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Joint Optimization of Path Planning and Task Assignment for Space Robot

Joint Optimization of Path Planning and Task Assignment for ...

引用

international symposium on parallel architectures, algorithms and programming (PAAP)

作者： Yifei Sun Zikai Zhang Yidong Li Jigang Wu School of Computer Science and Technology Guangdong University of Technology Guangzhou China School of Computer and Information Technology Beijing Jiaotong University State Key Lab of Rail Traffic Control and Safety Beijing Jiaotong University

ISBN: (纸本)9781665496407

The space robot has been used widely in the aerospace industry. Because of the special working environment and limited fuel, an appropriate path is necessary for space robots to work. This paper investigates the path planning for multiple space robots to execute exploration tasks. To reduce the completion latency of exploration tasks, we model the joint problem of path planning and task assignment. Then we propose a combination algorithm named Branch addition path planning and Task Assignment (BTA). Finally, we implement a series of experiments to evaluate the performance of the proposed algorithms. Experimental results show that the proposed algorithm performs better than the Random path planning and Task Assignment algorithm (RTA) constructed also in this paper. Specifically, BTA performs better than RTA in terms of completion latency and BTA can save more fuel than RTA. Furthermore, the path planning algorithms forward search branch addition of BTA performs more stably than the random path planning of RTA in terms of running time.

关键词： Service robots programming Path planning Space exploration parallel architectures Fuels Task analysis

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The Fast Paillier Decryption with Montgomery Modular Multiplication Based on OpenMP

The Fast Paillier Decryption with Montgomery Modular Multipl...

引用

international symposium on parallel architectures, algorithms and programming (PAAP)

作者： Decong Lin Hongbo Cao Chunzi Tian Yongqi Sun Beijing Jiaotong University Beijing China

ISBN: (纸本)9781665452199

With the increasing awareness of privacy protection and data security, people’s concerns over the confidentiality of sensitive data still limit the application of distributed artificial intelligence. In fact, a new encryption form, called homomorphic encryption(HE), has achieved a balance between security and operability. In particular, one of the HE schemes named Paillier has been adopted to protect data privacy in distributed artificial intelligence. However, the massive computation of modular multiplication in Paillier greatly affects the speed of encryption and decryption. In this paper, we propose a fast CRT-Paillier scheme to accelerate its decryption process. We first introduce the Montgomery algorithm to the CRT-Paillier to improve the process of the modular exponentiation, and then compute the modular exponentiation in parallel by using OpenMP. The experimental results show that our proposed scheme has greatly heightened its decryption speed while preserving the same security level. Especially, when the key length is 4096-bit, its speed of decryption is about 148 times faster than CRT-Paillier.

关键词： Data privacy Data security Distributed databases programming parallel architectures Homomorphic encryption Artificial intelligence

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From algorithms to parallel architectures: a formal approach

From algorithms to parallel architectures: a formal approach

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international symposium on parallel Processing

作者： K.M. Elleithy M.A. Bayoumi Computer Engineering Department King Fahd University Dhahran Saudi Arabia The Center for Advanced Computer Studies University of Southwestern Louisiana Lafayette LA USA

The authors introduce a formal approach for synthesis of parallel architectures. Four different forms are used to express the given algorithms: simultaneous recursion, recursion with respect to different variables, fixed nesting and variable nesting. Four different architectures for the same algorithm are obtained. As an example, a matrix-matrix multiplication algorithm is used to obtain four different optimal architectures. The different architectures of this example are compared in terms of area, time, broadcasting and required hardware. The approach is providing two main features: completeness and correctness.< >

关键词： parallel architectures Equations Logic programming User interfaces Concurrent computing Broadcasting Hardware High level synthesis Cost function parallel processing

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Tuning parallel program through automatic program analysis

Tuning parallel program through automatic program analysis

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international symposium on parallel architectures, algorithms and Networks (ISPAN)

作者： K.C. Li K. Zhang Department of Computing School of MPCE Macquarie University Sydney NSW Australia

Many current performance analysis systems offer little more than basic measurement and analysis facilities for locating the sources of poor performance, such as load imbalance, communication overhead and synchronization loss. We believe that this is only part of the solution and a system which can provide higher level performance measurement and analysis is highly desirable. In this paper, we describe a new approach to designing performance tuning tools for parallel processing systems. A primary contribution of this work is to explore the way in which the strategies and algorithms used in parallel programs contribute to the poor performance. In order to detect the strategies and algorithms used in parallel programs, a technique called Automatic Program Analysis is used. Our goal is to provide users with higher level performance advices. We present a case study describing how a prototype implementation of our technique was able to identify the performance problem and provide tuning advice.

关键词： Performance analysis programming profession Current measurement Loss measurement Performance loss Prototypes parallel programming Data analysis Data visualization Search problems

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Efficient parallelization of a Two-List Algorithm for the Subset-Sum Problem on a Hybrid CPU/GPU Cluster

Efficient Parallelization of a Two-List Algorithm for the Su...

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international symposium on parallel architectures, algorithms and programming (PAAP)

作者： Letian Kang Lanjun Wan Kenli Li College of Information Science and Engineering Hunan University Changsha Hunan China

Recently, hybrid CPU/GPU cluster has been widely used to deal with compute-intensive problems, such as the subset-sum problem. The two-list algorithm is a well known approach to solve the problem. However, a hybrid MPI-CUDA dual-level parallelization of the algorithm on the cluster is not straightforward. The key challenge is how to allocate the most suitable workload to each node to achieve good load balancing between nodes and minimize the communication overhead. Therefore, this paper proposes an effective workload distribution scheme which aims to reasonably assign workload to each node. According to this scheme, an efficient MPI-CUDA parallel implementation of a two-list algorithm is presented. A series of experiments are conducted to compare the performance of the hybrid MPI-CUDA implementation with that of the best sequential CPU implementation, the single-node CPU-only implementation, the single-node GPU-only implementation, and the hybrid MPI-OpenMP implementation with same cluster configuration. The results show that the proposed hybrid MPI-CUDA implementation not only offers significant performance benefits but also has excellent scalability.

关键词： Graphics processing units Clustering algorithms Performance evaluation Instruction sets parallel processing Educational institutions Computational modeling

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Federated Learning for Data Security and Privacy Protection

Federated Learning for Data Security and Privacy Protection

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international symposium on parallel architectures, algorithms and programming (PAAP)

作者： Xiaohui Guo The College of Microelectronics and Communication Engineering Chongqing University Chongqing P. R. China

ISBN: (纸本)9781665496407

In recent years, Artificial intelligence (AI) have been applied in many fields, including driverless cars, smart cities, healthcare, finance, etc. However, data island and data privacy security are still two major challenges for AI, federated learning is proposed as a solution. In federated learning, many clients collaborate to train a common model under the coordination of a central server, while keeping the training data decentralized. Each client's data does not leave the local area, and a global shared model is jointly built by means of parameter exchange under the encryption mechanism, the built model serves only the local target in their respective regions. In this paper, we present the definition, classification, and learning process of the federated learning, and discuss the key challenges faced by federated learning and the solutions that are currently available.

关键词： Data privacy Smart cities Soft sensors Transfer learning Training data programming Collaborative work

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parallel Problem Solving from Nature — PPSN VII 1

引用

丛书名： Lecture Notes in Computer Science

1000年

作者： Juan Julián Merelo Guervós Panagiotis Adamidis Hans-Georg Beyer Hans-Paul Schwefel José-Luis Fernández-Villacañas

ISBN: (数字)9783540457121

ISBN: (纸本)9783540441397

We are proud to introduce the proceedings of the seventh international C- ference on parallel Problem Solving from Nature, PPSN VII, held in Granada, Spain, on 7–11 September 2002. PPSN VII was organized back-to-back with the Foundations of Genetic algorithms (FOGA) conference, which took place in Torremolinos, Malaga, Spain, in the preceding week. ThePPSNseriesofconferencesstartedinDortmund,Germany[1].Fromthat pioneering meeting, the event has been held biennially, in Brussels, Belgium [2], Jerusalem, Israel [3], Berlin, Germany [4], Amsterdam, The Netherlands [5], and Paris, France [6]. During the Paris conference, several bids to host PPSN 2002 were put forward; it was decided that the conference would be held in Granada with Juan J. Merelo Guerv´ os as General Chairman. The scienti?c content of the PPSN conference focuses on problem-solving paradigms gleaned from natural models, with an obvious emphasis on those that display an innate parallelism, such as evolutionary algorithms and ant-colony optimization algorithms. The majority of the papers, however, concentrate on evolutionary and hybrid algorithms, as is shown in the contents of this book and *** applications,betheytoclassicalproblemsortoreal-worldengineeringproblems, which shows how bioinspired algorithms are extending their use in the realms of business and enterprise.

关键词： Applications of Mathematics Mathematics of Computing Software Engineering/programming and Operating Systems Computation by Abstract Devices Algorithm Analysis and Problem Complexity Processor architectures

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A computational model for message-passing

A computational model for message-passing

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international symposium on parallel Processing

作者： A. Sivasubramaniam U. Ramachandran H. Venkateswaran College of Computing Georgia Institute of Technology Atlanta GA USA

The article develops a framework for message-passing architectures consisting of a machine model called communicating random access machine (CRAM) and a programming paradigm. The CRAM model serves as a vehicle for the design and analysis of message-passing algorithms. The message-passing paradigm makes the mapping of algorithms that fit this paradigm onto message-passing architectures more natural.< >

关键词： Computational modeling Read-write memory Computer architecture Random access memory parallel architectures Phase change random access memory Memory architecture Algorithm design and analysis Message passing Multiprocessor interconnection networks

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A Case Study of SWIM: Optimization of Memory Intensive Application on GPGPU

A Case Study of SWIM: Optimization of Memory Intensive Appli...

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international symposium on parallel architectures, algorithms and programming (PAAP)

作者： Wei Yi Yuhua Tang Guibin Wang Xudong Fang National Laboratory for Parallel and Distributed Processing School of Computer National University of Defense Technology Changsha China

Recently, GPGPU has been adopted well in the High Performance Computing (HPC) field. The limited global memory bandwidth poses a great challenge to many GPGPU programmers trying to exploit parallelism within the CPU-GPU heterogeneous platform. In this paper, we choose SWIM, a typical memory intensive application from the SPEC OMP 2001 benchmark suite, for case study. We attempt to optimize the performance and energy consumption of the application utilizing different memory access mechanisms and present optimization methods including matrix transposition and kernel fusion. The experimental results on the Intel Core TM i920 CPU plus GeForce GTX 295 platform shows that, the proposed optimizing methods achieve a speedup of 8.7X over the original OpenMP program and reduce the energy consumption by 83% for the problem size of 2048*2048.

关键词： Instruction sets Kernel Bandwidth Graphics processing unit Memory management Energy consumption Central Processing Unit

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Improvements in parallel job scheduling using gang service

Improvements in parallel job scheduling using gang service

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international symposium on parallel architectures, algorithms and Networks (ISPAN)

作者： F.A.B. da Silva I.D. Scherson Laboratoire ASIM LIP6 Université Pierre et Marie Curie Paris France Department of Information and Computer Science University of California Irvine CA USA

Gang scheduling has been widely used as a practical solution to the dynamic parallel job scheduling problem. parallel threads of a single job are scheduled for simultaneous execution on a parallel computer even if the job does not fully utilize all available processors. Non allocated processors go idle for the duration of the time quantum assigned to the threads. In this paper we propose a class of scheduling policies, dubbed concurrent gang, that is a generalization of gang-scheduling, and allows for the flexible simultaneous scheduling of multiple parallel jobs, thus improving the space sharing characteristics of gang scheduling. However all the advantages of gang scheduling such as responsiveness, efficient sharing of resources, ease of programming, etc., are maintained.

关键词： Processor scheduling Yarn Scheduling algorithm Switches parallel programming Concurrent computing Aggregates NASA Delay Degradation

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