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-\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{???}
+
+
+
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-\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}
}
+
+
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% the acknowledgment of grants, issue a \IEEEoverridecommandlockouts
\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 save 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}
-Iterative Krylov methods; sparse linear systems; error minimization; PETSC; %à voir...
+Iterative Krylov methods; sparse linear systems; error minimization; PETSc; %à voir...
\end{IEEEkeywords}
% 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 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.
-
-The most successful iterative methods currently available are those based on Krylov subspaces which consist in forming a basis of a sequence of successive matrix powers times an initial vector for example the residual. These methods are based on orthogonality of vectors of the Krylov subspace basis to solve linear systems. The most well-known iterative Krylov subspace methods are Conjugate Gradient method and GMRES method (generalized minimal residual).
-
-However, the iterative methods suffer from scalability problems on parallel computing platforms with many processors due to their need for reduction operations and collective communications to perform matrix-vector multiplications. The communications on large clusters with thousands of cores and large sizes of messages can significantly affect the performances of iterative methods. In practice, Krylov subspace iteration methods are often used with preconditioners in order to increase their convergence and accelerate their performances. However, most of the good preconditioners are not scalable on large clusters.
-
-In this paper we propose a two-stage algorithm, also called inner-outer iteration algorithm, based on two nested iterations.
-
-This 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 using routines of PETSC toolkit.
+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
+powers times an initial vector for example the residual. These methods are based
+on orthogonality of vectors of the Krylov subspace basis to solve linear
+systems. The most well-known iterative Krylov subspace methods are Conjugate
+Gradient method and GMRES method (generalized minimal residual).
+
+However, iterative methods suffer from scalability problems on parallel
+computing platforms with many processors due to their need for reduction
+operations and collective communications to perform matrix-vector
+multiplications. The communications on large clusters with thousands of cores
+and large sizes of messages can significantly affect the performances of
+iterative methods. In practice, Krylov subspace iteration methods are often used
+with preconditioners in order to increase their convergence and accelerate their
+performances. However, most of the good preconditioners are not scalable on
+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
+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
+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.
%%%*********************************************************
%%%*********************************************************
%%%*********************************************************
\section{A Krylov two-stage algorithm}
\label{sec:03}
-We propose a two-stage algorithm to solve large sparse linear systems of the form $Ax=b$, where $A\in\mathbb{R}^{n\times n}$ is a sparse and square nonsingular matrix, $x\in\mathbb{R}^n$ is the solution vector and $b\in\mathbb{R}^n$ 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}.
-
-In order to accelerate the convergence, the outer iteration is implemented as an iterative Krylov method which minimizes some error function over a Krylov subspace~\cite{saad96}. At every iteration, the sparse linear system $Ax=b$ is solved iteratively with an iterative method as GMRES method~\cite{saad86} 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
+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
+nonsingular matrix, $x\in\mathbb{R}^n$ is the solution vector and
+$b\in\mathbb{R}^n$ 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}.
+
+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 a Krylov based solver which does not required 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}
-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}) as CGLS~\cite{hestenes52} or LSQR~\cite{paige82} methods which is 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]
-\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 $x^0$
- \For {$k=1,2,3,\ldots$ until convergence}
- \State Solve iteratively $Ax^k=b$
- \State Add vector $x^k$ to Krylov subspace basis $S$
- \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 $x^k=S\alpha$
- \State Reinitialize Krylov subspace basis $S$
+ \For {$k=1,2,3,\ldots$ until convergence (error$<\epsilon$)} \label{algo:conv}
+ \State $x^k=Solve(A,b,x^{k-1},m)$ \label{algo:solve}
+ \State retrieve error
+ \State $S_{k~mod~s}=x^k$ \label{algo:store}
+ \If {$k$ mod $s=0$ {\bf and} error$>\epsilon$}
+ \State $R=AS$ \Comment{compute dense matrix}
+ \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}
+
+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 $m$ iterations. In practice, we suggest to choose $m$
+equals to the restart number of the GMRES-like method. Moreover, a tolerance
+threshold must be specified for the solver. In practise, this threshold must be
+much smaller than the convergence threshold of the TSARM algorithm
+(i.e. $\epsilon$). 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. % à continuer Line
+
+To summarize, the important parameters of are:
+\begin{itemize}
+\item $\epsilon$ the threshold to stop the method
+\item $m$ the number of iterations for the krylov method
+\item $s$ the number of outer iterations before applying the minimization step
+\end{itemize}
+
%%%*********************************************************
%%%*********************************************************
-
+\section{Convergence results}
+\label{sec:04}
%%%*********************************************************
%%%*********************************************************
\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
+characteristics. For all the matrices, the name, the field, the number of rows
+and the number of nonzero elements is given.
+
+\begin{table*}
+\begin{center}
+\begin{tabular}{|c|c|r|r|r|}
+\hline
+Matrix name & Field &\# Rows & \# Nonzeros \\\hline \hline
+crashbasis & Optimization & 160,000 & 1,750,416 \\
+parabolic\_fem & Computational fluid dynamics & 525,825 & 2,100,225 \\
+epb3 & Thermal problem & 84,617 & 463,625 \\
+atmosmodj & Computational fluid dynamics & 1,270,432 & 8,814,880 \\
+bfwa398 & Electromagnetics problem & 398 & 3,678 \\
+torso3 & 2D/3D problem & 259,156 & 4,429,042 \\
+\hline
+
+\end{tabular}
+\caption{Main characteristics of the sparse matrices chosen from the Davis collection}
+\label{tab:01}
+\end{center}
+\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 (line \ref{algo:solve} in
+Algorithm~\ref{algo:01}). $s$ is set to 8. CGLS is chosen to minimize the
+least-squares problem. Two conditions are used to stop CGLS, either the
+precision is under $1e-40$ or the number of iterations is greater to $20$. The
+external precision is set to $1e-10$ (line \ref{algo:conv} in
+Algorithm~\ref{algo:01}). 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{center}
+\begin{tabular}{|c|c|r|r|r|r|}
+\hline
+
+ \multirow{2}{*}{Matrix name} & Solver / & \multicolumn{2}{c|}{gmres variant} & \multicolumn{2}{c|}{2 stage CGLS} \\
+\cline{3-6}
+ & precond & Time & \# Iter. & Time & \# Iter. \\\hline \hline
+
+crashbasis & gmres / none & 15.65 & 518 & 14.12 & 450 \\
+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 \\
+torso3 & fgmres / sor & 37.70 & 565 & 34.97 & 510 \\
+\hline
+
+\end{tabular}
+\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}
+
+
+
+
+Larger experiments ....
+
+\begin{table*}
+\begin{center}
+\begin{tabular}{|r|r|r|r|r|r|r|r|r|}
+\hline
+
+ nb. cores & precond & \multicolumn{2}{c|}{gmres variant} & \multicolumn{2}{c|}{2 stage CGLS} & \multicolumn{2}{c|}{2 stage 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{table*}
+\begin{center}
+\begin{tabular}{|r|r|r|r|r|r|r|r|r|}
+\hline
+
+ nb. cores & threshold & \multicolumn{2}{c|}{gmres variant} & \multicolumn{2}{c|}{2 stage CGLS} & \multicolumn{2}{c|}{2 stage 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 & 792.11 & 109,590 & 76.83 & 10,470 & 65.20 & 9,030 & 12.14 \\
+ 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*}
%%%*********************************************************
%%%*********************************************************
%%%*********************************************************
%%%*********************************************************
\section{Conclusion}
-\label{sec:05}
+\label{sec:06}
%The conclusion goes here. this is more of the conclusion
%%%*********************************************************
%%%*********************************************************
+future plan : \\
+- study other kinds of matrices, problems, inner solvers\\
+- 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
%%%*********************************************************
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\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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-%\bibliographystyle{IEEEtran}
+\bibliographystyle{IEEEtran}
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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
% (used to reserve space for the reference number labels box)
-\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}
