High-Level Programming for Medical Imaging on Multi-GPU Systems Using the SkelCL Library

Application development for modern high-performance systems with Graphics Processing Units (GPUs) relies on low-level programming approaches like CUDA and OpenCL, which leads to complex, lengthy and error-prone programs. In this paper, we present SkelCL – a high-level programming model for systems with multiple GPUs and its implementation as a library on top of OpenCL. SkelCL provides three main enhancements to the OpenCL standard: 1) computations are conveniently expressed using parallel patterns (skeletons); 2) memory management is simplified using parallel container data types; 3) an automatic data (re)distribution mechanism allows for scalability when using multi-GPU systems. We use a real-world example from the field of medical imaging to motivate the design of our programming model and we show how application development using SkelCL is simplified without sacrificing performance: we were able to reduce the code size in our imaging example application by 50% while introducing only a moderate runtime overhead of less than 5%

SkelCL: enhancing OpenCL for high-level programming of multi-GPU systems

Application development for modern high-performance systems with Graphics Processing Units (GPUs) currently relies on low-level programming approaches like CUDA and OpenCL, which leads to complex, lengthy and error-prone programs. In this paper, we present SkelCL – a high-level programming approach for systems with multiple GPUs and its implementation as a library on top of OpenCL. SkelCL provides three main enhancements to the OpenCL standard: 1) computations are conveniently expressed using parallel algorithmic patterns (skeletons); 2) memory management is simplified using parallel container data types (vectors and matrices); 3) an automatic data (re)distribution mechanism allows for implicit data movements between GPUs and ensures scalability when using multiple GPUs. We demonstrate how SkelCL is used to implement parallel applications on one- and two-dimensional data. We report experimental results to evaluate our approach in terms of programming effort and performance

dOpenCL: Towards a Uniform Programming Approach for Distributed Heterogeneous Multi-/Many-Core Systems

Modern computer systems are becoming increasingly heterogeneous by comprising multi-core CPUs, GPUs, and other accelerators. Current programming approaches for such systems usually require the application developer to use a combination of several programming models (e. g., MPI with OpenCL or CUDA) in order to exploit the full compute capability of a system. In this paper, we present dOpenCL (Distributed OpenCL) – a uniform approach to programming distributed heterogeneous systems with accelerators. dOpenCL extends the OpenCL standard, such that arbitrary computing devices installed on any node of a distributed system can be used together within a single application. dOpenCL allows moving data and program code to these devices in a transparent, portable manner. Since dOpenCL is designed as a fully-fledged implementation of the OpenCL API, it allows running existing OpenCL applications in a heterogeneous distributed environment without any modifications. We describe in detail the mechanisms that are required to implement OpenCL for distributed systems, including a device management mechanism for running multiple applications concurrently. Using three application studies, we compare the performance of dOpenCL with MPI+OpenCL and a standard OpenCL implementation

Towards High-Level Programming of Multi-GPU Systems Using the SkelCL Library

Application programming for GPUs (Graphics Processing Units) is complex and error-prone, because the popular approaches — CUDA and OpenCL — are intrinsically low-level and offer no special support for systems consisting of multiple GPUs. The SkelCL library presented in this paper is built on top of the OpenCL standard and offers preimplemented recurring computation and communication patterns (skeletons) which greatly simplify programming for multiGPU systems. The library also provides an abstract vector data type and a high-level data (re)distribution mechanism to shield the programmer from the low-level data transfers between the system’s main memory and multiple GPUs. In this paper, we focus on the specific support in SkelCL for systems with multiple GPUs and use a real-world application study from the area of medical imaging to demonstrate the reduced programming effort and competitive performance of SkelCL as compared to OpenCL and CUDA. Besides, we illustrate how SkelCL adapts to large-scale, distributed heterogeneous systems in order to simplify their programming

SkelCL - A Portable Skeleton Library for High-Level GPU Programming

While CUDA and OpenCL made general-purpose programming for Graphics Processing Units (GPU) popular, using these programming approaches remains complex and error-prone because they lack high-level abstractions. The especially challenging systems with multiple GPU are not addressed at all by these low-level programming models. We propose SkelCL – a library providing so-called algorithmic skeletons that capture recurring patterns of parallel computation and communication, together with an abstract vector data type and constructs for specifying data distribution. We demonstrate that SkelCL greatly simplifies programming GPU systems. We report the competitive performance results of SkelCL using both a simple Mandelbrot set computation and an industrial-strength medical imaging application. Because the library is implemented using OpenCL, it is portable across GPU hardware of different vendors

Using the SkelCL Library for High-Level GPU Programming of 2D Applications

Application programming for GPUs (Graphics Processing Units) is complex and error-prone, because the popular approaches — CUDA and OpenCL — are intrinsically low-level and offer no special support for systems consisting of multiple GPUs. The SkelCL library offers pre-implemented recurring computation and communication patterns (skeletons) which greatly simplify programming for single- and multi-GPU systems. In this paper, we focus on applications that work on two-dimensional data. We extend SkelCL by the matrix data type and the MapOverlap skeleton which specifies computations that depend on neighboring elements in a matrix. The abstract data types and a high-level data (re)distribution mechanism of SkelCL shield the programmer from the low-level data transfers between the system’s main memory and multiple GPUs. We demonstrate how the extended SkelCL is used to implement real-world image processing applications on two-dimensional data. We show that both from a productivity and a performance point of view it is beneficial to use the high-level abstractions of SkelCL

High-level programming of stencil computations on multi-GPU systems using the SkelCL library

The implementation of stencil computations on modern, massively parallel systems with GPUs and other accelerators currently relies on manually-tuned coding using low-level approaches like OpenCL and CUDA. This makes development of stencil applications a complex, time-consuming, and error-prone task. We describe how stencil computations can be programmed in our SkelCL approach that combines high-level programming abstractions with competitive performance on multi-GPU systems. SkelCL extends the OpenCL standard by three high-level features: 1) pre-implemented parallel patterns (a.k.a. skeletons); 2) container data types for vectors and matrices; 3) automatic data (re)distribution mechanism. We introduce two new SkelCL skeletons which specifically target stencil computations – MapOverlap and Stencil – and we describe their use for particular application examples, discuss their efficient parallel implementation, and report experimental results on systems with multiple GPUs. Our evaluation of three real-world applications shows that stencil code written with SkelCL is considerably shorter and offers competitive performance to hand-tuned OpenCL code

Reusable cost-based scheduling of grid workflows operating on higher-order components

Grid applications are increasingly being developed as workflows built of well-structured, reusable components. We develop a user-transparent scheduling approach for Higher-Order Components (HOCs) . parallel implementations of typical programming patterns, accessible and customizable via Web services. We introduce a set of cost functions for a reusable scheduling: when the workflow recurs, it is mapped to the same execution nodes, avoiding the need for a repeated scheduling phase. We prove the efficiency of our scheduling by implementing it within the KOALA scheduler and comparing it with KOALA's standard Closeto- File policy. Experiments on scheduling HOC-based applications achieve a 40% speedup in communication and a 100% throughput increase

Integrating Job Parallelism in Real-Time Scheduling Theory

We investigate the global scheduling of sporadic, implicit deadline, real-time task systems on multiprocessor platforms. We provide a task model which integrates job parallelism. We prove that the time-complexity of the feasibility problem of these systems is linear relatively to the number of (sporadic) tasks for a fixed number of processors. We propose a scheduling algorithm theoretically optimal (i.e., preemptions and migrations neglected). Moreover, we provide an exact feasibility utilization bound. Lastly, we propose a technique to limit the number of migrations and preemptions