A User-Centric Perspective on Parallel Programming with Focus on OpenMP

The process of developing software that takes advantage of multiple processors is commonly referred to as parallel programming. For various reasons, this process is much harder than the sequential case. For decades, parallel programming has been a problem for a small niche only: engineers working on parallelizing mostly numerical applications in High Performance Computing. This has changed with the advent of multi-core processors in mainstream computer architectures. Parallel programming in our days becomes a problem for a much larger group of developers. The main objective of this thesis was to find ways to make parallel programming easier for them. Different aims were identified in order to reach the objective: research the state of the art of parallel programming today, improve the education of software developers about the topic, and provide programmers with powerful abstractions to make their work easier. To reach these aims, several key steps were taken. To start with, a survey was conducted among parallel programmers to find out about the state of the art. More than 250 people participated, yielding results about the parallel programming systems and languages in use, as well as about common problems with these systems. Furthermore, a study was conducted in university classes on parallel programming. It resulted in a list of frequently made mistakes that were analyzed and used to create a programmers' checklist to avoid them in the future. For programmers' education, an online resource was setup to collect experiences and knowledge in the field of parallel programming - called the Parawiki. Another key step in this direction was the creation of the Thinking Parallel weblog, where more than 50.000 readers to date have read essays on the topic. For the third aim (powerful abstractions), it was decided to concentrate on one parallel programming system: OpenMP. Its ease of use and high level of abstraction were the most important reasons for this decision. Two different research directions were pursued. The first one resulted in a parallel library called AthenaMP. It contains so-called generic components, derived from design patterns for parallel programming. These include functionality to enhance the locks provided by OpenMP, to perform operations on large amounts of data (data-parallel programming), and to enable the implementation of irregular algorithms using task pools. AthenaMP itself serves a triple role: the components are well-documented and can be used directly in programs, it enables developers to study the source code and learn from it, and it is possible for compiler writers to use it as a testing ground for their OpenMP compilers. The second research direction was targeted at changing the OpenMP specification to make the system more powerful. The main contributions here were a proposal to enable thread-cancellation and a proposal to avoid busy waiting. Both were implemented in a research compiler, shown to be useful in example applications, and proposed to the OpenMP Language Committee.

Multi-Robot Task Allocation for Inspection Problems with Cooperative Tasks Using Hybrid Genetic Algorithms

In dieser Dissertation werden Methoden zur optimalen Aufgabenverteilung in Multirobotersystemen (engl. Multi-Robot Task Allocation – MRTA) zur Inspektion von Industrieanlagen untersucht. MRTA umfasst die Verteilung und Ablaufplanung von Aufgaben für eine Gruppe von Robotern unter Berücksichtigung von operativen Randbedingungen mit dem Ziel, die Gesamteinsatzkosten zu minimieren. Dank zunehmendem technischen Fortschritt und sinkenden Technologiekosten ist das Interesse an mobilen Robotern für den Industrieeinsatz in den letzten Jahren stark gestiegen. Viele Arbeiten konzentrieren sich auf Probleme der Mobilität wie Selbstlokalisierung und Kartierung, aber nur wenige Arbeiten untersuchen die optimale Aufgabenverteilung. Da sich mit einer guten Aufgabenverteilung eine effizientere Planung erreichen lässt (z. B. niedrigere Kosten, kürzere Ausführungszeit), ist das Ziel dieser Arbeit die Entwicklung von Lösungsmethoden für das aus Inspektionsaufgaben mit Einzel- und Zweiroboteraufgaben folgende Such-/Optimierungsproblem. Ein neuartiger hybrider Genetischer Algorithmus wird vorgestellt, der einen teilbevölkerungbasierten Genetischen Algorithmus zur globalen Optimierung mit lokalen Suchheuristiken kombiniert. Zur Beschleunigung dieses Algorithmus werden auf die fittesten Individuen einer Generation lokale Suchoperatoren angewendet. Der vorgestellte Algorithmus verteilt die Aufgaben nicht nur einfach und legt den Ablauf fest, sondern er bildet auch temporäre Roboterverbünde für Zweiroboteraufgaben, wodurch räumliche und zeitliche Randbedingungen entstehen. Vier alternative Kodierungsstrategien werden für den vorgestellten Algorithmus entworfen: Teilaufgabenbasierte Kodierung: Hierdurch werden alle möglichen Lösungen abgedeckt, allerdings ist der Suchraum sehr groß. Aufgabenbasierte Kodierung: Zwei Möglichkeiten zur Zuweisung von Zweiroboteraufgaben wurden implementiert, um die Effizienz des Algorithmus zu steigern. Gruppierungsbasierte Kodierung: Zeitliche Randbedingungen zur Gruppierung von Aufgaben werden vorgestellt, um gute Lösungen innerhalb einer kleinen Anzahl von Generationen zu erhalten. Zwei Umsetzungsvarianten werden vorgestellt. Dekompositionsbasierte Kodierung: Drei geometrische Zerlegungen wurden entworfen, die Informationen über die räumliche Anordnung ausnutzen, um Probleme zu lösen, die Inspektionsgebiete mit rechteckigen Geometrien aufweisen. In Simulationsstudien wird die Leistungsfähigkeit der verschiedenen hybriden Genetischen Algorithmen untersucht. Dazu wurde die Inspektion von Tanklagern einer Erdölraffinerie mit einer Gruppe homogener Inspektionsroboter als Anwendungsfall gewählt. Die Simulationen zeigen, dass Kodierungsstrategien, die auf der geometrischen Zerlegung basieren, bei einer kleinen Anzahl an Generationen eine bessere Lösung finden können als die anderen untersuchten Strategien. Diese Arbeit beschäftigt sich mit Einzel- und Zweiroboteraufgaben, die entweder von einem einzelnen mobilen Roboter erledigt werden können oder die Zusammenarbeit von zwei Robotern erfordern. Eine Erweiterung des entwickelten Algorithmus zur Behandlung von Aufgaben, die mehr als zwei Roboter erfordern, ist möglich, würde aber die Komplexität der Optimierungsaufgabe deutlich vergrößern.

Reinventing the academic conference: how delegates design productive cities

During the 6th International Sustainable Food Planning Conference, the so-called Design LABs partly replaced the regular parallel sessions. The reason for this change was twofold. On the one hand it aims to break through an endless series of parallel presentations, and on the other hand the LAB’s aim was to produce innovative design solutions for increasing the amount of food production in the city. This article describes this experiment to enhance the delivery of urban design concepts, which could substantially produce more food than current models. During the conference each of the parallel sessions half of the time consisted of a design-LAB, in which participants were brought together around a map with the task to design a substantial amount of food productive spaces in the case study site. The results of this experiment were dual: 1. a very committed attitude of delegates to this part of the conference and 2. the design tasks resulted in innovative design results. These results not only emphasise the potential design measures onsite but also pledged for a strong and more intensive connectivity with the city and the landscape around it. This makes it possible to link the supply and use of resources with the typology of the region, hence determining an effective and productive urban agriculture system.

Heat stress response for physiological traits in dairy and dual purpose cattle populations on phenotypic and genetic scales

The main objective of this thesis was to determine the potential impact of heat stress (HS) on physiological traits of lactating cows and semen quality of bulls kept in a temperate climate. The thesis is comprised of three studies. An innovative statistical modeling aspect common to all three studies was the application of random regression methodology (RRM) to study the phenotypic and genetic trajectory of traits in dependency of a continuous temperature humidity index (THI). In the first study, semen quality and quantity traits of 562 Holstein sires kept on an AI station in northwestern Germany were analyzed in the course of THI calculated from data obtained from the nearest weather station. Heat stress was identified based on a decline in semen quality and quantity parameters. The identified general HS threshold (THI = 60) and the thermoneutal zone (THI in the range from 50 to 60) for semen production were lower than detected in studies conducted in tropical and subtropical climates. Even though adult bulls were characterized by higher semen productivity compared to younger bulls, they responded with a stronger semen production loss during harsh environments. Heritabilities (low to moderate range) and additive genetic variances of semen characteristics varied with different levels of THI. Also, based on genetic correlations genotype, by environment interactions were detected. Taken together, these findings suggest the application of specific selection strategies for specific climate conditions. In the second study, the effect of the continuous environmental descriptor THI as measured inside the barns on rectal temperatures (RT), skin temperatures (ST), vaginal temperatures (VT), respiration rates (RR), and pulse rate (PR) of lactating Holstein Friesian (HF) and dual-purpose German black pied cattle (DSN) was analyzed. Increasing HS from THI 65 (threshold) to THI 86 (maximal THI) resulted in an increase of RT by 0.6 °C (DSN) and 1 °C (HF), ST by 3.5 °C (HF) and 8 °C (DSN), VT by 0.3 °C (DSN), and RR by 47 breaths / minute (DSN), and decreased PR by 7 beats / minute (DSN). The undesired effects of rising THI on physiological traits were most pronounced for cows with high levels of milk yield and milk constituents, cows in early days in milk and later parities, and during summer seasons in the year 2014. In the third study of this dissertation, the genetic components of the cow’s physiological responses to HS were investigated. Heat stress was deduced from indoor THI measurements, and physiological traits were recorded on native DSN cows and their genetically upgraded crosses with Holstein Friesian sires in two experimental herds from pasture-based production systems reflecting a harsh environment of the northern part of Germany. Although heritabilities were in a low range (from 0.018 to 0.072), alterations of heritabilities, repeatabilities, and genetic components in the course of THI justify the implementation of genetic evaluations including heat stress components. However, low repeatabilities indicate the necessity of using repeated records for measuring physiological traits in German cattle. Moderate EBV correlations between different trait combinations indicate the potential of selection for one trait to simultaneously improve the other physiological attributes. In conclusion, bulls of AI centers and lactating cows suffer from HS during more extreme weather conditions also in the temperate climate of Northern Germany. Monitoring physiological traits during warm and humid conditions could provide precious information for detection of appropriate times for implementation of cooling systems and changes in feeding and management strategies. Subsequently, the inclusion of these physiological traits with THI specific breeding values into overall breeding goals could contribute to improving cattle adaptability by selecting the optimal animal for extreme hot and humid conditions. Furthermore, the recording of meteorological data in close distance to the cow and visualizing the surface body temperature by infrared thermography techniques might be helpful for recognizing heat tolerance and adaptability in cattle.

Task-Level Robot Learning

We are investigating how to program robots so that they learn from experience. Our goal is to develop principled methods of learning that can improve a robot's performance of a wide range of dynamic tasks. We have developed task-level learning that successfully improves a robot's performance of two complex tasks, ball-throwing and juggling. With task- level learning, a robot practices a task, monitors its own performance, and uses that experience to adjust its task-level commands. This learning method serves to complement other approaches, such as model calibration, for improving robot performance.

The Quadric Reference Surface: Theory and Applications

The conceptual component of this work is about "reference surfaces'' which are the dual of reference frames often used for shape representation purposes. The theoretical component of this work involves the question of whether one can find a unique (and simple) mapping that aligns two arbitrary perspective views of an opaque textured quadric surface in 3D, given (i) few corresponding points in the two views, or (ii) the outline conic of the surface in one view (only) and few corresponding points in the two views. The practical component of this work is concerned with applying the theoretical results as tools for the task of achieving full correspondence between views of arbitrary objects.

Notes on PCA, Regularization, Sparsity and Support Vector Machines

We derive a new representation for a function as a linear combination of local correlation kernels at optimal sparse locations and discuss its relation to PCA, regularization, sparsity principles and Support Vector Machines. We first review previous results for the approximation of a function from discrete data (Girosi, 1998) in the context of Vapnik"s feature space and dual representation (Vapnik, 1995). We apply them to show 1) that a standard regularization functional with a stabilizer defined in terms of the correlation function induces a regression function in the span of the feature space of classical Principal Components and 2) that there exist a dual representations of the regression function in terms of a regularization network with a kernel equal to a generalized correlation function. We then describe the main observation of the paper: the dual representation in terms of the correlation function can be sparsified using the Support Vector Machines (Vapnik, 1982) technique and this operation is equivalent to sparsify a large dictionary of basis functions adapted to the task, using a variation of Basis Pursuit De-Noising (Chen, Donoho and Saunders, 1995; see also related work by Donahue and Geiger, 1994; Olshausen and Field, 1995; Lewicki and Sejnowski, 1998). In addition to extending the close relations between regularization, Support Vector Machines and sparsity, our work also illuminates and formalizes the LFA concept of Penev and Atick (1996). We discuss the relation between our results, which are about regression, and the different problem of pattern classification.

Apatite-Polymer Composites for the Controlled Dual Delivery of BMP-2 and BMP-6 for Bone Tissue Engineering

The release of growth factors from tissue engineering scaffolds provides signals that influence the migration, differentiation, and proliferation of cells. The incorporation of a drug delivery platform that is capable of tunable release will give tissue engineers greater versatility in the direction of tissue regeneration. We have prepared a novel composite of two biomaterials with proven track records - apatite and poly(lactic-co-glycolic acid) (PLGA) – as a drug delivery platform with promising controlled release properties. These composites have been tested in the delivery of a model protein, bovine serum albumin (BSA), as well as therapeutic proteins, recombinant human bone morphogenetic protein-2 (rhBMP-2) and rhBMP-6. The controlled release strategy is based on the use of a polymer with acidic degradation products to control the dissolution of the basic apatitic component, resulting in protein release. Therefore, any parameter that affects either polymer degradation or apatite dissolution can be used to control protein release. We have modified the protein release profile systematically by varying the polymer molecular weight, polymer hydrophobicity, apatite loading, apatite particle size, and other material and processing parameters. Biologically active rhBMP-2 was released from these composite microparticles over 100 days, in contrast to conventional collagen sponge carriers, which were depleted in approximately 2 weeks. The released rhBMP-2 was able to induce elevated alkaline phosphatase and osteocalcin expression in pluripotent murine embryonic fibroblasts. To augment tissue engineering scaffolds with tunable and sustained protein release capabilities, these composite microparticles can be dispersed in the scaffolds in different combinations to obtain a superposition of the release profiles. We have loaded rhBMP-2 into composite microparticles with a fast release profile, and rhBMP-6 into slow-releasing composite microparticles. An equi-mixture of these two sets of composite particles was then injected into a collagen sponge, allowing for dual release of the proteins from the collagenous scaffold. The ability of these BMP-loaded scaffolds to induce osteoblastic differentiation in vitro and ectopic bone formation in a rat model is being investigated. We anticipate that these apatite-polymer composite microparticles can be extended to the delivery of other signalling molecules, and can be incorporated into other types of tissue engineering scaffolds.

The Influence of Adjacent Segment on the Reliability of Cu Dual Damascene Interconnects

Three terminal ‘dotted-I’ interconnect structures, with vias at both ends and an additional via in the middle, were tested under various test conditions. Mortalities (failures) were found in right segments with jL value as low as 1250 A/cm, and the mortality of a dotted-I segment is dependent on the direction and magnitude of the current in the adjacent segment. Some mortalities were also found in the right segments under a test condition where no failure was expected. Cu extrusion along the delaminated Cu/Si₃N₄ interface near the central via region was believed to cause the unexpected failures. From the time-to-failure (TTF), it is possible to quantify the Cu/Si₃N₄ interfacial strength and bonding energy. Hence, the demonstrated test methodology can be used to investigate the integrity of the Cu dual damascene processes. As conventionally determined critical jL values in two-terminal via-terminated lines cannot be directly applied to interconnects with branched segments, this also serves as a good methodology to identify the critical effective jL values for immortality.

Task-based learning activities.

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Global and dominance with concentric hierarchical stimuli and orientation classification task. 'Dominancia global y local con est??mulos conc??ntricos y tareas de clasificaci??n de la orientaci??n'

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