2763282
Can memory-less network adapters benefit next-generation infiniband systems?
InfiniBand is emerging as a high-performance interconnect. It is gaining popularity because of its high performance and open standard. Recently, PCI-Express, which is the third generation high-performance I/O bus used to interconnect peripheral devices, has been released. The third generation of InfiniBand adapters allow applications to take advantage of PCI-Express. PCI-Express offers very low latency access of the host memory by network interface cards (NICs). Earlier generation InfiniBand adapters used to have an external DIMM attached as local NIC memory. This memory was used to store internal information. This memory increases the overall cost of the NIC. In this paper we design experiments, analyze the performance of various communication patterns and end applications on PCI-Express based systems, whose adapters can be chosen to run with or without local NIC memory. Our investigations reveal that on these systems, the memory fetch latency is the same for both local NIC memory and host memory. Under heavy I/O bus usage, the latency of a scatter operation increased only by 10% and only for message sizes IB -4 KB. These memory-less adapters allow more efficient use of overall system memory and show practically no performance impact (less than 0.1%) for the NAS parallel benchmarks on 8 processes. These results indicate that memory-less network adapters can benefit next generation InfiniBand systems.
2376785
Designing Efficient Asynchronous Memory Operations Using Hardware Copy Engine: A Case Study with I/OAT
Memory copies for bulk data transport incur large overheads due to CPU stalling, small register-size data movement, etc. Intel's I/O Acceleration Technology offers an asynchronous memory copy engine in kernel space which alleviates such overheads. In this paper, we propose a set of designs for asynchronous memory operations in user space for both single process (as an offloaded memcpy()) and lPC using the copy engine. We analyze our design based on overlap efficiency, performance and cache utilization. Our microbenchmark results show that using the copy engine for performing memory copies can achieve close to 87% overlap with computation. Further, the copy engine improves the copy latency of bulk memory data transfers by 50% and avoids cache pollution effects. With the emergence of multi-core architectures, the support for asynchronous memory operations holds a lot of promise in reducing the gap between the memory and processor performance.
29243423
Design Alternatives and Performance Trade-Offs for Implementing MPI-2 over InfiniBand
MPICH2 provides a layered architecture to achieve both portability and performance. For implementations of MPI-2 over InfiniBand, it provides the flexibility for researchers at the RDMA channel, CH3 or ADI3 layer. In this paper we analyze the performance and complexity trade-offs associated with implementations at these layers. We describe our designs and implementations, as well as optimizations at each layer. To show the performance impacts of these design schemes and optimizations, we evaluate our implementations with different micro-benchmarks, HPCC and NAS test suite. Our experiments show that although the ADI3 layers adds complexity in implementation, the benefits achieved through optimizations justify moving to the ADI layer to extract the best performance.
1603873
Application-Transparent Checkpoint/Restart for MPI Programs over InfiniBand
Ultra-scale computer clusters with high speed interconnects, such as InfiniBand, are being widely deployed for their excellent performance and cost effectiveness. However, the failure rate on these clusters also increases along with their augmented number of components. Thus, it becomes critical for such systems to be equipped with fault tolerance support. In this paper, we present our design and implementation of checkpoint/restart framework for MPI programs running over InfiniBand clusters. Our design enables low-overhead, application-transparent checkpointing. It uses coordinated protocol to save the current state of the whole MPI job to reliable storage, which allows users to perform rollback recovery if the system runs into faulty states later. Our solution has been incorporated into MVAPICH2, an open-source high performance MPI-2 implementation over InfiniBand. Performance evaluation of this implementation has been carried out using NAS benchmarks, HPL benchmark, and a real-world application called GROMACS. Experimental results indicate that in our design, the overhead to take checkpoints is low, and the performance impact for checkpointing applications periodically is insignificant. For example, time for checkpointing GROMACS is less than 0.3% of the execution time, and its performance only decreases by 4% with checkpoints taken every minute. To the best of our knowledge, this work is the first report of checkpoint/restart support for MPI over InfiniBand clusters in the literature
17487285
A tapping micropositioning cell
Describes the use of tapping actuators in a "micropositioning cell." Tapping actuators are fixed (both in position and orientation) about the perimeter of the cell. A part in the cell can be precisely positioned by firing a sequence of tapping actuators (sensing the position of the object after each tap for feedback control). Such a system could be used for micropositioning tasks or in parts feeding applications. We show the controllability of this system for circular parts, describe an algorithm to position these objects, and present the results of simulated experiments. We conclude with some future directions and address the issues in extending this work to more efficient algorithms that work on a broader class of parts.
2142354
Mechanics, Planning, and Control for Tapping
We present analysis and experimental demonstration of manipulation by tapping. Our problem domain is positioning planar parts on a support surface by a sequence of taps; each tap imparts some initial velocities to the object, which then slides until it comes to rest due to friction. We formulate the mechanics of tapping for circular axisymmetric objects, show how to plan a single tap and a sequence of taps to reach a goal configuration, and present feedback control methods to robustly accomplish positioning tasks. With these methods, we have experimentally demonstrated positioning tasks using tapping, including high-precision positioning tasks in which the object is positioned more precisely than the tapping actuator. We show stability and sensitivity analysis in support of these results.
12648516
Experiments in impulsive manipulation
In this paper, we present the results of our experimental effort in one form of impulsive manipulation: tapping. Our previous work studied the mechanics of tapping a planar object which then slides on a support surface, coming to rest due to friction. This work addresses the practical issues in creating a system which uses this mode of manipulation. We begin with the design of tapping devices-end effecters designed to deliver an impulse to an object, and report some of the issues we have found to be important in their design. Our next step was to perform single-tap experiments in order to fit and evaluate the models of impact and sliding. These experiments have shown that objects rotate less than predicted; we have found that the addition of a scaling factor for the torque due to friction enables the models to predict object motion reasonably well. In order to do positioning experiments, we developed a number of planning methods (or feedback control strategies) to compensate for errors in modeling, parameters, and actuation. These planning methods were successfully used to demonstrate a positioning task. We also have experimentally demonstrated that tapping can be used to position an object more precisely than the manipulator can position the tapping device. We offer some sensitivity analysis in support of this result.
13283914
ConKMeL: a contextual knowledge management framework to support multimedia e-Learning
As the latest stage of learning and training evolution, e-Learning is supposed to provide intelligent functionalities not only in processing multi-media education resources but also in supporting context-sensitive pedagogical education processes. Towards providing an integrated solution for intelligent multimedia e-Learning, this paper presents a context-aware knowledge management framework named ConKMeL. Proposed framework features a semantic context-based approach for representing and integrating information and knowledge in e-Learning. Requirement analysis in university e-Learning environments shows that knowledge communications are usually in a hybrid mode across different conceptual levels. Based on the fact, a multi-layer contextual knowledge representation model called KG (knowledge graph) is presented. Corresponding key issues in development such as context-based knowledge retrieval and logical knowledge interpretation are discussed. On the application side, a scenario-based learning case study is shown to demonstrate the concepts and techniques developed in the ConKMeL framework.
21933462
Multi-media semantics contextualisation for knowledge-oriented e-learning
Existing e-learning technical solutions are more focused on content packaging rather than semantics management, which is one of the keys to knowledge-oriented e-learning. This paper presents a context-based approach to address the challenging semantics management issue by contextualising the semantics of multimedia learning resources at different levels. A prototype of semi-automatic multimedia semantics generation and editing tool - CONMAN shows the basic idea of the approach in practice.