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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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distributed motion planning for modular robots with unit-compressible modules

Distributed motion planning for modular robots with unit-com...

引用

IEEE International workshop on Intelligent Robots and Systems (IROS)

作者： Z. Butler S. Byrnes D. Rus Department of Computer Science Dartmouth College USA

The ability of self-reconfigurable robots to solve a variety of robot tasks comes in part from their use of a large number of modules. Effective use of these systems requires parallel actuation and planning, both for efficiency and independence from a central controller. This paper presents the PacMan algorithm, a technique for distributed actuation and planning. This algorithm was developed for systems with unit-compressible modules, such as the crystalline robot. We also describe some analytical properties of the PacMan planning and actuation, and discuss simulation and hardware experiments.

关键词： Motion planning Centralized control Crystallization Control systems parallel robots Legged locomotion Robotics and automation Shape control Computer science Educational institutions

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A causality based time management mechanism for federated simulation

A causality based time management mechanism for federated si...

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workshop on Principles of Advanced and distributed simulation (PADS)

作者： Bu-Sung Lee Wentong Cai Junlan Zhou School of Computer Engineering Nanyang Technological University Singapore

ISBN: (纸本)076951104X

One of the six categories of management services provided in the Run Time Infrastructure (RTI) to federated simulations is time management. Currently, it provides only two message ordering policies, that is, time stamp ordering and receipt ordering. Temporal anomalies occurring during the execution of federation due to the heterogeneous latencies in the communication network are not handled in receipt ordering. While time stamp ordering eliminates the temporal anomalies entirely, it incurs great communication latency, and huge bandwidth requirement. The paper presents a novel time management mechanism which provides a less costly message ordering service, namely causal ordering, to federates. It does not require the specification of lookahead and allows federates that do not require stringent message ordering properties to achieve much more efficient execution. A series of experiments has been carried out to benchmark the performance of this new time management mechanism and the results show that it includes a slight overhead compared to the receipt ordering mechanism but achieves significant performance improvement over the time stamp ordering mechanism.

关键词： Delay Computational modeling Technology management Engineering management Bandwidth Computer simulation Communication networks Runtime Large-scale systems Communication system control

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Empirical study of parallel trace-driven LRU cache simulators 95

Empirical study of parallel trace-driven LRU cache simulator...

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proceedings of the ninth workshop on parallel and distributed simulation

作者： David Nicol Eric Carr Department of Computer Science College of William and Mary Williamsburg VA Department of Math and Computer Science Carleton College Northfield MN

ISBN: (纸本)9780818671203

This paper reports on the performance of four parallel algorithms for simulating an associative cache operating under the LRU (Least-Recently-Used) replacement policy. Three of the algorithms are implemented on the MasPar MP-2. Another algorithm is a parallelization of an efficient serial algorithm on the Intel Paragon. We assess the strengths and weaknesses of these algorithms as a function of problem size and characteristics, and compare their performance on traces derived from execution of three SPEC92 benchmark programs.

关键词： associative cache content-addressable storage storage management cache storage parallel algorithms SPEC92 benchmark programs parallel trace-driven LRU cache simulators Least-Recently-Used replacement policy Intel Paragon efficient serial algorithm MasPar MP-2 virtual machines

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Performance evaluation of an integrated instrumentation system

Performance evaluation of an integrated instrumentation syst...

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International Symposium on Modeling, Analysis and simulation of Computer and Telecommunication Systems (MASCOTS)

作者： A. Waheed D.T. Rover Department of Electrical Engineering Michigan State University East Lansing MI USA

With increasing sophistication of parallel tool development technologies, runtime data collection and management activities are receiving greater attention from tool developers. We define an instrumentation system (IS) as a set of modules and functions that collect runtime data from concurrent processes and support an integrated tool environment by sharing this data along with specific control information. Presently, it is not standard practice to formally evaluate the performance and functionality of a tool early in its development. Usability and efficiency studies of prototypical tools are emerging to alleviate this situation. However; the underlying IS is removed from the end-user and is part of system infrastructure, thus necessitating more rigorous evaluation. We are developing a structured approach to plan, design, model, realize, and test an IS, called the Vista IS, to appropriately address these issues.

关键词： Instruments Prototypes Runtime Technology management System testing Standards development Usability distributed computing Real time systems Engineering management

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Speculative parallel simulation with an adaptive throttle scheme 97

Speculative parallel simulation with an adaptive throttle sc...

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proceedings of the eleventh workshop on parallel and distributed simulation

作者： Seng Chuan Tay Yong Meng Teo Siew Theng Kong Department of Information Systems & Computer Science National University of Singapore Lower Kent Ridge Road Singapore 119260

ISBN: (纸本)9780818679650

Excessive rollback recoveries due to overoptimistic event execution in Time Warp simulators often degrade their runtime performance. This paper presents a two-sided throttling scheme to dynamically adjust the event execution speed of Time Warp simulators. The proposed throttle is based on a new concept called global progress window, which allows the individual simulation process to be positioned on a global time scale, thereby to accelerate or suspend their event execution. As each simulation process can be throttled to a steady state, excessive rollback recoveries due to causality errors can be avoided. To quantify the effect of rollbacks and for purpose of comparing different Time Warp implementations, we propose two new measures called RPE (number of Rollback events Per committed Event), and E (relative Effectiveness in reducing rollback overhead). Our implementation results show that the proposed throttle effectively regulates the proceeding of each simulation process, resulting in a significant reduction in rollback thrashing and elapsed time.

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On event ordering in parallel discrete event simulation 99

On event ordering in parallel discrete event simulation

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proceedings of the thirteenth workshop on parallel and distributed simulation

作者： Robert Rönngren Michael Liljenstam Dept. of Teleinformatics Royal Institute of Technology (KTH) Electrum 204 S-164 40 Kista (Stockholm) Sweden

ISBN: (纸本)9780769501550

Ordering of simultaneous events in DES is an important issue as it has an impact on modelling expressiveness, model correctness as well as causal dependencies. In sequential DES this is a problem which has attracted much attention over the years and most systems provide the user with tools to deal with such issues. This has also attracted some attention within the PDES community and we present an overview of these efforts. We have, however, not yet found a scheme which provides us with the desired functionality. Thus, we present and evaluate some simple schemes to achieve a well defined ordering of events and means to identify both causally dependent and independent events with identical timestamps in the context of optimistic simulations. These schemes should be applicable also to conservative PDES.

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Causality representation and cancellation mechanism in time warp simulations

Causality representation and cancellation mechanism in time ...

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workshop on Principles of Advanced and distributed simulation (PADS)

作者： M. Chetlur P.A. Wilsey Department of ECECS Experimental Computing Laboratory Cincinnati OH USA

ISBN: (纸本)076951104X

The Time Warp synchronization protocol allows causality errors and then recovers from them with the assistance of a cancellation mechanism. Cancellation can cause the rollback of several other simulation objects that may trigger a cascading rollback situation where the rollback cycles back to the original simulation object. These cycles of rollback can cause the simulation to enter an unstable (or thrashing) state where little real forward simulation progress is achieved. To address this problem, knowledge of causal relations between events can be used during cancellation to avoid cascading rollbacks and to initiate early recovery operations from causality errors. In this paper we describe a logical time representation for Time Warp simulations that is used to disseminate causality information. The new timestamp representation, called Total Clocks, has two components: (i) a virtual time component, and (ii) a vector of event counters similar to Vector clocks. The virtual time component provides a one dimensional global simulation time and the vector of event counters records event processing rates by the simulation objects. This time representation allows us to disseminate causality information during event execution that can be used to allow early recovery, during cancellation. We propose a cancellation mechanism using Total Clocks that allows cascading rollbacks in Time Warp simulations that have FIFO communication channels.

关键词： Time warp simulation Clocks Computational modeling Synchronization Counting circuits Discrete event simulation Laboratories Protocols Acceleration

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Optimistic distributed simulation based on transitive dependency tracking 97

Optimistic distributed simulation based on transitive depend...

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proceedings of the eleventh workshop on parallel and distributed simulation

作者： Om P. Damani Yi-Min Wang Vijay K. Garg Dept. of Computer Sci. Uni. of Texas at Austin AT&T Labs-Research Murray Hill NJ Dept. of Elect. & Comp. Eng Uni. of Texas at Austin

ISBN: (纸本)9780818679650

In traditional optimistic distributed simulation protocols, a logical process (LP) receiving a straggler rolls back and sends out anti-messages. The receiver of an anti-message may also roll back and send out more anti-messages. So a single straggler may result in a large number of anti-messages and multiple rollbacks of some LPs. In the authors' protocol, an LP receiving a straggler broadcasts its rollback. On receiving this announcement, other LPs may roll back but they do not announce their rollbacks. So each LP rolls back at most once in response to each straggler. Anti-messages are not used. This eliminates the need for output queues and results in simple memory management. It also eliminates the problem of cascading rollbacks and echoing, and results in faster simulation. All this is achieved by a scheme for maintaining transitive dependency information. The cost incurred includes the tagging of each message with extra dependency information and the increased processing time upon receiving a message. They also present the similarities between the two areas of distributed simulation and distributed recovery. They show how the solutions for one area can be applied to the other area.

关键词： straggler logical process anti-messages transitive dependency information distributed recovery message tagging time warp simulation memory management transitive dependency tracking optimistic distributed simulation protocols rollback broadcasting optimistic distributed simulation process rollback dependency information

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Performance comparison of real-time architectures using simulation

Performance comparison of real-time architectures using simu...

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IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： Heejo Lee K. Toda Jong Kim K. Nishida E. Takahashi Y. Yamaguchi Department of Computer Science & Engineering Pohang University of Science and Technology Pohang South Korea Electro Technical Laboratory Tsukuba Japan

This paper presents a performance comparison of real-time system architectures. A discrete event-driven, task-based simulator is developed for evaluating the performance of parallel and distributed real-time systems. Real-time system components such as processor, network architectures, and scheduling policy are included in the simulator. simulation results show that priority-based communication and scheduling are more suitable for real-time systems than FIFO-based. The strategy of having a dedicated processor, which produces no effect on task execution by scheduling and packet/interrupt handling, is proven to enhance schedulability and predictability. This paper suggests a method for finding an appropriate real-time architecture for users having real-time requirements through the performance prediction of real-time systems.

关键词： Real time systems Discrete event simulation Job shop scheduling Processor scheduling Computational modeling Predictive models Computer architecture Computer aided manufacturing Computer simulation Computer science

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An agent-based DDM for High Level Architecture

An agent-based DDM for High Level Architecture

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workshop on Principles of Advanced and distributed simulation (PADS)

作者： G. Tan Liang Xu F. Moradi S. Taylor School of Computing National University of Singapore Singapore Swedish Defence Research Agency Sweden Department of Info. Sys. & Computing Brunei University Uxbridge UK

ISBN: (纸本)076951104X

The Data Distribution Management (DDM) service is one of the six services provided in the Runtime Infrastructure (RTI) of High Level Architecture (HLA). Its purpose is to perform data filtering and reduce irrelevant data communicated between federates. The two DDM schemes proposed for RTI, region based and grid based DDM, are oriented to send as little irrelevant data to subscribers as possible, but only manage to filter part of this information and some irrelevant data is still being communicated. Previously (G. Tan et al., 2000), we employed intelligent agents to perform data filtering in HLA, implemented an agent based DDM in RTI (ARTI) and compared it with the other two filtering mechanisms. The paper reports on additional experiments, results and analysis using two scenarios: the AWACS sensing aircraft simulation and the air traffic control simulation scenario. Experimental results show that compared with other mechanisms, the agent based approach communicates only relevant data and minimizes network communication, and is also comparable in terms of time efficiency. Some guidelines on when the agent based scheme can be used are also given.

关键词： distributed decision making Air traffic control Analytical models Runtime Information filtering Information filters Intelligent agent Aircraft Aerospace control Guidelines

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