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检索条件"任意字段=Proceedings of the sixteenth workshop on Parallel and distributed simulation"

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An architecture of decentralized control for multi-degrees of freedom parallel manipulator

An architecture of decentralized control for multi-degrees o...

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International workshop on Advanced Motion Control (AMC)

作者： T. Kageyama K. Ohnishi Department of System Design Engineering Keio University Yokohama Japan

Decentralized control is composed of more than two subsystems. Subsystems communicate each other to control the whole system. In this paper, information of mechanical constraint for a parallel manipulator is analyzed. When some joints of multi-degrees of freedom parallel manipulators are set to be passive, excessive interference force can be reduced. A case where one joint of 3-linked arms is set to be passive is treated. The influence of a passive joint to the tip of the arm is derived by the configuration and the calculated reference torque. In the active joints, the interference force information from other joints are used to compensate the effect of passive joint. Such information is also used for switching passive joints. As a result, the avoidance of singular point is realized. Taking advantage of a parallel manipulator which has redundant drive joints, fault compensation is achieved by extending the communication of subsystems. Comparison with centralized control represents the availability of the decentralized control system by simulation.

关键词： distributed control Control systems Manipulators parallel robots Interference Mechanical variables control Torque Control system synthesis Availability Orbital robotics

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Optimizing cell-size in grid-based DDM 00

Optimizing cell-size in grid-based DDM

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proceedings of the fourteenth workshop on parallel and distributed simulation

作者： Rassul Ayani Farshad Moradi Gary Tan School of Computing National University of Singapore Singapore 119260

ISBN: (纸本)9780769506678

In a large-scale distributed simulation with thousands of dynamic objects, efficient communication of data among these objects is an important issue. The broadcasting mechanism specified by the distributed Interactive simulation (DIS) standards is not suitable for large scale distributed *** the High Level Architecture (HLA) paradigm, the Runtime Infrastructure (RTI) provides a set of services, such as data distribution management (DDM) among federates. The goal of the DDM module in RTI is to make the data communication more efficient by sending the data only to those federates that need the data, as opposed to the broadcasting mechanism employed by *** DDM schemes have appeared in the literature. In this paper, we discuss grid-based DDM and develop a DDM model that uses grids for matching the publishing/subscription regions, and for data filtering. We show that appropriate choice of the grid-cell size is crucial in obtaining good performance. We develop an analytical model and derive a formula for identifying the optimal cell size in grid-based DDM.

关键词： HLA group communication distributed simulation data filtering data communication

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Adaptive checkpointing for time warp technique with a limited number of checkpoints

Adaptive checkpointing for time warp technique with a limite...

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International Conference on distributed Computing Systems workshop

作者： R. Suzuki S. Fukurnoto K. Iwasaki Graduate School of Engineering Tokyo Metropolitan University Tokyo Japan Shuto Daigaku Tokyo Hachioji Tokyo JP Graduate Sch. of Eng. Tokyo Metropolitan Univ. Japan

This paper discusses distributed checkpointing with "Time Warp techniques", a typical uncoordinated checkpointing technique that is often used in the parallel and distributed simulations. Relaxing the assumption of the previous model of Soliman et al., we show a discrete time model where the number of available checkpoints each process can hold is finite. In addition, we propose an adaptive distributed checkpointing technique, that gives an effective time arrangement of checkpoints for a recovery point distribution, and we give numerical examples.

关键词： Checkpointing Clocks Time warp simulation Analytical models distributed computing Conferences

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Automatic selection of loop scheduling algorithms using reinforcement learning

Automatic selection of loop scheduling algorithms using rein...

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International workshop on Challenges of Large Applications in distributed Environments

作者： S. Dhandayuthapani I. Banicescu R.L. Carino E. Hansen J.R. Pabico M. Rashid Department of Computer Science and Engineering Mississippi State University USA Mississippi State University Mississippi State MS US Dept. of Comput. Sci. & Eng. Mississippi State Univ. USA Center for Computational Sciences-ERC Mississippi State University MS USA

This paper presents the design and implementation of a reinforcement learning agent that automatically selects appropriate loop scheduling algorithms for parallel loops embedded in time-stepping scientific applications executing on clusters. There may be a number of such loops in an application, and the loops may have different load balancing requirements. Further, loop characteristics may also change as the application progresses. Following a model-free learning approach, the learning agent assigned to a loop selects from a library the best scheduling algorithm for the loop during the lifetime of the application. The utility of the learning agent is demonstrated by its successful integration into the simulation of wave packets - an application arising from quantum mechanics. Results of statistical analysis using pairwise comparison of means on the running time of the simulation with and without the learning agent validate the effectiveness of the agent in improving the parallel performance of the simulation.

关键词： Scheduling algorithm Learning Load management Dynamic scheduling Concurrent computing Algorithm design and analysis Analytical models parallel processing Runtime Processor scheduling

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Global Virtual Time and distributed synchronization 95

Global Virtual Time and distributed synchronization

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proceedings of the ninth workshop on parallel and distributed simulation

作者： Jeffrey S. Steinman Craig A. Lee Linda F. Wilson David M. Nicol Jet Propulation Laboratory California Inst. of Technology 4800 Oak Grove Drive Mail Stop 525-3960 Pasadena CA The Aerospace Corporation 2350 East E1 Segundo Blvd. Mail Stop M1-102 El Segundo CA ICASE NASA Langley Research Center Mail Stop 132C Hampton VA College of William and Mary Dept. of Computer Science Williamsburg VA

ISBN: (纸本)9780818671203

Global Virtual Time (GVT) is the fundamental synchronization concept in optimistic simulations. It is defined as the earliest time tag within the set of unprocessed pending events in distributed simulation. A number of techniques for determining GVT have been proposed in recent years, each having their own intrinsic properties. However, most of these techniques either focus on specific types of simulation problems or assume specific hardware support. This paper specifically addresses the GVT problem in the context of the following area• Scalability• Efficiency• Portability• Flow control• Interactive support•Real time useA new GVT algorithm, called SPEEDES GVT, has been developed in the Synchronous parallel Environment for Emulation and Discrete-Event simulation (SPEEDES) framework. The new algorithm runs periodically but does not disrupt event processing. It provides flow control by processing events risk-free while flushing out messages during the GVT computation. SPEEDES GVT is built from a set of global reduction operations that are easily implementable on any hardware system.

关键词： flow control SPEEDES GVT software fault tolerance global reduction operations parallel programming Synchronous parallel Environment for Emulation and Discrete-Event simulation framework message passing scalability event processing SPEEDES framework real time use interactive support distributed simulation optimistic simulations unprocessed pending events real-time systems portability efficiency global virtual time distributed synchronization synchronisation fundamental synchronization concept digital simulation GVT computation

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The local Time Warp approach to parallel simulation 93

The local Time Warp approach to parallel simulation

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proceedings of the seventh workshop on parallel and distributed simulation

作者： Hassan Rajaei Rassul Ayani Lars-Erik Thorelli

ISBN: (纸本)9781565550551

The two main approaches to parallel discrete event simulation – conservative and optimistic – are likely to encounter some limitations when the size and complexity of the simulation system increases. For such large scale simulations, the conservative approach appears to be limited by blocking overhead and sensitivity to lookahead, whereas the optimistic approach may become prone to cascading rollbacks, state saving overhead, and demands for larger memory space. These drawbacks restrict the synchronization schemes based on each of the two approaches from scaling up. A combined approach may resolve these limitations, while preserving and utilizing potential advantages of each method. However, the schemes proposed so far integrate the two views at the same level, i.e. local to a logical process, and hence may not be able to fully solve the problems. In this paper we propose the Local Time Warp method for parallel discrete-event simulation and present a novel synchronization scheme for it called HCTW. The new scheme hierarchically combines a Conservative Time Window algorithm with Time Warp and aims at reducing cascade rollbacks, sensitivity to lookahead, and the scalability problems. Local Time Warp is believed to be suitable for parallel machines equipped with thousands of processors and thus an appropriate candidate for simulation of large and complex systems.

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parallelizing a sequential logic simulator using an optimistic framework based on a global parallel heap event queue: an experience and performance report 00

Parallelizing a sequential logic simulator using an optimist...

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proceedings of the fourteenth workshop on parallel and distributed simulation

作者： Sushil K. Prasad Nikhil Junankar Computer Science Department Georgia State University Atlanta

ISBN: (纸本)9780769506678

We have parallelized the Iowa Logic Simulator, a gate-level fine-grained discrete-event simulator, by employing an optimistic algorithm framework based on a global event queue implemented as a parallel heap. The original code and the basic data structures of the serial simulator remained unchanged. Wrapper data structures for the logical processes (gates) and the events are created to allow rollbacks, all the earliest events at each logical processes are stored into the parallel heap, and multiple earliest events are simulated repeatedly by invoking the simulate function of the serial simulator. The parallel heap allowed extraction of hundreds to thousands of earliest events in each queue access. On a bus-based shared-memory multiprocessor, simulation of synthetic circuits with 250,000 gates yielding speedups of 3.3 employing five processors compared to the serial execution time of the Iowa Logic Simulator, and limited the number of rollbacks to within 2,000. The basic steps of parallelization are well-defined and general enough to be employable on other discrete-event simulators.

关键词： parallel heap parallel discrete event simulation parallelizing framework logic simulation

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Analysis of parallel downloading for large file distribution

Analysis of parallel downloading for large file distribution

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IEEE workshop on Future Trends of distributed Computing Systems

作者： S.G.M. Koo C. Rosenberg Dongyan Xu School of Electrical and Computer Engineering Purdue University West Lafayette IN USA Department of Computer Science Purdue University West Lafayette IN USA

Recently, the scheme of parallel downloading (PD) has been adopted by a number of Internet file downloading applications. With the wide deployment of content distribution networks and peer-to-peer networks, PD is expected to be more commonly used for file distribution. There have been experiments showing that PD results in higher aggregated downloading throughput and therefore shorter downloading time experienced by clients. However, these experimental studies focused on the performance experienced by a particular user and did not consider the impact of PD on the network when it is largely deployed. In this paper we present our efforts toward an in-depth understanding of large-scale deployment of PD through simulation and analysis. Our results suggest that while PD may achieve a shorter downloading time, its impact on the network and server is significant. Our analysis is also used for network dimensioning and content distribution service provisioning. We show that with proper admission control and dimensioning, single-server downloading can perform just as well as PD, without the complexity and overhead incurred by PD.

关键词： Network servers Analytical models Peer to peer computing Intelligent networks Throughput Tornadoes Concurrent computing Computer science Internet Application software

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An auto-adaptive dead reckoning algorithm for distributed interactive simulation 99

An auto-adaptive dead reckoning algorithm for distributed in...

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proceedings of the thirteenth workshop on parallel and distributed simulation

作者： Wentong Cai Francis B. S. Lee L. Chen School of Applied Science Nanyang Technological University Nanyang Avenue Singapore 639798

ISBN: (纸本)9780769501550

This paper describes a new, auto-adaptive algorithm for dead reckoning in DIS. In general dead-reckoning algorithms use a fixed threshold to control the extrapolation errors. Since a fixed threshold cannot adequately handle the dynamic relationships between moving entities, a multi-level threshold scheme is proposed. The definition of threshold levels is based on the concepts of area of interest (AOI) and sensitive region (SR), and the levels of threshold are adaptively adjusted based on the relative distance between entities during the simulation. Various experiments were conducted. The results show that the proposed auto-adaptive dead reckoning algorithm can achieve considerable reduction in update packets without sacrificing accuracy in extrapolation.

关键词： Relevance Filtering distributed Interactive simulation (DIS) Area of Interest (AOI) Multi-level Threshold Dead Reckoning Extrapolation Adaptive Algorithm. Sensitive Region (SR)

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An improved cost function for static partitioning of parallel circuit simulations using a conservative synchronization protocol 95

An improved cost function for static partitioning of paralle...

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proceedings of the ninth workshop on parallel and distributed simulation

作者： Kevin L. Kapp Thomas C. Hartrum Tom S. Wailes Department of Electrical and Computer Engineering School of Engineering Air Force Institute of Technology

ISBN: (纸本)9780818671203

Distributing computation among multiple processors is one approach to reducing simulation time for large VLSI circuit designs. However, parallel simulation introduces the problem of how to partition the logic gates and system behaviors of the circuit among the available processors in order to obtain maximum speedup. A complicating factor that is often ignored is the effect of the time-synchronization protocol (conservative [1] or optimistic [2]). Inherent in the partitioning problem is the question of how to effectively measure the relative quality of a partition. This paper describes an objective cost function for measuring the relative quality of a task partition that includes a synchronization factor for a conservative NULL-message protocol. A graph-based partitioning tool based on this cost function is used to perform the static task allocation for parallel simulation of a structural VHDL circuit. Results for two 1000 – 4000 gate circuits demonstrate that the additional consideration of the synchronization protocol in the cost function generates partitions that exhibit improved speedup.

关键词： logic CAD time-synchronization protocol parallel programming logic partitioning static partitioning conservative synchronization protocol VLSI circuit design parallel simulation parallel circuit simulations objective cost function graph-based partitioning tool discrete event simulation circuit analysis computing synchronization protocol

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