of application areas since it assembles experts from the fields of Biology, Telecommunications, Geology, Electronics and Medicine