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The International Conference on Automation and Robotics(ICAR 2011)

作者： Kun Zeng Key Laboratory and technology for National Defence of Parallel and Distributed Processing School of Computer National Univiersity of Defense Technology

The development of multi-core processor makes the parallelization of traditional sequential algorithms increasingly important. Meanwhile, transactional memory serves a good parallel programming model. This paper takes the advantage of software transactional memory to parallelize the Multi-Exit Asymmetric Adaboost algorithm for face detection. The parallel version is evaluated on three different implementations of software transactional memory. The experiment results show that the transactional memory based parallelization outperforms the traditional lock based approach. A speedup of nearly seven is achieved on a eight-core machine on an eight-core system.

关键词： Transactional Memory Face Detection Machine Learning Optimistic Algorithm Pessimistic Algorithm

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Deep Learning-based Cooperative Trail Following for Multi-Robot System

Deep Learning-based Cooperative Trail Following for Multi-Ro...

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International Joint Conference on Neural Networks

作者： Mingyang Geng Yiying Li Bo Ding Huaimin Wang National Key Laboratory of Parallel and Distributed Processing College of Computer National University of Defense Technology ChangSha China

Following trails in the wild is an essential capability of out-door autonomous mobile robots. Recently, deep learning-based approaches have made great advancements in this field. However, the existing research only focuses on the trail following with a single robot. In contrast, many robotic tasks in the reality, such as search and patrolling, are conducted by a group of robots. While these robots are grouped to move in the wild, they can cooperate to significantly promote the trail following accuracy, for example, by sharing images of different view angles or real-time decision fusion. This paper proposes such an approach named DL-Cooper that enables multi-robot vision-based trail following based on deep learning algorithms. It allows each robot to make a decision respectively with deep neural network and then fusion the decisions on the collective level with the support of back-end cloud computing infrastructure. It also takes Quality of Service (QoS) assurance, a very essential property of robotic software, into consideration. By limiting the condition to fusion decisions, the time latency can be minimally sacrificed. Experiments on the real-world dataset show that our approach has significantly improved the accuracy of the single-robot system.

关键词： Task analysis Robot kinematics Machine learning Multi-robot systems Quality of service Cloud computing

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Design of an Indoor Exploration and Multi-Objective Navigation System 37

Design of an Indoor Exploration and Multi-Objective Navigati...

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37th Chinese Control Conference, CCC 2018

作者： Zheng, Guoxian Zhang, Lei Zhang, Huaxi Yulin Ding, Bo State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China MIS INSSET Universite de Picardie Jules Verne Amiens80039 France National Laboratory for Parallel and Distributed Processing National University of Defense Technology Changsha410008 China

ISBN: (纸本)9789881563941

In this paper, we propose an indoor robot autonomous navigation system. The robot firstly explores in an unknown environment, and then navigates autonomously by using the explored map. The robot is equipped a 2D laser scanner as the main sensor. The laser scanner is used for path planning and frontier-based exploration. A 2D global occupancy map is built for path planning, frontier-based exploration and multi-objective autonomous navigation. Laser scans are transmitted into Simultaneous Localization and Mapping (SLAM) process in the exploration phase. In indoor environment, the exploration efficiency is improved by merging a heuristic algorithm. By using multi-threading technology and a 3D perception approach proposed in this paper, the robot equipped with a low-cost RGBD sensor can detect all kinds of obstacles to achieve highly reliable navigation in complicated 3D environment. Meanwhile, we develop a multi-objective navigation application to make human-robot interaction more convenient and satisfy multi-task deployment. Our approaches are demonstrated by experimental results. © 2018 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Motion planning

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Accelerate Graph Neural Network Training by Reusing Batch Data on GPUs

Accelerate Graph Neural Network Training by Reusing Batch Da...

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IEEE International Conference on Performance, Computing and Communications (IPCCC)

作者： Zhejiang Ran Zhiquan Lai Lizhi Zhang Dongsheng Li National Key Laboratory of Parallel and Distributed Processing School of Computer National University of Defense Technology Changsha China

ISBN: (纸本)9781665443326

With the increasing adoption of graph neural networks (GNNs) in the graph-based deep learning community, various graph programming frameworks and models have been developed to improve the productivity of GNNs. The current GNN frameworks choose GPU as an essential tool to accelerate GNN training. However, it is still challenging to train GNNs on large graphs with limited GPU memory. Unlike traditional neural networks, generating mini-batch data by sampling in GNNs requires some complicated tasks such as traversing the graph to select neighboring nodes and gathering their features. This process takes up most of the training and we find the main bottleneck comes from transferring nodes features from CPU to GPU through limited bandwidth. In this paper, We propose a method Reusing Batch Data for the problem of data transmission. This method utilizes the similarity between adjacent mini-batches to reduce repeated data transmission from CPU to GPU. Furthermore, to reduce the overhead introduced by this method, we design a fast algorithm based on GPU to detect repeated nodes’ data and achieve shorter additional computation time. Evaluations on three representative GNN models show that our method can reduce transmission time by up to 60% and speed the end-to-end GNN training by up to 1.79× over the state-ofthe-art baselines. Besides, Reusing Batch Data can effectively save GPU memory footprint by about 19% to 40% while still reducing the training time compared to the static cache strategy.

关键词： Training Productivity Deep learning Design methodology Conferences Graphics processing units Programming

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SCGraph: Accelerating Sample-based GNN Training by Staged Caching of Features on GPUs

SCGraph: Accelerating Sample-based GNN Training by Staged Ca...

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IEEE International Conference on Big Data and Cloud Computing (BdCloud)

作者： Yuqi He Zhiquan Lai Zhejiang Ran Lizhi Zhang Dongsheng Li National Key Laboratory of Parallel and Distributed Processing College of Computer National University of Defense Technology Changsha China

Graph neural networks (GNNs) have been becoming important tools for processing structured graph data and successfully applied to multiple graph-based application scenarios. The existing GNN systems adopt sample-based training on large-scale graphs over multiple GPUs. Although they support large-scale graph training, large data loading overhead of transferring vertex features between CPUs and GPUs is still a bottleneck. In this work, we propose SCGraph, a method that supports GPU high-speed feature caching. SCGraph classifies the graph vertices sorted by out-degrees. For high out-degree vertices, SCGraph sets grading caches via different GPUs to increase the overall cache content through NVLink high-speed data transmission between them. For low out-degree vertices, SCGraph expands training vertices' neighborhood in advance to regenerate cache. We evaluate SCGraph against two state-of-the-art industrial GNN frameworks, i.e., DGL and PaGraph on various benchmarks. Experimental results show that SCGraph improves the cache hit rate over GPUs up to 23.6%, and achieves up to 1.71x performance speedup over the state-of-the-art baselines while the convergence almost constant.

关键词： Training Memory management Loading Graphics processing units Benchmark testing Graph neural networks Data communication

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Fast query over encrypted data based on B+ tree

Fast query over encrypted data based on B+ tree

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2009 International Conference on Apperceiving Computing and Intelligence Analysis, ICACIA 2009

作者： Wang, Zheng-Fei Tang, Ai-Guo Wang, Wei Department of Computer Hunan Business College Changsha 410205 China National Key Laboratory for Parallel and Distributed Processing School of Computer National University of Defense Technology Changsha 410073 China School of Computer Science Fudan University Shanghai 200433 China

ISBN: (纸本)9781424452040

There are a lot of important and sensitive data in databases, which need to be protected from attacks. To secure the data, Cryptography support is an effective mechanism. However, a tradeoff must be made between the performance and the security because encryption and decryption greatly degrade the query performance. In this paper, a framework is proposed that can quickly implement query over encrypted data based on B+ tree. When data are stored in the form of cipher, it not only stores the encrypted data themselves, but also creates a B+ tree index for the data before encrypting them. When querying the encrypted data, firstly, it locates the encrypted records related to the querying predicate based on the B+ tree index;secondly, it decrypts the encrypted records to accomplish the results. Meanwhile, it must encrypt the B+ tree itself to protect it from leaking confidential information. According to the structure of the B+ tree, it encrypts each node of the B+ tree separately. The results of experiments show that the query performance over the encrypted data decreases about 20 percent compared with the plaintext query performance, and validate the functionality and usability of our approach. ©2009 IEEE.

关键词： Cryptography

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Property-oriented testing of real-time systems

Property-oriented testing of real-time systems

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Asia-Pacific Conference on Software Engineering

作者： Shuhao Li Ji Wang Wei Dong Zhi-Chang Qi National Laboratory for Parallel and Distributed Processing Changsha China State Key Laboratory for Software Engineering Wuhan University of China China

Although statecharts has gained widespread use as a formalism for modeling reactive real-time systems, testing these systems still confronts some difficulties, of which a major one is the existence of numerous and complex system behaviors. It is extremely difficult to conduct comprehensive and in-depth testing of such real-time systems. This paper presents an approach to property-oriented real-time testing. Necessary real-time extensions are proposed such that the time-enriched statecharts can describe nontrivial timing constraints. The properties to be tested are characterized by a restricted real-time logic. Then the targeted test sequences are derived from the real-time models according to the user-specified properties. Using this approach, testing efforts can be focused on particular properties of the real-time systems and usually only a small portion of the total behaviors needs to be tested.

关键词： System testing Real time systems Software testing Software engineering

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Power Optimization for GPU Programs Based on Software Prefetching

Power Optimization for GPU Programs Based on Software Prefet...

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IEEE International Conference on Trust, Security and Privacy in Computing and Communications (TrustCom)

作者： Yisong Lin Tao Tang Guibin Wang Key Laboratory of Science and Technology for National Defence of Parallel and Distributed Processing National University of Defense and Technology Changsha China

GPUs render higher computing unit density than contemporary CPUs and thus exhibit much higher power consumption despite its higher power efficiency. The power consumption has become an important issue that impacts CPU's applications, thereby necessitating the low power optimization technology for GPUs. Software prefetching is an efficient way to alleviate the memory wall problem which overlaps the computing and memory access latencies. However, software prefetching will cause some power overhead because it increases the number and density of the instructions. Thus, we should consider the balance between the performance income and the power overhead when applying the optimization. To address this problem, in this paper we first analyze the multi-thread execution model of GPU and validate the potential space of software prefetching optimization. Then we give the software prefetching method for GPU programs to improve the performance. Aiming at two different objects: energy optimization under performance constraint and performance optimization under power constraint, we discuss the optimization methods based on software prefetching and dynamic voltage scaling technologies. The experimental results show that our method can efficiently optimize the energy consumption (performance) under the performance (power) constraint.

关键词： Prefetching Graphics processing unit Optimization Power demand Registers

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Multi-representation knowledge distillation for audio classification

arXiv

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arXiv 2020年

作者： Gao, Liang Xu, Kele Wang, Huaimin Peng, Yuxing National Key Laboratory of Parallel and Distributed Processing College of Computer National University of Defense Technology Changsha410073 China

As an important component of multimedia analysis tasks, audio classification aims to discriminate between different audio signal types and has received intensive attention due to its wide applications. Generally speaking, the raw signal can be transformed into various representations (such as Short Time Fourier Transform and Mel Frequency Cepstral Coefficients), and information implied in different representations can be complementary. Ensembling the models trained on different representations can greatly boost the classification performance, however, making inference using a large number of models is cumbersome and computationally expensive. In this paper, we propose a novel end-to-end collaborative learning framework for the audio classification task. The framework takes multiple representations as the input to train the models in parallel. The complementary information provided by different representations is shared by knowledge distillation. Consequently, the performance of each model can be significantly promoted without increasing the computational overhead in the inference stage. Extensive experimental results demonstrate that the proposed approach can improve the classification performance and achieve state-of-the-art results on both acoustic scene classification tasks and general audio tagging tasks. Copyright © 2020, The Authors. All rights reserved.

关键词： Convolutional neural networks

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Algorithm for distributed Constraint Optimization Problems with low constraint density

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Ruan Jian Xue Bao/Journal of Software 2011年第4期22卷 625-639页

作者： Ding, Bo Wang, Huai-Min Shi, Dian-Xi Tang, Yang-Bin School of Computer National University of Defense Technology Changsha 410073 China National Key Laboratory for Parallel and Distributed Processing School of Computer National University of Defense Technology Changsha 410073 China

Many challenges in multi-agent coordination can be modeled as distributed Constraint Optimization Problems (DCOPs). Aiming at DCOPs with low constraint density, this paper proposes a distributed algorithm based on the idea of greed and backjumping. In this algorithm, each agent makes decisions according to the greedy principle that the most assignment combinations in the problems with low constraint density occur at a zero cost, and the backjumping mechanism among the agents ensures the success of this algorithm, even when this greedy principle leads to a local optimum. In contrast with the existing mainstream DCOP algorithms, this algorithm can solve problems with low constraint density with fewer messages while keeping the polynomial message length and space complexity. The correctness of the key mechanisms in this algorithm has been proved, and those advantages in performance have been verified by experiments. © 2011 ISCAS.

关键词： Multi agent systems

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