Merge branch 'master' of ssh://bilbo.iut-bm.univ-fcomte.fr/GMRES2stage

[GMRES2stage.git] / paper.tex

diff --git a/paper.tex b/paper.tex
index 36298aa5ea5d0e07e8be169e7918b43b4b4d74dc..4086a0eebca0b5e846bf3dcc2b67763010cb6be0 100644 (file)
--- a/paper.tex
+++ b/paper.tex
@@ -354,6 +354,7 @@
 \usepackage{amsmath}
 \usepackage{amssymb}
 \usepackage{multirow}
 \usepackage{amsmath}
 \usepackage{amssymb}
 \usepackage{multirow}

+\usepackage{graphicx}

 
 \algnewcommand\algorithmicinput{\textbf{Input:}}
 \algnewcommand\Input{\item[\algorithmicinput]}
 
 \algnewcommand\algorithmicinput{\textbf{Input:}}
 \algnewcommand\Input{\item[\algorithmicinput]}


@@ -367,31 +368,29 @@
 %
 % paper title
 % can use linebreaks \\ within to get better formatting as desired
 %
 % paper title
 % can use linebreaks \\ within to get better formatting as desired

-\title{A Krylov two-stage algorithm to solve large sparse linear systems}
+\title{TSARM: A Two-Stage Algorithm with least-square Residual Minimization to solve large sparse linear systems}

 %où
 %\title{A two-stage algorithm with error minimization to solve large sparse linear systems}
 %où
 %\title{???}
 
 
 %où
 %\title{A two-stage algorithm with error minimization to solve large sparse linear systems}
 %où
 %\title{???}
 
 

+
+
+

 % author names and affiliations
 % use a multiple column layout for up to two different
 % affiliations
 
 % author names and affiliations
 % use a multiple column layout for up to two different
 % affiliations
 

-\author{\IEEEauthorblockN{Rapha\"el Couturier}
-\IEEEauthorblockA{Femto-ST Institute - DISC Department\\
-Universit\'e de Franche-Comt\'e, IUT de Belfort-Montb\'eliard\\
-19 avenue de Mar\'echal Juin, BP 527 \\
-90016 Belfort Cedex, France\\
-Email: raphael.couturier@univ-fcomte.fr}
-\and
-\IEEEauthorblockN{Lilia Ziane Khodja}
-\IEEEauthorblockA{Centre de Recherche INRIA Bordeaux Sud-Ouest\\
-200 avenue de la Vieille Tour\\
-33405 Talence Cedex, France\\
+\author{\IEEEauthorblockN{Rapha\"el Couturier\IEEEauthorrefmark{1}, Lilia Ziane Khodja \IEEEauthorrefmark{2} and Christophe Guyeux\IEEEauthorrefmark{1}}
+\IEEEauthorblockA{\IEEEauthorrefmark{1} Femto-ST Institute, University of Franche Comte, France\\
+Email: \{raphael.couturier,christophe.guyeux\}@univ-fcomte.fr}
+\IEEEauthorblockA{\IEEEauthorrefmark{2} INRIA Bordeaux Sud-Ouest, France\\

 Email: lilia.ziane@inria.fr}
 }
 
 Email: lilia.ziane@inria.fr}
 }
 

+
+

 % conference papers do not typically use \thanks and this command
 % is locked out in conference mode. If really needed, such as for
 % the acknowledgment of grants, issue a \IEEEoverridecommandlockouts
 % conference papers do not typically use \thanks and this command
 % is locked out in conference mode. If really needed, such as for
 % the acknowledgment of grants, issue a \IEEEoverridecommandlockouts


@@ -428,11 +427,20 @@ Email: lilia.ziane@inria.fr}
 
 
 \begin{abstract}
 
 
 \begin{abstract}

-%The abstract goes here. DO NOT USE SPECIAL CHARACTERS, SYMBOLS, OR MATH IN YOUR TITLE OR ABSTRACT.
+In  this paper  we propose  a  two stage  iterative method  which increases  the
+convergence of Krylov iterative methods,  typically those of GMRES variants. The
+principle of  our approach  is to  build an external  iteration over  the Krylov
+method  and to  save  the current  residual  frequently (for  example, for  each
+restart of GMRES). Then after a given number of outer iterations, a minimization
+step  is applied  on the  matrix composed  of the  saved residuals  in  order to
+compute a better solution and make  a new iteration if necessary.  We prove that
+our method has  the same convergence property than the  inner method used.  Some
+experiments using up  to 16,394 cores show that compared  to GMRES our algorithm
+can be around 7 times faster.

 \end{abstract}
 
 \begin{IEEEkeywords}
 \end{abstract}
 
 \begin{IEEEkeywords}

-Iterative Krylov methods; sparse linear systems; error minimization; PETSc; %à voir... 
+Iterative Krylov methods; sparse linear systems; residual minimization; PETSc; %à voir... 

 \end{IEEEkeywords}
 
 
 \end{IEEEkeywords}
 
 


@@ -539,12 +547,14 @@ Iterative Krylov methods; sparse linear systems; error minimization; PETSc; %à
 % no \IEEEPARstart
 % You must have at least 2 lines in the paragraph with the drop letter
 % (should never be an issue)
 % no \IEEEPARstart
 % You must have at least 2 lines in the paragraph with the drop letter
 % (should never be an issue)

-Iterative  methods are become  more attractive  than direct  ones to  solve very
-large sparse linear  systems. They are more effective in  a parallel context and
-require less memory  and arithmetic operations than direct  methods. A number of
-iterative methods are proposed and adapted by many researchers and the increased
-need for solving  very large sparse linear systems  triggered the development of
-efficient iterative techniques suitable for the parallel processing.
+
+Iterative methods  became more attractive than  direct ones to  solve very large
+sparse  linear systems.  Iterative  methods  are more  effecient  in a  parallel
+context,  with  thousands  of  cores,  and  require  less  memory  and  arithmetic
+operations than direct  methods. A number of iterative  methods are proposed and
+adapted by many researchers and the increased need for solving very large sparse
+linear  systems  triggered the  development  of  efficient iterative  techniques
+suitable for the parallel processing.

 
 Most of the successful iterative methods currently available are based on Krylov
 subspaces which  consist in forming a  basis of a sequence  of successive matrix
 
 Most of the successful iterative methods currently available are based on Krylov
 subspaces which  consist in forming a  basis of a sequence  of successive matrix


@@ -566,15 +576,17 @@ large clusters.
 In this  paper we propose a  two-stage algorithm based on  two nested iterations
 called inner-outer  iterations.  This algorithm  consists in solving  the sparse
 linear system iteratively  with a small number of  inner iterations and restarts
 In this  paper we propose a  two-stage algorithm based on  two nested iterations
 called inner-outer  iterations.  This algorithm  consists in solving  the sparse
 linear system iteratively  with a small number of  inner iterations and restarts

-the outer step with a new solution minimizing some error functions over a Krylov
-subspace. This algorithm is iterative  and easy to parallelize on large clusters
-and the minimization technique improves its convergence and performances.
+the outer  step with a  new solution minimizing  some error functions  over some
+previous residuals. This algorithm is iterative and easy to parallelize on large
+clusters   and  the   minimization  technique   improves  its   convergence  and
+performances.

 
 The present paper is organized  as follows. In Section~\ref{sec:02} some related
 
 The present paper is organized  as follows. In Section~\ref{sec:02} some related

-works are presented. Section~\ref{sec:03} presents our two-stage algorithm based
-on   Krylov  subspace   iteration  methods.   Section~\ref{sec:04}   shows  some
-experimental results obtained on large  clusters of our algorithm using routines
-of PETSc toolkit.
+works are presented. Section~\ref{sec:03} presents our two-stage algorithm using
+a  least-square  residual  minimization.   Section~\ref{sec:04}  describes  some
+convergence  results  on this  method.   Section~\ref{sec:05}  shows  some  experimental
+results  obtained on large  clusters of  our algorithm  using routines  of PETSc
+toolkit.  Finally Section~\ref{sec:06} concludes and gives some perspectives.

 %%%*********************************************************
 %%%*********************************************************
 
 %%%*********************************************************
 %%%*********************************************************
 


@@ -592,7 +604,7 @@ of PETSc toolkit.
 
 %%%*********************************************************
 %%%*********************************************************
 
 %%%*********************************************************
 %%%*********************************************************

-\section{A Krylov two-stage algorithm}
+\section{Two-stage algorithm with least-square residuals minimization}

 \label{sec:03}
 A two-stage algorithm is proposed  to solve large  sparse linear systems  of the
 form  $Ax=b$,  where  $A\in\mathbb{R}^{n\times   n}$  is  a  sparse  and  square
 \label{sec:03}
 A two-stage algorithm is proposed  to solve large  sparse linear systems  of the
 form  $Ax=b$,  where  $A\in\mathbb{R}^{n\times   n}$  is  a  sparse  and  square


@@ -601,76 +613,138 @@ $b\in\mathbb{R}^n$ is  the right-hand side.  The algorithm is implemented  as an
 inner-outer iteration  solver based  on iterative Krylov  methods. The  main key
 points of our solver are given in Algorithm~\ref{algo:01}.
 
 inner-outer iteration  solver based  on iterative Krylov  methods. The  main key
 points of our solver are given in Algorithm~\ref{algo:01}.
 

-In order to accelerate the convergence, the outer iteration is implemented as an
-iterative  Krylov method  which minimizes  some  error functions  over a  Krylov
-subspace~\cite{saad96}. At  each iteration, the  sparse linear system  $Ax=b$ is
-solved   iteratively    with   an   iterative   method,    for   example   GMRES
-method~\cite{saad86} or  some of its variants,  and the Krylov  subspace that we
-used is spanned by a basis  $S$ composed of successive solutions issued from the
-inner iteration
-\begin{equation}
-  S = \{x^1, x^2, \ldots, x^s\} \text{,~} s\leq n.
-\end{equation} 
-The advantage  of such a Krylov subspace  is that we neither  need an orthogonal
-basis nor  any synchronization  between processors to  generate this  basis. The
-algorithm  is periodically  restarted every  $s$ iterations  with a  new initial
-guess $x=S\alpha$ which minimizes the residual norm $\|b-Ax\|_2$ over the Krylov
-subspace spanned by  vectors of $S$, where $\alpha$ is a  solution of the normal
-equations
-\begin{equation}
-  R^TR\alpha = R^Tb,
-\end{equation}
-which is associated with the least-squares problem
+In order to accelerate the convergence, the outer iteration periodically applies
+a least-square minimization  on the residuals computed by  the inner solver. The
+inner solver is based on a Krylov method which does not require to be changed.
+
+At each outer iteration, the sparse linear system $Ax=b$ is solved, only for $m$
+iterations, using an iterative method restarting with the previous solution. For
+example, the GMRES method~\cite{Saad86} or some of its variants can be used as a
+inner solver. The current solution of the Krylov method is saved inside a matrix
+$S$ composed of successive solutions computed by the inner iteration.
+
+Periodically, every $s$ iterations, the minimization step is applied in order to
+compute a new  solution $x$. For that, the previous  residuals are computed with
+$(b-AS)$. The minimization of the residuals is obtained by 

 \begin{equation}
    \underset{\alpha\in\mathbb{R}^{s}}{min}\|b-R\alpha\|_2
 \label{eq:01}
 \end{equation}
 \begin{equation}
    \underset{\alpha\in\mathbb{R}^{s}}{min}\|b-R\alpha\|_2
 \label{eq:01}
 \end{equation}

-such  that $R=AS$  is a  dense rectangular  matrix in  $\mathbb{R}^{n\times s}$,
-$s\ll n$,  and $R^T$ denotes  the transpose of  matrix $R$. We use  an iterative
-method   to  solve   the  least-squares   problem~(\ref{eq:01})  such   as  CGLS
-~\cite{hestenes52}  or LSQR~\cite{paige82}  which  are more  appropriate than  a
-direct method in the parallel context.
+with $R=AS$. Then the new solution $x$ is computed with $x=S\alpha$.
+
+
+In  practice, $R$  is a  dense rectangular  matrix in  $\mathbb{R}^{n\times s}$,
+$s\ll n$.   In order  to minimize~(\ref{eq:01}), a  least-square method  such as
+CGLS ~\cite{Hestenes52}  or LSQR~\cite{Paige82} is used. Those  methods are more
+appropriate than a direct method in a parallel context.

 
 \begin{algorithm}[t]
 
 \begin{algorithm}[t]

-\caption{A Krylov two-stage algorithm}
+\caption{TSARM}

 \begin{algorithmic}[1]
   \Input $A$ (sparse matrix), $b$ (right-hand side)
   \Output $x$ (solution vector)\vspace{0.2cm}
   \State Set the initial guess $x^0$
 \begin{algorithmic}[1]
   \Input $A$ (sparse matrix), $b$ (right-hand side)
   \Output $x$ (solution vector)\vspace{0.2cm}
   \State Set the initial guess $x^0$

-  \For {$k=1,2,3,\ldots$ until convergence}
-    \State Solve iteratively $Ax^k=b$
-    \State $S_{k~mod~s}=x^k$ 
-    \If {$k$ mod $s=0$ {\bf and} not convergence}
-      \State Compute dense matrix $R=AS$
-      \State Solve least-squares problem $\underset{\alpha\in\mathbb{R}^{s}}{min}\|b-R\alpha\|_2$
-      \State Compute minimizer $x^k=S\alpha$
+  \For {$k=1,2,3,\ldots$ until convergence (error$<\epsilon_{tsarm}$)} \label{algo:conv}
+    \State  $x^k=Solve(A,b,x^{k-1},max\_iter_{kryl})$   \label{algo:solve}
+    \State retrieve error
+    \State $S_{k~mod~s}=x^k$ \label{algo:store}
+    \If {$k$ mod $s=0$ {\bf and} error$>\epsilon_{tsarm}$}
+      \State $R=AS$ \Comment{compute dense matrix} \label{algo:matrix_mul}
+      \State Solve least-squares problem $\underset{\alpha\in\mathbb{R}^{s}}{min}\|b-R\alpha\|_2$ \label{algo:}
+      \State $x^k=S\alpha$  \Comment{compute new solution}

     \EndIf
   \EndFor
 \end{algorithmic}
 \label{algo:01}
 \end{algorithm}
 
     \EndIf
   \EndFor
 \end{algorithmic}
 \label{algo:01}
 \end{algorithm}
 

-Operation $S_{k~  mod~ s}=x^k$ consists in  copying the residual  $x_k$ into the
-column $k~ mod~ s$ of the matrix  $S$. After the minimization, the matrix $S$ is
-reused with the new values of the residuals.
+Algorithm~\ref{algo:01}  summarizes  the principle  of  our  method.  The  outer
+iteration is  inside the for  loop. Line~\ref{algo:solve}, the Krylov  method is
+called for a  maximum of $max\_iter_{kryl}$ iterations.  In practice, we  suggest to set this parameter
+equals to  the restart  number of the  GMRES-like method. Moreover,  a tolerance
+threshold must be specified for the  solver. In practice, this threshold must be
+much  smaller  than the  convergence  threshold  of  the TSARM  algorithm  (i.e.
+$\epsilon_{tsarm}$).  Line~\ref{algo:store}, $S_{k~ mod~ s}=x^k$ consists in copying the
+solution  $x_k$  into the  column  $k~  mod~ s$ of  the  matrix  $S$. After  the
+minimization, the matrix $S$ is reused with the new values of the residuals.  To
+solve the minimization problem, an  iterative method is used. Two parameters are
+required for that: the maximum number of iteration and the threshold to stop the
+method.
+
+To summarize, the important parameters of TSARM are:
+\begin{itemize}
+\item $\epsilon_{tsarm}$ the threshold to stop the TSARM method
+\item $max\_iter_{kryl}$ the maximum number of iterations for the krylov method
+\item $s$ the number of outer iterations before applying the minimization step
+\item $max\_iter_{ls}$ the maximum number of iterations for the iterative least-square method
+\item $\epsilon_{ls}$ the threshold to stop the least-square method
+\end{itemize}
+
+
+The  parallelisation  of  TSARM  relies   on  the  parallelization  of  all  its
+parts. More  precisely, except  the least-square step,  all the other  parts are
+obvious to  achieve out in parallel. In  order to develop a  parallel version of
+our   code,   we   have   chosen  to   use   PETSc~\cite{petsc-web-page}.    For
+line~\ref{algo:matrix_mul} the  matrix-matrix multiplication is  implemented and
+efficient since the  matrix $A$ is sparse and since the  matrix $S$ contains few
+colums in  practice. As explained  previously, at least  two methods seem  to be
+interesting to solve the least-square minimization, CGLS and LSQR.
+
+In the following  we remind the CGLS algorithm. The LSQR  method follows more or
+less the same principle but it take more place, so we briefly explain the parallelization of CGLS which is similar to LSQR.
+
+\begin{algorithm}[t]
+\caption{CGLS}
+\begin{algorithmic}[1]
+  \Input $A$ (matrix), $b$ (right-hand side)
+  \Output $x$ (solution vector)\vspace{0.2cm}
+  \State $r=b-Ax$
+  \State $p=A'r$
+  \State $s=p$
+  \State $g=||s||^2_2$
+  \For {$k=1,2,3,\ldots$ until convergence (g$<\epsilon_{ls}$)} \label{algo2:conv}
+    \State $q=Ap$
+    \State $\alpha=g/||q||^2_2$
+    \State $x=x+alpha*p$
+    \State $r=r-alpha*q$
+    \State $s=A'*r$
+    \State $g_{old}=g$
+    \State $g=||s||^2_2$
+    \State $\beta=g/g_{old}$
+  \EndFor
+\end{algorithmic}
+\label{algo:02}
+\end{algorithm}
+
+
+In each iteration  of CGLS, there is two  matrix-vector multiplications and some
+classical operations:  dots, norm, multiplication  and addition on  vectors. All
+these operations are easy to implement in PETSc or similar environment.
+
+

 
 %%%*********************************************************
 %%%*********************************************************
 
 
 %%%*********************************************************
 %%%*********************************************************
 

+\section{Convergence results}
+\label{sec:04}
+
+

 
 
 %%%*********************************************************
 %%%*********************************************************
 \section{Experiments using petsc}
 
 
 %%%*********************************************************
 %%%*********************************************************
 \section{Experiments using petsc}

-\label{sec:04}
+\label{sec:05}

 
 
 In order to see the influence of our algorithm with only one processor, we first
 show  a comparison  with the  standard version  of GMRES  and our  algorithm. In
 table~\ref{tab:01},  we  show  the  matrices  we  have used  and  some  of  them
 
 
 In order to see the influence of our algorithm with only one processor, we first
 show  a comparison  with the  standard version  of GMRES  and our  algorithm. In
 table~\ref{tab:01},  we  show  the  matrices  we  have used  and  some  of  them

-characteristics.
+characteristics. For all  the matrices, the name, the field,  the number of rows
+and the number of nonzero elements is given.

 
 

-\begin{table}
+\begin{table*}

 \begin{center}
 \begin{tabular}{|c|c|r|r|r|} 
 \hline
 \begin{center}
 \begin{tabular}{|c|c|r|r|r|} 
 \hline


@@ -687,9 +761,29 @@ torso3             & 2D/3D problem & 259,156 & 4,429,042 \\
 \caption{Main characteristics of the sparse matrices chosen from the Davis collection}
 \label{tab:01}
 \end{center}
 \caption{Main characteristics of the sparse matrices chosen from the Davis collection}
 \label{tab:01}
 \end{center}

-\end{table}
-
-
+\end{table*}
+
+The following  parameters have been chosen  for our experiments.   As by default
+the restart  of GMRES is performed every  30 iterations, we have  chosen to stop
+the GMRES every 30 iterations, $max\_iter_{kryl}=30$).  $s$ is set to 8. CGLS is
+chosen  to minimize  the least-squares  problem with  the  following parameters:
+$\epsilon_{ls}=1e-40$ and $max\_iter_{ls}=20$.  The external precision is set to
+$1e-10$  (i.e. ).   Those experiments
+have been  performed on  a Intel(R)  Core(TM) i7-3630QM CPU  @ 2.40GHz  with the
+version 3.5.1 of PETSc.
+
+
+In  Table~\ref{tab:02}, some  experiments comparing  the solving  of  the linear
+systems obtained with the previous matrices  with a GMRES variant and with out 2
+stage algorithm are  given. In the second column, it can  be noticed that either
+gmres or fgmres is used to  solve the linear system.  According to the matrices,
+different preconditioner is  used.  With the 2 stage  algorithm, the same solver
+and  the same  preconditionner  is used.   This  Table shows  that  the 2  stage
+algorithm  can  drastically  reduce  the  number  of  iterations  to  reach  the
+convergence when the  number of iterations for the normal GMRES  is more or less
+greater than  500. In fact  this also depends  on tow parameters: the  number of
+iterations  to  stop  GMRES  and   the  number  of  iterations  to  perform  the
+minimization.

 
 
 \begin{table}
 
 
 \begin{table}


@@ -697,32 +791,134 @@ torso3             & 2D/3D problem & 259,156 & 4,429,042 \\
 \begin{tabular}{|c|c|r|r|r|r|} 
 \hline
 
 \begin{tabular}{|c|c|r|r|r|r|} 
 \hline
 

- \multirow{2}{*}{Matrix name}  & Solver /   & \multicolumn{2}{c|}{gmres variant} & \multicolumn{2}{c|}{2 stage} \\
+ \multirow{2}{*}{Matrix name}  & Solver /   & \multicolumn{2}{c|}{GMRES} & \multicolumn{2}{c|}{TSARM CGLS} \\ 
+\cline{3-6}

        &  precond             & Time  & \# Iter.  & Time  & \# Iter.  \\\hline \hline
 
 crashbasis         & gmres / none             &  15.65     & 518  &  14.12 & 450  \\
        &  precond             & Time  & \# Iter.  & Time  & \# Iter.  \\\hline \hline
 
 crashbasis         & gmres / none             &  15.65     & 518  &  14.12 & 450  \\

-parabolic\_fem     & gmres / ilu           &  2152  & ?? & 724 & ?? \\
+parabolic\_fem     & gmres / ilu           & 1009.94   & 7573 & 401.52 & 2970 \\

 epb3               & fgmres / sor             &  8.67     & 600  &  8.21 & 540  \\
 atmosmodj          &  fgmres / sor & 104.23  & 451 & 88.97 & 366  \\
 bfwa398            & gmres / none  & 1.42 & 9612 & 0.28 & 1650 \\
 epb3               & fgmres / sor             &  8.67     & 600  &  8.21 & 540  \\
 atmosmodj          &  fgmres / sor & 104.23  & 451 & 88.97 & 366  \\
 bfwa398            & gmres / none  & 1.42 & 9612 & 0.28 & 1650 \\

-torso3             & fgmres/sor  & 565  & 37.70 & 34.97 & 510 \\
+torso3             & fgmres / sor  & 37.70 & 565 & 34.97 & 510 \\

 \hline
 
 \end{tabular}
 \hline
 
 \end{tabular}

-\caption{Comparison of GMRES and 2 stage GMRES algorithms in sequential with some matrices, time is expressed in seconds.}
+\caption{Comparison of (F)GMRES and 2 stage (F)GMRES algorithms in sequential with some matrices, time is expressed in seconds.}

 \label{tab:02}
 \end{center}
 \end{table}
 
 
 \label{tab:02}
 \end{center}
 \end{table}
 
 

-Param : retart 30 iters
-cols = 8
-iter cgls = 20
-cgls prec = 1e-40
-prec = 1e-10
-Intel(R) Core(TM) i7-3630QM CPU @ 2.40GHz

 
 
 
 

+
+In   the   following  we   describe   the   applications   of  PETSc   we   have
+experimented. Those applications  are available in the ksp  part which is suited
+for scalable linear equations solvers:
+\begin{itemize}
+\item ex15  is an example  which solves in  parallel an operator using  a finite
+  difference  scheme.   The  diagonal  is  equals to  4  and  4  extra-diagonals
+  representing the neighbors in each directions  is equal to -1. This example is
+  used  in many  physical phenomena  , for  exemple, heat  and fluid  flow, wave
+  propagation...
+\item ex54 is another example based on 2D problem discretized with quadrilateral
+  finite elements. For this example, the user can define the scaling of material
+  coefficient in embedded circle, it is called $\alpha$.
+\end{itemize}
+For more technical details on  these applications, interested reader are invited
+to  read the  codes available  in the  PETSc sources.   Those problem  have been
+chosen because they  are scalable with many cores. We  have tested other problem
+but they are not scalable with many cores.
+
+
+
+
+\begin{table*}
+\begin{center}
+\begin{tabular}{|r|r|r|r|r|r|r|r|r|} 
+\hline
+
+  nb. cores & precond   & \multicolumn{2}{c|}{GMRES} & \multicolumn{2}{c|}{TSARM CGLS} &  \multicolumn{2}{c|}{TSARM LSQR} & best gain \\ 
+\cline{3-8}
+             &                       & Time  & \# Iter.  & Time  & \# Iter. & Time  & \# Iter. & \\\hline \hline
+  2,048      & mg                    & 403.49   & 18,210    & 73.89  & 3,060   & 77.84  & 3,270  & 5.46 \\
+  2,048      & sor                   & 745.37   & 57,060    & 87.31  & 6,150   & 104.21 & 7,230  & 8.53 \\
+  4,096      & mg                    & 562.25   & 25,170    & 97.23  & 3,990   & 89.71  & 3,630  & 6.27 \\
+  4,096      & sor                   & 912.12   & 70,194    & 145.57 & 9,750   & 168.97 & 10,980 & 6.26 \\
+  8,192      & mg                    & 917.02   & 40,290    & 148.81 & 5,730   & 143.03 & 5,280  & 6.41 \\
+  8,192      & sor                   & 1,404.53 & 106,530   & 212.55 & 12,990  & 180.97 & 10,470 & 7.76 \\
+  16,384     & mg                    & 1,430.56 & 63,930    & 237.17 & 8,310   & 244.26 & 7,950  & 6.03 \\
+  16,384     & sor                   & 2,852.14 & 216,240   & 418.46 & 21,690  & 505.26 & 23,970 & 6.82 \\
+\hline
+
+\end{tabular}
+\caption{Comparison of FGMRES and 2 stage FGMRES algorithms for ex15 of Petsc with 25000 components per core on Juqueen (threshold 1e-3, restart=30, s=12),  time is expressed in seconds.}
+\label{tab:03}
+\end{center}
+\end{table*}
+
+
+\begin{figure}
+\centering
+  \includegraphics[width=0.45\textwidth]{nb_iter_sec_ex15_juqueen}
+\caption{Number of iterations per second with ex15 and the same parameters than in Table~\ref{tab:03}}
+\label{fig:01}
+\end{figure}
+
+
+
+
+
+\begin{table*}
+\begin{center}
+\begin{tabular}{|r|r|r|r|r|r|r|r|r|} 
+\hline
+
+  nb. cores & threshold   & \multicolumn{2}{c|}{GMRES} & \multicolumn{2}{c|}{TSARM CGLS} &  \multicolumn{2}{c|}{TSARM LSQR} & best gain \\ 
+\cline{3-8}
+             &                       & Time  & \# Iter.  & Time  & \# Iter. & Time  & \# Iter. & \\\hline \hline
+  2,048      & 8e-5                  & 108.88 & 16,560  & 23.06  &  3,630  & 22.79  & 3,630   & 4.77 \\
+  2,048      & 6e-5                  & 194.01 & 30,270  & 35.50  &  5,430  & 27.74  & 4,350   & 6.99 \\
+  4,096      & 7e-5                  & 160.59 & 22,530  & 35.15  &  5,130  & 29.21  & 4,350   & 5.49 \\
+  4,096      & 6e-5                  & 249.27 & 35,520  & 52.13  &  7,950  & 39.24  & 5,790   & 6.35 \\
+  8,192      & 6e-5                  & 149.54 & 17,280  & 28.68  &  3,810  & 29.05  & 3,990  & 5.21 \\
+  8,192      & 5e-5                  & 785.04 & 109,590 & 76.07  &  10,470  & 69.42 & 9,030  & 11.30 \\
+  16,384     & 4e-5                  & 718.61 & 86,400 & 98.98  &  10,830  & 131.86  & 14,790  & 7.26 \\
+\hline
+
+\end{tabular}
+\caption{Comparison of FGMRES  and 2 stage FGMRES algorithms for ex54 of Petsc (both with the MG preconditioner) with 25000 components per core on Curie (restart=30, s=12),  time is expressed in seconds.}
+\label{tab:04}
+\end{center}
+\end{table*}
+
+
+
+
+
+\begin{table*}
+\begin{center}
+\begin{tabular}{|r|r|r|r|r|r|r|r|r|r|r|} 
+\hline
+
+  nb. cores   & \multicolumn{2}{c|}{GMRES} & \multicolumn{2}{c|}{TSARM CGLS} &  \multicolumn{2}{c|}{TSARM LSQR} & best gain & \multicolumn{3}{c|}{efficiency} \\ 
+\cline{2-7} \cline{9-11}
+                    & Time  & \# Iter.  & Time  & \# Iter. & Time  & \# Iter. &   & GMRES & TS CGLS & TS LSQR\\\hline \hline
+   512              & 3,969.69 & 33,120 & 709.57 & 5,790  & 622.76 & 5,070  & 6.37  &   1    &    1    &     1     \\
+   1024             & 1,530.06  & 25,860 & 290.95 & 4,830  & 307.71 & 5,070 & 5.25  &  1.30  &    1.21  &   1.01     \\
+   2048             & 919.62    & 31,470 & 237.52 & 8,040  & 194.22 & 6,510 & 4.73  & 1.08   &    .75   &   .80\\
+   4096             & 405.60    & 28,380 & 111.67 & 7,590  & 91.72  & 6,510 & 4.42  & 1.22   &  .79     &   .84 \\
+   8192             & 785.04   & 109,590 & 76.07  & 10,470 & 69.42 & 9,030  & 11.30 &   .32  &   .58    &  .56 \\
+
+\hline
+
+\end{tabular}
+\caption{Comparison of FGMRES  and 2 stage FGMRES algorithms for ex54 of Petsc (both with the MG preconditioner) with 204,919,225 components on Curie with different number of cores (restart=30, s=12, threshol 5e-5),  time is expressed in seconds.}
+\label{tab:05}
+\end{center}
+\end{table*}
+

 %%%*********************************************************
 %%%*********************************************************
 
 %%%*********************************************************
 %%%*********************************************************
 


@@ -731,12 +927,19 @@ Intel(R) Core(TM) i7-3630QM CPU @ 2.40GHz
 %%%*********************************************************
 %%%*********************************************************
 \section{Conclusion}
 %%%*********************************************************
 %%%*********************************************************
 \section{Conclusion}

-\label{sec:05}
+\label{sec:06}

 %The conclusion goes here. this is more of the conclusion
 %%%*********************************************************
 %%%*********************************************************
 
 
 %The conclusion goes here. this is more of the conclusion
 %%%*********************************************************
 %%%*********************************************************
 
 

+future plan : \\
+- study other kinds of matrices, problems, inner solvers\\
+- test the influence of all the parameters\\
+- adaptative number of outer iterations to minimize\\
+- other methods to minimize the residuals?\\
+- implement our solver inside PETSc
+

 
 % conference papers do not normally have an appendix
 
 
 % conference papers do not normally have an appendix
 


@@ -746,10 +949,10 @@ Intel(R) Core(TM) i7-3630QM CPU @ 2.40GHz
 %%%*********************************************************
 %%%*********************************************************
 \section*{Acknowledgment}
 %%%*********************************************************
 %%%*********************************************************
 \section*{Acknowledgment}

-%The authors would like to thank...
-%more thanks here
-%%%*********************************************************
-%%%*********************************************************
+This  paper  is   partially  funded  by  the  Labex   ACTION  program  (contract
+ANR-11-LABX-01-01).   We acknowledge PRACE  for awarding  us access  to resource
+Curie and Juqueen respectively based in France and Germany.
+

 
 
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@@ -767,23 +970,23 @@ Intel(R) Core(TM) i7-3630QM CPU @ 2.40GHz
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-%\bibliographystyle{IEEEtran}
+\bibliographystyle{IEEEtran}

 % argument is your BibTeX string definitions and bibliography database(s)
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-%\bibliography{IEEEabrv,../bib/paper}
+\bibliography{biblio}

 %
 % <OR> manually copy in the resultant .bbl file
 % set second argument of \begin to the number of references
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-\begin{thebibliography}{1}
+%% \begin{thebibliography}{1}

 
 

-\bibitem{saad86} Y.~Saad and M.~H.~Schultz, \emph{GMRES: A Generalized Minimal Residual Algorithm for Solving Nonsymmetric Linear Systems}, SIAM Journal on Scientific and Statistical Computing, 7(3):856--869, 1986.
+%% \bibitem{saad86} Y.~Saad and M.~H.~Schultz, \emph{GMRES: A Generalized Minimal Residual Algorithm for Solving Nonsymmetric Linear Systems}, SIAM Journal on Scientific and Statistical Computing, 7(3):856--869, 1986.

 
 

-\bibitem{saad96} Y.~Saad, \emph{Iterative Methods for Sparse Linear Systems}, PWS Publishing, New York, 1996.
+%% \bibitem{saad96} Y.~Saad, \emph{Iterative Methods for Sparse Linear Systems}, PWS Publishing, New York, 1996.

 
 

-\bibitem{hestenes52} M.~R.~Hestenes and E.~Stiefel, \emph{Methods of conjugate gradients for solving linear system}, Journal of Research of National Bureau of Standards, B49:409--436, 1952.
+%% \bibitem{hestenes52} M.~R.~Hestenes and E.~Stiefel, \emph{Methods of conjugate gradients for solving linear system}, Journal of Research of National Bureau of Standards, B49:409--436, 1952.

 
 

-\bibitem{paige82} C.~C.~Paige and A.~M.~Saunders, \emph{LSQR: An Algorithm for Sparse Linear Equations and Sparse Least Squares}, ACM Trans. Math. Softw. 8(1):43--71, 1982.
-\end{thebibliography}
+%% \bibitem{paige82} C.~C.~Paige and A.~M.~Saunders, \emph{LSQR: An Algorithm for Sparse Linear Equations and Sparse Least Squares}, ACM Trans. Math. Softw. 8(1):43--71, 1982.
+%% \end{thebibliography}