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Distributed moving horizon state estimation: Simultaneously handling communication delays and data losses

SYSTEMS & CONTROL LETTERS 2015年 75卷 56-68页

作者： Zeng, Jing Liu, Jinfeng Shenyang Univ Chem Technol Liaoning Prov Key Lab Control Technol Chem Proc Shenyang 110142 Peoples R China Univ Alberta Dept Chem & Mat Engn Edmonton AB T6G 2V4 Canada

In this work, we consider distributed moving horizon state estimation of nonlinear systems subject to communication delays and data losses. In the proposed design, a local estimator is designed for each subsystem and the distributed estimators communicate to collaborate. To handle the delays and data losses simultaneously, a predictor is designed for each subsystem estimator. A two-step prediction-update strategy is used in the predictor design in order to get a reliable prediction of the system state. In the design of each subsystem estimator, an auxiliary nonlinear observer is also taken advantage of to calculate a reference subsystem state estimate. In the local estimator, the reference state estimate is used to generate a confidence region within which the local estimator optimizes its subsystem state estimate. Sufficient conditions under which the proposed design gives decreasing and ultimately bounded estimation error are provided. The effectiveness of the proposed approach is illustrated via the application to a chemical process example. (C) 2014 Elsevier B.V. All rights reserved.

关键词： Nonlinear systems Distributed state estimation Moving horizon estimation communication algorithms Chemical processes

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Designing ReDy Distributed Systems 12

Designing ReDy Distributed Systems

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IEEE International Conference on Autonomic Computing

作者： Hafdi, Kaoutar Kriouile, Abdelaziz Mohammed V Univ ENSIAS SIME Lab IMS Team Rabat Morocco

ISBN: (纸本)9781467369718

Distributed systems are largely present and deployed in recent applications. Several systems have common basic requirements, which motivates to adapt reusable solutions for each family of systems. In this paper, we focus on distributed systems designed for large-scale applications requiring a high degree of Reliability and Dynamicity (ReDy distributed systems). We propose a basic architecture for this family of systems and a design solution to guarantee the scalability of the system, the fault tolerance, and a highly dynamic membership management. The studied systems range from hybrid architecture, on which we combine centralized and decentralized solutions.

关键词： communication algorithms Distributed systems Distributed systems design Governance unit Hybrid architecture Membership management Reliability Software architecture Distributed Systems composite structures Software architecture

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Scalable PGAS collective operations in NUMA clusters

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CLUSTER COMPUTING-THE JOURNAL OF NETWORKS SOFTWARE TOOLS AND APPLICATIONS 2014年第4期17卷 1473-1495页

作者： Mallon, Damin A. Taboada, Guillermo L. Teijeiro, Carlos Gonzalez-Dominguez, Jorge Gomez, Andres Wibecan, Brian Forschungszentrum Julich D-52425 Julich Germany Univ A Coruna La Coruna Spain Galicia Supercomp Ctr Santiago De Compostela Spain Hewlett Packard Corp Montgomery AL USA

The increasing number of cores per processor is turning manycore-based systems in pervasive. This involves dealing with multiple levels of memory in non uniform memory access (NUMA) systems and processor cores hierarchies, accessible via complex interconnects in order to dispatch the increasing amount of data required by the processing elements. The key for efficient and scalable provision of data is the use of collective communication operations that minimize the impact of bottlenecks. Leveraging one sided communications becomes more important in these systems, to avoid unnecessary synchronization between pairs of processes in collective operations implemented in terms of two sided point to point functions. This work proposes a series of algorithms that provide a good performance and scalability in collective operations, based on the use of hierarchical trees, overlapping one-sided communications, message pipelining and the available NUMA binding features. An implementation has been developed for Unified Parallel C, a Partitioned Global Address Space language, which presents a shared memory view across the nodes for programmability, while keeping private memory regions for performance. The performance evaluation of the proposed implementation, conducted on five representative systems (JuRoPA, JUDGE, Finis Terrae, SVG and Superdome), has shown generally good performance and scalability, even outperforming MPI in some cases, which confirms the suitability of the developed algorithms for manycore architectures.

关键词： Manycore architectures Collective operations NUMA UPC PGAS MPI High performance computing communication algorithms

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Hierarchical Task Assignment and communication algorithms for Unmanned Aerial Vehicle Flocks

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JOURNAL OF AEROSPACE COMPUTING INFORMATION AND communication 2008年第8期5卷 234-250页

作者： Ben-Asher, Yosi Feldman, Sharoni Gurfil, Pini Feldman, Moran Univ Haifa Dept Comp Sci IL-31999 Haifa Israel Technion Israel Inst Technol Fac Aerosp Engn IL-32000 Haifa Israel Technion Israel Inst Technol Dept Comp Sci IL-32000 Haifa Israel

This work develops distributed hierarchical task assignments and communication algorithms for flocks of unmanned aerial vehicles dispersed in an unknown theater while engaging multiple moving targets. The dynamical changes require distributed algorithms, without relying on a central agent, which may constitute a single point-of-failure and is exposed to communication breaks. Our methodology overcomes the typical deficiencies of a centralized solution by organizing the agents in spanning trees. Whenever possible, the spanning trees merge into a single tree that clusters the maximum number of agents. Using relaxation methods and inputs from its parent and children, every agent attempts to optimize its own solution for task assignment while communicating using an ad-hoc protocol. Simulation experiments show clear-cut advantages of using the proposed task assignment and communication algorithms.

关键词： communication algorithms UAV Information Processing Multi Robot Systems Autonomous Robot Moving Target Indicators Distributed Computing Obstacle Avoidance Matching Algorithm Formation Flying

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OTIS-MOT: an efficient interconnection network for parallel processing

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JOURNAL OF SUPERCOMPUTING 2012年第2期59卷 920-940页

作者： Jana, Prasanta K. Mallick, Dheeresh K. Indian Sch Mines Dept Comp Sci & Engn Dhanbad 826004 Bihar India Birla Inst Technol Dept Comp Sci & Engn Ranchi 835215 Bihar India

Mesh of trees (MOT) is well known for its small diameter, high bisection width, simple decomposability and area universality. On the other hand, OTIS (Optical Transpose Interconnection System) provides an efficient optoelectronic model for massively parallel processing system. In this paper, we present OTIS-MOT as a competent candidate for a two-tier architecture that can take the advantages of both the OTIS and the MOT. We show that an n((4) under bar) processor OTIS-MOT has diameter 8 logn* + 1 (The base of the logarithm is assumed to be 2 throughout this paper.) and fault diameter 8 log n + 2 under single node failure. We establish other topological properties such as bisection width, multiple paths and the modularity. We show that many communication as well as application algorithms can run on this network in comparable time or even faster than other similar tree-based two-tier architectures. The communication algorithms including row/column-group broadcast and one-to-all broadcast are shown to require O(log n) time, multicast in O(n(2)log n) time and the bit-reverse permutation in O(n) time. Many parallel algorithms for various problems such as finding polynomial zeros, sales forecasting, matrix-vector multiplication and the DFT computation are proposed to map in O(log n) time. Sorting and prefix computation are also shown to run in O(log n) time.

关键词： Interconnection network Optical transpose interconnection systems (OTIS) Mesh of trees (MOT) Topological properties communication algorithms

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Trade-Offs between Latency, Complexity, and Load Balancing with Multicast algorithms

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IEEE TRANSACTIONS ON COMPUTERS 2010年第2期59卷 159-173页

作者： Al-Dubai, Ahmed Y. Ould-Khaoua, Mohamed Mackenzie, Lewis M. Edinburgh Napier Univ Sch Comp Edinburgh EH10 5DT Midlothian Scotland Sultan Qaboos Univ Dept Elect & Comp Engn Coll Engn Muscat Oman Univ Glasgow Dept Comp Sci Glasgow G12 8QQ Lanark Scotland

The increasing number of collective communication-based services with a mass interest and the parallel increasing demand for service quality are paving the way toward end-to-end QoS guarantees. Although many multicast algorithms in interconnection networks have been widely reported in the literature, most of them handle the multicast communication within limited performance metrics, i.e., either delay/latency or throughput. In contrast, this study investigates the multicast communication within a group of QoS constrains, namely latency, jitter, throughput, and additional traffic caused. In this paper, we present the Qualified Groups (QGs) as a novel path-based multicast algorithm for interconnection networks. To the best of our knowledge, the QG is the first multicast algorithm that considers the multicast latency at both the network and node levels across different traffic scenarios in interconnection networks. Our analysis shows that the proposed multicast algorithm exhibits superior performance characteristics over other well-known path-based multicast algorithms under different operating conditions. In addition, our results show that the QG can significantly improve the parallelism of the multicast communication.

关键词： Interconnection networks multicast communication path-based routing communication algorithms

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Direct routing: algorithms and complexity

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ALGORITHMICA 2006年第1期45卷 45-68页

作者： Busch, C Magdon-Ismail, M Mavronicolas, M Spirakis, P Rensselaer Polytech Inst Dept Comp Sci Troy NY 12180 USA Univ Cyprus Dept Comp Sci CY-1678 Nicosia Cyprus Univ Patras Dept Comp Engn & Informat Patras 26500 Greece Comp Technol Inst Patras 26221 Greece

Direct routing is the special case of bufferless routing where N packets, once injected into the network, must be delivered to their destinations without collisions. We give a general treatment of three facets of direct routing: 1. algorithms. We present a polynomial-time greedy direct algorithm which is worst-case optimal. We improve the bound of the greedy algorithm for special cases, by applying variants of this algorithm to commonly used network topologies. In particular, we obtain near-optimal routing time for the tree, mesh, butterfly, and hypercube. 2. Complexity. By a reduction from Vertex Coloring, we show that optimal Direct Routing is inapproximable, unless P = NP. 3. Lower Bounds for Buffering. We show that certain direct routing problems cannot be solved efficiently;in order to solve these problems, any routing algorithm needs buffers. We give non-trivial lower bounds on such buffering requirements for general routing algorithms.

关键词： communication algorithms direct routing bufferless routing congestion dilation

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Direct routing: algorithms and complexity

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12th Annual European Symposium on algorithms (ESA 2004)

ISBN: (纸本)3540230254

关键词： communication algorithms direct routing bufferless routing congestion dilation

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3D hexagonal network:: Modeling, topological properties, addressing scheme, and optimal routing algorithm

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IEEE TRANSACTIONS ON PARALLEL AND DISTRIBUTED SYSTEMS 2005年第9期16卷 875-884页

作者： Decayeux, C Semé, D Univ Picardie Fac Math & Informat LaRIA F-80039 Amiens France

The 2D hexagonal mesh, based on triangle plane tessellation, is considered as a multiprocessor interconnection network. The 3D hexagonal mesh is presented as a natural extension of the hexagonal mesh. Although the topological properties of the 2D hexagonal mesh are well known, existing addressing schemes are not suitable to be extended to 3D hexagonal mesh. Then, we present, in this paper, a new addressing scheme and an optimal routing algorithm for 2D hexagonal network based on the distance formula and using shortest paths. We propose also a 3D hexagonal network that can be built with 2D hexagonal meshes as a natural generalization. We also present some topological properties, an efficient addressing scheme, and an optimal routing algorithm based on our 2D routing algorithm.

关键词： parallel architectures interconnection networks hexagonal mesh routing communication algorithms

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Radio communication in random graphs: extended abstract 05

Radio communication in random graphs: extended abstract

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Proceedings of the seventeenth annual ACM symposium on Parallelism in algorithms and architectures

作者： Robert Elsässer Leszek Gasieniec University of Paderborn Paderborn Germany University of Liverpool Liverpool UK

ISBN: (纸本)9781581139860

One of the most frequently studied problems in the context of information dissemination in communication networks is the broadcasting problem. We propose here several time efficient, centralized as well as fully distributed procedures for the broadcasting problem in random radio networks. In particular we show how to perform a centralized broadcast in a random graph Gp=(V,E) of size n=|V| and expected average degree d=pn in time O(ln n/lnd+lnd). Later we present a randomized distributed broadcasting algorithm with the running time O(ln n). In both cases we show that the presented algorithms are asymptotically optimal by deriving lower bounds on the complexity of radio broadcasting in random graphs. In these proofs we determine some structural properties in random graphs which may be of independent interest. We should note here that the results of this paper hold with probability 1-o(1/n).

关键词： broadcasting random graphs radio networks communication algorithms

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