Use of shared memory in the context of embedded multi-core processors: exploration of the technology and its limits

Modern embedded systems embrace many-core shared-memory designs. Due to constrained power and area budgets, most of them feature software-managed scratchpad memories instead of data caches to increase the data locality. It is therefore programmers’ responsibility to explicitly manage the memory transfers, and this make programming these platform cumbersome. Moreover, complex modern applications must be adequately parallelized before they can the parallel potential of the platform into actual performance. To support this, programming languages were proposed, which work at a high level of abstraction, and rely on a runtime whose cost hinders performance, especially in embedded systems, where resources and power budget are constrained. This dissertation explores the applicability of the shared-memory paradigm on modern many-core systems, focusing on the ease-of-programming. It focuses on OpenMP, the de-facto standard for shared memory programming. In a first part, the cost of algorithms for synchronization and data partitioning are analyzed, and they are adapted to modern embedded many-cores. Then, the original design of an OpenMP runtime library is presented, which supports complex forms of parallelism such as multi-level and irregular parallelism. In the second part of the thesis, the focus is on heterogeneous systems, where hardware accelerators are coupled to (many-)cores to implement key functional kernels with orders-of-magnitude of speedup and energy efficiency compared to the “pure software” version. However, three main issues rise, namely i) platform design complexity, ii) architectural scalability and iii) programmability. To tackle them, a template for a generic hardware processing unit (HWPU) is proposed, which share the memory banks with cores, and the template for a scalable architecture is shown, which integrates them through the shared-memory system. Then, a full software stack and toolchain are developed to support platform design and to let programmers exploiting the accelerators of the platform. The OpenMP frontend is extended to interact with it.

Game programming: Grafica 3d

Tesi riguardante la creazione di tutte le risorse grafiche necessarie ad un videogioco tridimensionale in prima persona con Blender e Unity3D. Gli argomenti trattati sono: prgettazione, 3D modeling, texturing e shading.

Game programming: sviluppo di un gioco

La tesi riguarda tutto il processo di progettazione di un videogioco e l'implementazione dello stesso. Gli argomenti trattati sono: Unity, Design & Gameplay e l'implementazioni del progetto.

Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots

This dissertation studies the geometric static problem of under-constrained cable-driven parallel robots (CDPRs) supported by n cables, with n ≤ 6. The task consists of determining the overall robot configuration when a set of n variables is assigned. When variables relating to the platform posture are assigned, an inverse geometric static problem (IGP) must be solved; whereas, when cable lengths are given, a direct geometric static problem (DGP) must be considered. Both problems are challenging, as the robot continues to preserve some degrees of freedom even after n variables are assigned, with the final configuration determined by the applied forces. Hence, kinematics and statics are coupled and must be resolved simultaneously. In this dissertation, a general methodology is presented for modelling the aforementioned scenario with a set of algebraic equations. An elimination procedure is provided, aimed at solving the governing equations analytically and obtaining a least-degree univariate polynomial in the corresponding ideal for any value of n. Although an analytical procedure based on elimination is important from a mathematical point of view, providing an upper bound on the number of solutions in the complex field, it is not practical to compute these solutions as it would be very time-consuming. Thus, for the efficient computation of the solution set, a numerical procedure based on homotopy continuation is implemented. A continuation algorithm is also applied to find a set of robot parameters with the maximum number of real assembly modes for a given DGP. Finally, the end-effector pose depends on the applied load and may change due to external disturbances. An investigation into equilibrium stability is therefore performed.

Portfolio Approaches in Constraint Programming

Recent research has shown that the performance of a single, arbitrarily efficient algorithm can be significantly outperformed by using a portfolio of —possibly on-average slower— algorithms. Within the Constraint Programming (CP) context, a portfolio solver can be seen as a particular constraint solver that exploits the synergy between the constituent solvers of its portfolio for predicting which is (or which are) the best solver(s) to run for solving a new, unseen instance. In this thesis we examine the benefits of portfolio solvers in CP. Despite portfolio approaches have been extensively studied for Boolean Satisfiability (SAT) problems, in the more general CP field these techniques have been only marginally studied and used. We conducted this work through the investigation, the analysis and the construction of several portfolio approaches for solving both satisfaction and optimization problems. We focused in particular on sequential approaches, i.e., single-threaded portfolio solvers always running on the same core. We started from a first empirical evaluation on portfolio approaches for solving Constraint Satisfaction Problems (CSPs), and then we improved on it by introducing new data, solvers, features, algorithms, and tools. Afterwards, we addressed the more general Constraint Optimization Problems (COPs) by implementing and testing a number of models for dealing with COP portfolio solvers. Finally, we have come full circle by developing sunny-cp: a sequential CP portfolio solver that turned out to be competitive also in the MiniZinc Challenge, the reference competition for CP solvers.

Problem-specific design of metaheuristics for constrained spanning tree problems

When designing metaheuristic optimization methods, there is a trade-off between application range and effectiveness. For large real-world instances of combinatorial optimization problems out-of-the-box metaheuristics often fail, and optimization methods need to be adapted to the problem at hand. Knowledge about the structure of high-quality solutions can be exploited by introducing a so called bias into one of the components of the metaheuristic used. These problem-specific adaptations allow to increase search performance. This thesis analyzes the characteristics of high-quality solutions for three constrained spanning tree problems: the optimal communication spanning tree problem, the quadratic minimum spanning tree problem and the bounded diameter minimum spanning tree problem. Several relevant tree properties, that should be explored when analyzing a constrained spanning tree problem, are identified. Based on the gained insights on the structure of high-quality solutions, efficient and robust solution approaches are designed for each of the three problems. Experimental studies analyze the performance of the developed approaches compared to the current state-of-the-art.

Synthesis of constrained peptidomimetics for therapeutic, diagnostic and theranostic applications

This thesis work deals, principally, with the development of different chemical protocols ranging from environmental sustainability peptide synthesis to asymmetric synthesis of modified tryptophans to a series of straightforward procedures for constraining peptide backbones without the need for a pre-formed scaffold. Much efforts have been dedicated to the structural analysis in a biomimetic environment, fundamental for predicting the in vivo conformation of compounds, as well as for giving a rationale to the experimentally determined bioactivity. The conformational analyses in solution has been done mostly by NMR (2D gCosy, Roesy, VT, titration experiments, molecular dynamics, etc.), FT-IR and ECD spectroscopy. As a practical application, 3D rigid scaffolds have been employed for the synthesis of biological active compounds based on peptidomimetic and retro-mimetic structures. These mimics have been investigated for their potential as antiflammatory agents and actually the results obtained are very promising. Moreover, the synthesis of Amo ring permitted the development of an alternative high effective synthetic pathway for obtaining Linezolid antibiotic. The final section is, instead, dedicated to the construction of a new biosensor based on zeolite L SAMs functionalized with the integrin ligand c[RGDfK], that has showed high efficiency for the selective detection of tumor cells. Such kind of sensor could, in fact, enable the convenient, non-invasive detection and diagnosis of cancer in early stages, from a few drops of a patient's blood or other biological fluids. In conclusion, the researches described herein demonstrate that the peptidomimetic approach to 3D definite structures, allows unambiguous investigation of the structure-activity relationships, giving an access to a wide range bioactive compounds of pharmaceutical interest to use not only as potential drugs but also for diagnostic and theranostic applications.

New integer programming models for balanced multi-country kep

Le persone che soffrono di insufficienza renale terminale hanno due possibili trattamenti da affrontare: la dialisi oppure il trapianto di organo. Nel caso volessero seguire la seconda strada, oltre che essere inseriti nella lista d'attesa dei donatori deceduti, possono trovare una persona, come il coniuge, un parente o un amico, disposta a donare il proprio rene. Tuttavia, non sempre il trapianto è fattibile: donatore e ricevente possono, infatti, presentare delle incompatibilità a livello di gruppo sanguigno o di tessuto organico. Come risposta a questo tipo di problema nasce il KEP (Kidney Exchange Program), un programma, ampiamente avviato in diverse realtà europee e mondiali, che si occupa di raggruppare in un unico insieme le coppie donatore/ricevente in questa stessa situazione al fine di operare e massimizzare scambi incrociati di reni fra coppie compatibili. Questa tesi approffondisce tale questione andando a valutare la possibilità di unire in un unico insieme internazionale coppie donatore/ricevente provenienti da più paesi. Lo scopo, naturalmente, è quello di poter ottenere un numero sempre maggiore di trapianti effettuati. Lo studio affronta dal punto di vista matematico problematiche legate a tale collaborazione: i paesi che eventualmente accettassero di partecipare a un simile programma, infatti, devono avere la garanzia non solo di ricavarne un vantaggio, ma anche che tale vantaggio sia equamente distribuito fra tutti i paesi partecipanti.

Applying the reactive programming paradigm: Toward a more declarative application development approach

After almost 10 years from “The Free Lunch Is Over” article, where the need to parallelize programs started to be a real and mainstream issue, a lot of stuffs did happened: • Processor manufacturers are reaching the physical limits with most of their approaches to boosting CPU performance, and are instead turning to hyperthreading and multicore architectures; • Applications are increasingly need to support concurrency; • Programming languages and systems are increasingly forced to deal well with concurrency. This thesis is an attempt to propose an overview of a paradigm that aims to properly abstract the problem of propagating data changes: Reactive Programming (RP). This paradigm proposes an asynchronous non-blocking approach to concurrency and computations, abstracting from the low-level concurrency mechanisms.

Aggregate Programming in Scala: a Core Library and Actor-Based Platform for Distributed Computational Fields

La programmazione aggregata è un paradigma che supporta la programmazione di sistemi di dispositivi, adattativi ed eventualmente a larga scala, nel loro insieme -- come aggregati. L'approccio prevalente in questo contesto è basato sul field calculus, un calcolo formale che consente di definire programmi aggregati attraverso la composizione funzionale di campi computazionali, creando i presupposti per la specifica di pattern di auto-organizzazione robusti. La programmazione aggregata è attualmente supportata, in modo più o meno parziale e principalmente per la simulazione, da DSL dedicati (cf., Protelis), ma non esistono framework per linguaggi mainstream finalizzati allo sviluppo di applicazioni. Eppure, un simile supporto sarebbe auspicabile per ridurre tempi e sforzi d'adozione e per semplificare l'accesso al paradigma nella costruzione di sistemi reali, nonché per favorire la ricerca stessa nel campo. Il presente lavoro consiste nello sviluppo, a partire da un prototipo della semantica operazionale del field calculus, di un framework per la programmazione aggregata in Scala. La scelta di Scala come linguaggio host nasce da motivi tecnici e pratici. Scala è un linguaggio moderno, interoperabile con Java, che ben integra i paradigmi ad oggetti e funzionale, ha un sistema di tipi espressivo, e fornisce funzionalità avanzate per lo sviluppo di librerie e DSL. Inoltre, la possibilità di appoggiarsi, su Scala, ad un framework ad attori solido come Akka, costituisce un altro fattore trainante, data la necessità di colmare l'abstraction gap inerente allo sviluppo di un middleware distribuito. Nell'elaborato di tesi si presenta un framework che raggiunge il triplice obiettivo: la costruzione di una libreria Scala che realizza la semantica del field calculus in modo corretto e completo, la realizzazione di una piattaforma distribuita Akka-based su cui sviluppare applicazioni, e l'esposizione di un'API generale e flessibile in grado di supportare diversi scenari.

Reactive programming: un caso di studio

L'obiettivo di questa tesi è analizzare e testare la programmazione reattiva, paradigma di programmazione particolarmente adatto per lo sviluppo di applicazioni altamente interattive. La progettazione di sistemi reattivi implica necessariamente l'utilizzo di codice asincrono e la programmazione reattiva (RP) offre al programmatore semplici meccanismi per gestirlo. In questa tesi, la programmazione reattiva è stata utilizzata e valutata mediante la realizzazione di un progetto real-world chiamato AvvocaTimer. Verrà affrontata la progettazione, implementazione e collaudo di una parte del sistema attraverso l'approccio reattivo e, successivamente, confrontata con la prima versione, realizzata con i metodi attualmente usati per gestire codice asincrono, per analizzare vantaggi e/o svantaggi derivanti dall'utilizzo del nuovo paradigma.

Solving the logically constrained multiple choice multiple knapsack problem: A real case

In questa tesi viene analizzato un problema di ottimizzazione proposto da alcuni esercizi commerciali che hanno la necessita` di selezionare e disporre i propri ar- ticoli in negozio. Il problema nasce dall’esigenza di massimizzare il profitto com- plessivo atteso dei prodotti in esposizione, trovando per ognuno una locazione sugli scaffali. I prodotti sono suddivisi in dipartimenti, dai quali solo un ele- mento deve essere selezionato ed esposto. In oltre si prevede la possibilita` di esprimere vincoli sulla locazione e compatibilita` dei prodotti. Il problema risul- tante `e una generalizzazione dei gia` noti Multiple-Choice Knapsack Problem e Multiple Knapsack Problem. Dopo una ricerca esaustiva in letteratura si `e ev- into che questo problema non `e ancora stato studiato. Si `e quindi provveduto a formalizzare il problema mediante un modello di programmazione lineare intera. Si propone un algoritmo esatto per la risoluzione del problema basato su column generation e branch and price. Sono stati formulati quattro modelli differenti per la risoluzione del pricing problem su cui si basa il column generation, per individuare quale sia il piu` efficiente. Tre dei quattro modelli proposti hanno performance comparabili, mentre l’ultimo si `e rivelato piu` inefficiente. Dai risul- tati ottenuti si evince che il metodo risolutivo proposto `e adatto a istanze di dimensione medio-bassa.

Integrazione di piattaforme d'esecuzione e simulazione in una toolchain Scala per aggregate programming

La tesi è calata nell'ambito dell'Aggregate Programming e costituita da una prima parte introduttiva su questo ambito, per poi concentrarsi sulla descrizione degli elaborati prodotti e infine qualche nota conclusiva unitamente a qualche possibile sviluppo futuro. La parte progettuale consiste nell'integrazione del framework Scafi con il simulatore Alchemist e con una piattaforma di creazione e di esecuzione di sistemi in ambito Spatial Computin, con lo scopo di potenziare la toolchain esistente per Aggregate Programming. Inoltre si riporta anche un breve capitolo per l'esecuzione del framework scafi sviluppato in scala sulla piattaforma Android.

Bilateral impairment of concurrent saccade programming in hemispatial neglect

When healthy observers make a saccade that is erroneously directed toward a distracter stimulus, they often produce a corrective saccade within 100ms after the end of the primary saccade. Such short inter-saccadic intervals indicate that programming of the secondary saccade has been initiated prior to the execution of the primary saccade and hence that the two saccades have been programmed concurrently. Here we show that concurrent saccade programming is bilaterally impaired in left spatial neglect, a strongly lateralized disorder of visual attention resulting from extensive right cerebral damage. Neglect patients were asked to make saccades to targets presented left or right of fixation while disregarding a distracter presented in the opposite hemifield. We examined those experimental trials on which participants first made a saccade to the distracter, followed by a secondary (corrective) saccade to the target. Compared to healthy and right-hemisphere damaged control participants the proportion of secondary saccades directing gaze to the target instead of bringing it even closer to the distracter was bilaterally reduced in neglect patients. In addition, the characteristic reduction of secondary saccade latency observed in both control groups was absent in neglect patients, whether the secondary saccade was directed to the left or right hemifield. This pattern is consistent with a severe, bilateral impairment of concurrent saccade programming in left spatial neglect.

Mortality associated with discordant responses to antiretroviral therapy in resource-constrained settings

Objectives: We assessed mortality associated with immunologic and virologic patterns of response at 6 months of highly active antiretroviral therapy (HAART) in HIV-infected individuals from resource-limited countries in Africa and South America. Methods: Patients who initiated HAART between 1996 and 2007, aged 16 years or older, and had at least 1 measurement (HIV-1 RNA plasma viral load or CD4 cell count) at 6 months of therapy (3-9 month window) were included. Therapy response was categorized as complete, discordant (virologic only or immunologic only), and absent. Associations between 6-month response to therapy and all-cause mortality were assessed by Cox proportional hazards regression. Robust standard errors were calculated to account for intrasite correlation. Results: A total of 7160 patients, corresponding to 15,107 person-years, were analyzed. In multivariable analysis adjusted for age at HAART initiation, baseline clinical stage and CD4 cell count, year of HAART initiation, clinic, occurrence of an AIDS-defining condition within the first 6 months of treatment, and discordant and absent responses were associated with increased risk of death. Conclusions: Similar to reports from high-income countries, discordant immunologic and virologic responses were associated with intermediate risk of death compared with complete and no response in this large cohort of HIV-1 patients from resource-limited countries. Our results support a recommendation for wider availability of plasma viral load testing to monitor antiretroviral therapy in these settings.