Analytical modeling of communication latency in multi-cluster systems

This paper addresses the problem of performance modeling of large-scale distributed systems with emphasis on communication networks in heterogeneous multi-cluster systems. The study of interconnection networks is important because the overall performance of a distributed system is often critically hinged on the effectiveness of this part. We present an analytical model to predict message latency in multi-cluster systems in the presence of processor heterogeneity. The model is validated through comprehensive simulation, which demonstrates that the proposed model exhibits a good degree of accuracy for various system sizes and under different operating conditions.

Communication latency hiding in a parallel conjugate gradient method

Abstract not available

Assessment of the suitability of public mobile data networks for aircraft telemetry and control purposes

This paper provides a review of the state of the art relevant work on the use of public mobile data networks for aircraft telemetry and control proposes. Moreover, it describes the characterisation for airborne uses of the public mobile data communication systems known broadly as 3G. The motivation for this study was the explore how this mature public communication systems could be used for aviation purposes. An experimental system was fitted to a light aircraft to record communication latency, line speed, RF level, packet loss and cell tower identifier. Communications was established using internet protocols and connection was made to a local server. The aircraft was flown in both remote and populous areas at altitudes up to 8500 ft in a region located in South East Queensland, Australia. Results show that the average airborne RF levels are better than those on the ground by 21% and in the order of - 77dbm. Latencies were in the order of 500ms (1/2 the latency of Iridium), an average download speed of 0.48Mb/s, average uplink speed of 0.85Mb/s, a packet of information loss of 6.5%. The maximum communication range was also observed to be 70km from a single cell station. The paper also describes possible limitations and utility of using such communications architecture for both manned and unmanned aircraft systems.

Characterisation of public mobile data networks for aeronautical telemetry purposes

This paper describes the characterisation for airborne uses of the public mobile data communication systems known broadly as 3G. The motivation for this study was to explore how this mature public communication systems could be used for aviation purposes. An experimental system was fitted to a light aircraft to record communication latency, line speed, RF level, packet loss and cell tower identifier. Communications was established using internet protocols and connection was made to a local server. The aircraft was flown in both remote and populous areas at altitudes up to 8500ft in a region located in South East Queensland, Australia. Results show that the average airborne RF levels are better than those on the ground by 21% and in the order of -77 dbm. Latencies were in the order of 500 ms (1/2 the latency of Iridium), an average download speed of 0.48 Mb/s, average uplink speed of 0.85 Mb/s, a packet of information loss of 6.5%. The maximum communication range was also observed to be 70km from a single cell station. The paper also describes possible limitations and utility of using such a communications architecture for both manned and unmanned aircraft systems.

并行最优路径算法及并行层次通信模型LogGP(h)研究

随着以数据为中心的超级计算时代的到来，在各种以图为数据结构的应用中数据规模日益增大，数据量的急剧增加使得串行最优路径算法成为应用的性能瓶颈，已不能满足大规模最优路径求解的实时性要求。然而，最优路径求解算法的并行化却对图的类型有高度的敏感性，尤其是对一些稀疏图，如交通网络图，目前并没有很好的算法提供足够的并行性[1]。对此，本文提出、实现和优化了一种新的基于网络划分和迭代更新的并行最优路径算法，并用真实的交通网络数据在IBM JS21集群和曙光5000A两种平台上对算法进行了评测。测试结果表明，该算法具有较好的性能，在IBM JS21集群上，使用16个进程会出现约15倍的加速比；而在曙光5000A上，算法使用同一节点内的16个核获得了约20倍的超线性加速比。 本文的另一部分研究工作集中在新的并行计算模型方面。研究者所提出的并行计算模型有很多，从基于共享存储器结构的第一代并行计算模型，到针对于分布式存储结构的第二代并行模型，再到考虑存储层次性的第三代并行计算模型，却较少有模型考虑到通信的层次性。 大规模集群系统往往由几百到几千、甚至上万个节点构成，网络拓扑结构复杂。在这样的大规模集群系统中，点对点通信的性能并不总是一致的。这种非一致的通信性能随着网络拓扑的复杂化呈现层次性的变化，本文首先提出了层次化非一致性带宽和延迟(Hierarchical Communication Latency and Bandwidth：HCLB)的概念，并以进程映射对MPI Allgather的四种算法性能影响说明了由多核结构引起的通信层次性；之后，本文将大规模集群系统中的HCLB现象模型化，提出LogGP(h)并行通信模型。LogGP(h)在LogGP模型基础上，通过参数h将网络拓扑结构抽象到模型中，很好的表达了通信层次性。本文在具有8个刀片的IBM JS21集群上对点对点通信和集合通信开销进行模型分析和实际测试，实验结果表明，LogGP(h)较未引入参数h的LogGP模型更精确。

Robust, High-Speed Network Design for Large-Scale Multiprocessing

As multiprocessor system size scales upward, two important aspects of multiprocessor systems will generally get worse rather than better: (1) interprocessor communication latency will increase and (2) the probability that some component in the system will fail will increase. These problems can prevent us from realizing the potential benefits of large-scale multiprocessing. In this report we consider the problem of designing networks which simultaneously minimize communication latency while maximizing fault tolerance. Using a synergy of techniques including connection topologies, routing protocols, signalling techniques, and packaging technologies we assemble integrated, system-level solutions to this network design problem.

Resource Management for Responsive Web Computing

The exploding demand for services like the World Wide Web reflects the potential that is presented by globally distributed information systems. The number of WWW servers world-wide has doubled every 3 to 5 months since 1993, outstripping even the growth of the Internet. At each of these self-managed sites, the Common Gateway Interface (CGI) and Hypertext Transfer Protocol (HTTP) already constitute a rudimentary basis for contributing local resources to remote collaborations. However, the Web has serious deficiencies that make it unsuited for use as a true medium for metacomputing --- the process of bringing hardware, software, and expertise from many geographically dispersed sources to bear on large scale problems. These deficiencies are, paradoxically, the direct result of the very simple design principles that enabled its exponential growth. There are many symptoms of the problems exhibited by the Web: disk and network resources are consumed extravagantly; information search and discovery are difficult; protocols are aimed at data movement rather than task migration, and ignore the potential for distributing computation. However, all of these can be seen as aspects of a single problem: as a distributed system for metacomputing, the Web offers unpredictable performance and unreliable results. The goal of our project is to use the Web as a medium (within either the global Internet or an enterprise intranet) for metacomputing in a reliable way with performance guarantees. We attack this problem one four levels: (1) Resource Management Services: Globally distributed computing allows novel approaches to the old problems of performance guarantees and reliability. Our first set of ideas involve setting up a family of real-time resource management models organized by the Web Computing Framework with a standard Resource Management Interface (RMI), a Resource Registry, a Task Registry, and resource management protocols to allow resource needs and availability information be collected and disseminated so that a family of algorithms with varying computational precision and accuracy of representations can be chosen to meet realtime and reliability constraints. (2) Middleware Services: Complementary to techniques for allocating and scheduling available resources to serve application needs under realtime and reliability constraints, the second set of ideas aim at reduce communication latency, traffic congestion, server work load, etc. We develop customizable middleware services to exploit application characteristics in traffic analysis to drive new server/browser design strategies (e.g., exploit self-similarity of Web traffic), derive document access patterns via multiserver cooperation, and use them in speculative prefetching, document caching, and aggressive replication to reduce server load and bandwidth requirements. (3) Communication Infrastructure: Finally, to achieve any guarantee of quality of service or performance, one must get at the network layer that can provide the basic guarantees of bandwidth, latency, and reliability. Therefore, the third area is a set of new techniques in network service and protocol designs. (4) Object-Oriented Web Computing Framework A useful resource management system must deal with job priority, fault-tolerance, quality of service, complex resources such as ATM channels, probabilistic models, etc., and models must be tailored to represent the best tradeoff for a particular setting. This requires a family of models, organized within an object-oriented framework, because no one-size-fits-all approach is appropriate. This presents a software engineering challenge requiring integration of solutions at all levels: algorithms, models, protocols, and profiling and monitoring tools. The framework captures the abstract class interfaces of the collection of cooperating components, but allows the concretization of each component to be driven by the requirements of a specific approach and environment.

On the application of optimal control techniques in lossy fieldbuses

The performance of real-time networks is under continuous improvement as a result of several trends in the digital world. However, these tendencies not only cause improvements, but also exacerbates a series of unideal aspects of real-time networks such as communication latency, jitter of the latency and packet drop rate. This Thesis focuses on the communication errors that appear on such realtime networks, from the point-of-view of automatic control. Specifically, it investigates the effects of packet drops in automatic control over fieldbuses, as well as the architectures and optimal techniques for their compensation. Firstly, a new approach to address the problems that rise in virtue of such packet drops, is proposed. This novel approach is based on the simultaneous transmission of several values in a single message. Such messages can be from sensor to controller, in which case they are comprised of several past sensor readings, or from controller to actuator in which case they are comprised of estimates of several future control values. A series of tests reveal the advantages of this approach. The above-explained approach is then expanded as to accommodate the techniques of contemporary optimal control. However, unlike the aforementioned approach, that deliberately does not send certain messages in order to make a more efficient use of network resources; in the second case, the techniques are used to reduce the effects of packet losses. After these two approaches that are based on data aggregation, it is also studied the optimal control in packet dropping fieldbuses, using generalized actuator output functions. This study ends with the development of a new optimal controller, as well as the function, among the generalized functions that dictate the actuator’s behaviour in the absence of a new control message, that leads to the optimal performance. The Thesis also presents a different line of research, related with the output oscillations that take place as a consequence of the use of classic co-design techniques of networked control. The proposed algorithm has the goal of allowing the execution of such classical co-design algorithms without causing an output oscillation that increases the value of the cost function. Such increases may, under certain circumstances, negate the advantages of the application of the classical co-design techniques. A yet another line of research, investigated algorithms, more efficient than contemporary ones, to generate task execution sequences that guarantee that at least a given number of activated jobs will be executed out of every set composed by a predetermined number of contiguous activations. This algorithm may, in the future, be applied to the generation of message transmission patterns in the above-mentioned techniques for the efficient use of network resources. The proposed task generation algorithm is better than its predecessors in the sense that it is capable of scheduling systems that cannot be scheduled by its predecessor algorithms. The Thesis also presents a mechanism that allows to perform multi-path routing in wireless sensor networks, while ensuring that no value will be counted in duplicate. Thereby, this technique improves the performance of wireless sensor networks, rendering them more suitable for control applications. As mentioned before, this Thesis is centered around techniques for the improvement of performance of distributed control systems in which several elements are connected through a fieldbus that may be subject to packet drops. The first three approaches are directly related to this topic, with the first two approaching the problem from an architectural standpoint, whereas the third one does so from more theoretical grounds. The fourth approach ensures that the approaches to this and similar problems that can be found in the literature that try to achieve goals similar to objectives of this Thesis, can do so without causing other problems that may invalidate the solutions in question. Then, the thesis presents an approach to the problem dealt with in it, which is centered in the efficient generation of the transmission patterns that are used in the aforementioned approaches.

Architecture for real-time coordination of multiple autonomous mobile units

Interest on using teams of mobile robots has been growing, due to their potential to cooperate for diverse purposes, such as rescue, de-mining, surveillance or even games such as robotic soccer. These applications require a real-time middleware and wireless communication protocol that can support an efficient and timely fusion of the perception data from different robots as well as the development of coordinated behaviours. Coordinating several autonomous robots towards achieving a common goal is currently a topic of high interest, which can be found in many application domains. Despite these different application domains, the technical problem of building an infrastructure to support the integration of the distributed perception and subsequent coordinated action is similar. This problem becomes tougher with stronger system dynamics, e.g., when the robots move faster or interact with fast objects, leading to tighter real-time constraints. This thesis work addressed computing architectures and wireless communication protocols to support efficient information sharing and coordination strategies taking into account the real-time nature of robot activities. The thesis makes two main claims. Firstly, we claim that despite the use of a wireless communication protocol that includes arbitration mechanisms, the self-organization of the team communications in a dynamic round that also accounts for variable team membership, effectively reduces collisions within the team, independently of its current composition, significantly improving the quality of the communications. We will validate this claim in terms of packet losses and communication latency. We show how such self-organization of the communications can be achieved in an efficient way with the Reconfigurable and Adaptive TDMA protocol. Secondly, we claim that the development of distributed perception, cooperation and coordinated action for teams of mobile robots can be simplified by using a shared memory middleware that replicates in each cooperating robot all necessary remote data, the Real-Time Database (RTDB) middleware. These remote data copies, which are updated in the background by the selforganizing communications protocol, are extended with age information automatically computed by the middleware and are locally accessible through fast primitives. We validate our claim showing a parsimonious use of the communication medium, improved timing information with respect to the shared data and the simplicity of use and effectiveness of the proposed middleware shown in several use cases, reinforced with a reasonable impact in the Middle Size League of RoboCup.

Support on the remote interaction for augmented reality system

This article presents a support on the remote interaction for utilization in augmented reality systems based on ARToolkit. It utilizes the multicast communication in order to improve the scalability of distributed environment. This support may be utilized in production of specific applications pointed to distance education, training and entertainment. The validity of support happened with the implementation of a prototype and realization of tests for communication latency analysis and frames per second rate. © 2007 IEEE.

Systematic analysis of the decoding delay on MVC decoders

We present a framework for the analysis of the decoding delay and communication latency in Multiview Video Coding. The application of this framework on MVC decoders allows minimizing the overall delay in immersive video-conference systems.

Systematic analysis of the decoding delay in multiview video

We present a framework for the analysis of the decoding delay in multiview video coding (MVC). We show that in real-time applications, an accurate estimation of the decoding delay is essential to achieve a minimum communication latency. As opposed to single-view codecs, the complexity of the multiview prediction structure and the parallel decoding of several views requires a systematic analysis of this decoding delay, which we solve using graph theory and a model of the decoder hardware architecture. Our framework assumes a decoder implementation in general purpose multi-core processors with multi-threading capabilities. For this hardware model, we show that frame processing times depend on the computational load of the decoder and we provide an iterative algorithm to compute jointly frame processing times and decoding delay. Finally, we show that decoding delay analysis can be applied to design decoders with the objective of minimizing the communication latency of the MVC system.

Internet computing with distributed software agent

The phenomenonal growth of the Internet has connected us to a vast amount of computation and information resources around the world. However, making use of these resources is difficult due to the unparalleled massiveness, high communication latency, share-nothing architecture and unreliable connection of the Internet. In this dissertation, we present a distributed software agent approach, which brings a new distributed problem-solving paradigm to the Internet computing researches with enhanced client-server scheme, inherent scalability and heterogeneity. Our study discusses the role of a distributed software agent in Internet computing and classifies it into three major categories by the objects it interacts with: computation agent, information agent and interface agent. The discussion of the problem domain and the deployment of the computation agent and the information agent are presented with the analysis, design and implementation of the experimental systems in high performance Internet computing and in scalable Web searching. ^ In the computation agent study, high performance Internet computing can be achieved with our proposed Java massive computation agent (JAM) model. We analyzed the JAM computing scheme and built a brutal force cipher text decryption prototype. In the information agent study, we discuss the scalability problem of the existing Web search engines and designed the approach of Web searching with distributed collaborative index agent. This approach can be used for constructing a more accurate, reusable and scalable solution to deal with the growth of the Web and of the information on the Web. ^ Our research reveals that with the deployment of the distributed software agent in Internet computing, we can have a more cost effective approach to make better use of the gigantic scale network of computation and information resources on the Internet. The case studies in our research show that we are now able to solve many practically hard or previously unsolvable problems caused by the inherent difficulties of Internet computing. ^

Wave impedance selection for passivity-based bilateral teleoperation

When a task must be executed in a remote or dangerous environment, teleoperation systems may be employed to extend the influence of the human operator. In the case of manipulation tasks, haptic feedback of the forces experienced by the remote (slave) system is often highly useful in improving an operator's ability to perform effectively. In many of these cases (especially teleoperation over the internet and ground-to-space teleoperation), substantial communication latency exists in the control loop and has the strong tendency to cause instability of the system. The first viable solution to this problem in the literature was based on a scattering/wave transformation from transmission line theory. This wave transformation requires the designer to select a wave impedance parameter appropriate to the teleoperation system. It is widely recognized that a small value of wave impedance is well suited to free motion and a large value is preferable for contact tasks. Beyond this basic observation, however, very little guidance exists in the literature regarding the selection of an appropriate value. Moreover, prior research on impedance selection generally fails to account for the fact that in any realistic contact task there will simultaneously exist contact considerations (perpendicular to the surface of contact) and quasi-free-motion considerations (parallel to the surface of contact). The primary contribution of the present work is to introduce an approximate linearized optimum for the choice of wave impedance and to apply this quasi-optimal choice to the Cartesian reality of such a contact task, in which it cannot be expected that a given joint will be either perfectly normal to or perfectly parallel to the motion constraint. The proposed scheme selects a wave impedance matrix that is appropriate to the conditions encountered by the manipulator. This choice may be implemented as a static wave impedance value or as a time-varying choice updated according to the instantaneous conditions encountered. A Lyapunov-like analysis is presented demonstrating that time variation in wave impedance will not violate the passivity of the system. Experimental trials, both in simulation and on a haptic feedback device, are presented validating the technique. Consideration is also given to the case of an uncertain environment, in which an a priori impedance choice may not be possible.

OdinTelehealth: a mobile service platform for telehealth

In this paper we present our experience with developing telehealth applications using smartphones in conjunction with a mobile service provisioning middleware platform named Odin. Common requirements for mobile telehealth applications include the need to support multiple stakeholders, high levels of connectivity between users, real-time interaction, bidirectional communication channels for exchanging diverse data types, computationally intensive processing and security. Meeting these needs is a non-trivial task in mobile execution environments given the limitations of mobile devices and wireless and mobile networks. Odin enables a separation of concerns between application functionality and resource management governing mobile devices and wireless networking. Using Odin, application developers can rapidly develop telehealth applications without needing to address underlying complexity. We describe development of an Odin-based monitoring application that meets many of the aforementioned requirements associated with mobile telehealth. Based on evaluation, results for smartphone power consumption, network bandwidth usage, and communication latency suggest that Odin is an appropriate platform for general telehealth applications.