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350 % can use linebreaks \\ within to get better formatting as desired
351 \title{Simulation of Asynchronous Iterative Numerical Algorithms Using SimGrid}
354 % author names and affiliations
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357 \author{\IEEEauthorblockN{Raphaël Couturier and Arnaud Giersch and David Laiymani and Charles Emile Ramamonjisoa}
358 \IEEEauthorblockA{Femto-ST Institute - DISC Department\\
359 Université de Franche-Comté\\
361 Email: raphael.couturier@univ-fcomte.fr}
363 %\IEEEauthorblockN{Arnaud Giersch}
364 %\IEEEauthorblockA{Twentieth Century Fox\\
366 %Email: homer@thesimpsons.com}
368 %\IEEEauthorblockN{James Kirk\\ and Montgomery Scott}
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409 \section{Introduction}
411 Parallel computing and high performance computing (HPC) are becoming
412 more and more imperative for solving various problems raised by
413 researchers on various scientific disciplines but also by industrial in
414 the field. Indeed, the increasing complexity of these requested
415 applications combined with a continuous increase of their sizes lead to
416 write distributed and parallel algorithms requiring significant hardware
417 resources ( grid computing , clusters, broadband network ,etc... ) but
418 also a non- negligible CPU execution time. We consider in this paper a
419 class of highly efficient parallel algorithms called iterative executed
420 in a distributed environment. As their name suggests, these algorithm
421 solves a given problem that might be NP- complete complex by successive
422 iterations (X$_{n +1 }$= f (X$_{n}$) ) from an initial value X
423 $_{0}$ to find an approximate value X* of the solution with a very low
424 residual error. Several well-known methods demonstrate the convergence
425 of these algorithms. Generally, to reduce the complexity and the
426 execution time, the problem is divided into several "pieces" that will
427 be solved in parallel on multiple processing units. The latter will
428 communicate each intermediate results before a new iteration starts
429 until the approximate solution is reached. These distributed parallel
430 computations can be performed either in "synchronous" communication mode
431 where a new iteration begin only when all nodes communications are
432 completed, either "asynchronous" mode where processors can continue
433 independently without or few synchronization points. Despite the
434 effectiveness of iterative approach, a major drawback of the method is
435 the requirement of huge resources in terms of computing capacity,
436 storage and high speed communication network. Indeed, limited physical
437 resources are blocking factors for large-scale deployment of parallel
440 In recent years, the use of a simulation environment to execute parallel
441 iterative algorithms found some interests in reducing the highly cost of
442 access to computing resources: (1) for the applications development life
443 cycle and in code debugging (2) and in production to get results in a
444 reasonable execution time with a simulated infrastructure not accessible
445 with physical resources. Indeed, the launch of distributed iterative
446 asynchronous algorithms to solve a given problem on a large-scale
447 simulated environment challenges to find optimal configurations giving
448 the best results with a lowest residual error and in the best of
449 execution time. According our knowledge, no testing of large-scale
450 simulation of the class of algorithm solving to achieve real results has
451 been undertaken to date. We had in the scope of this work implemented a
452 program for solving large non-symmetric linear system of equations by
453 numerical method GMRES (Generalized Minimal Residual ) in the simulation
454 environment Simgrid . The simulated platform had allowed us to launch
455 the application from a modest computing infrastructure by simulating
456 different distributed architectures composed by clusters nodes
457 interconnected by variable speed networks. In addition, it has been
458 permitted to show the effectiveness of asynchronous mode algorithm by
459 comparing its performance with the synchronous mode time. With selected
460 parameters on the network platforms (bandwidth, latency of inter cluster
461 network) and on the clusters architecture (number, capacity calculation
462 power) in the simulated environment , the experimental results have
463 demonstrated not only the algorithm convergence within a reasonable time
464 compared with the physical environment performance, but also a time
465 saving of up to 40 \% in asynchronous mode.
467 This article is structured as follows: after this introduction, the next
468 section will give a brief description of iterative asynchronous model.
469 Then, the simulation framework SIMGRID will be presented with the
470 settings to create various distributed architectures. The algorithm of
471 the multi -splitting method used by GMRES written with MPI primitives
472 and its adaptation to Simgrid with SMPI (Simulation MPI ) will be in the
473 next section . At last, the experiments results carried out will be
474 presented before the conclusion which we will announce the opening of
475 our future work after the results.
477 \section{The asynchronous iteration model}
479 Décrire le modèle asynchrone. Je m'en charge (DL)
483 Décrire SimGrid (Arnaud)
491 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
492 \section{Simulation of the multisplitting method}
493 %Décrire le problème (algo) traité ainsi que le processus d'adaptation à SimGrid.
494 Let $Ax=b$ be a large sparse system of $n$ linear equations in $\mathbb{R}$, where $A$ is a sparse square and nonsingular matrix, $x$ is the solution vector and $y$ is the right-hand side vector. We use a multisplitting method based on the block Jacobi partitioning to solve this linear system on a large scale platform composed of $L$ clusters of processors. In this case, we apply a row-by-row splitting without overlapping
496 \left(\begin{array}{ccc}
497 A_{11} & \cdots & A_{1L} \\
498 \vdots & \ddots & \vdots\\
499 A_{L1} & \cdots & A_{LL}
502 \left(\begin{array}{c}
508 \left(\begin{array}{c}
512 \end{array} \right)\]
513 in such a way that successive rows of matrix $A$ and both vectors $x$ and $b$ are assigned to one cluster, where for all $l,i\in\{1,\ldots,L\}$ $A_{li}$ is a rectangular block of $A$ of size $n_l\times n_i$, $X_l$ and $Y_l$ are sub-vectors of $x$ and $y$, respectively, each of size $n_l$ and $\sum_{l} n_l=\sum_{i} n_i=n$.
515 The multisplitting method proceeds by iteration to solve in parallel the linear system by $L$ clusters of processors, in such a way each sub-system
519 A_{ll}X_l = Y_l \mbox{,~such that}\\
520 Y_l = B_l - \displaystyle\sum_{i=1,i\neq l}^{L}A_{li}X_i,
525 is solved independently by a cluster and communication are required to update the right-hand side sub-vectors $Y_l$, such that the sub-vectors $X_i$ represent the data dependencies between the clusters. As each sub-system (\ref{eq:4.1}) is solved in parallel by a cluster of processors, our multisplitting method uses an iterative method as an inner solver which is easier to parallelize and more scalable than a direct method. In this work, we use the parallel GMRES method~\cite{ref1} which is one of the most used iterative method by many researchers.
528 \caption{A multisplitting solver with inner iteration GMRES method}
529 \begin{algorithmic}[1]
530 \Input $A_l$ (local sparse matrix), $B_l$ (local right-hand side), $x^0$ (initial guess)
531 \Output $X_l$ (local solution vector)\vspace{0.2cm}
532 \State Load $A_l$, $B_l$, $x^0$
533 \State Initialize the shared vector $\hat{x}=x^0$
534 \For {$k=1,2,3,\ldots$ until the global convergence}
536 \State Inner iteration solver: \Call{InnerSolver}{$x^0$, $k$}
537 \State Exchange the local solution ${X}_l^k$ with the neighboring clusters and copy the shared vector elements in $\hat{x}$
542 \Function {InnerSolver}{$x^0$, $k$}
543 \State Compute the local right-hand side: $Y_l = B_l - \sum^L_{i=1,i\neq l}A_{li}X_i^0$
544 \State Solving the local splitting $A_{ll}X_l^k=Y_l$ using the parallel GMRES method, such that $X_l^0$ is the local initial guess
545 \State \Return $X_l^k$
550 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
559 \section{Experimental results}
561 When the ``real'' application runs in the simulation environment and produces
562 the expected results, varying the input parameters and the program arguments
563 allows us to compare outputs from the code execution. We have noticed from this
564 study that the results depend on the following parameters: (1) at the network
565 level, we found that the most critical values are the bandwidth (bw) and the
566 network latency (lat). (2) Hosts power (GFlops) can also influence on the
567 results. And finally, (3) when submitting job batches for execution, the
568 arguments values passed to the program like the maximum number of iterations or
569 the ``external'' precision are critical to ensure not only the convergence of the
570 algorithm but also to get the main objective of the experimentation of the
571 simulation in having an execution time in asynchronous less than in synchronous
572 mode, in others words, in having a ``speedup'' less than 1 (Speedup = Execution
573 time in synchronous mode / Execution time in asynchronous mode).
575 A priori, obtaining a speedup less than 1 would be difficult in a local area
576 network configuration where the synchronous mode will take advantage on the rapid
577 exchange of information on such high-speed links. Thus, the methodology adopted
578 was to launch the application on clustered network. In this last configuration,
579 degrading the inter-cluster network performance will "penalize" the synchronous
580 mode allowing to get a speedup lower than 1. This action simulates the case of
581 clusters linked with long distance network like Internet.
583 As a first step, the algorithm was run on a network consisting of two clusters
584 containing fifty hosts each, totaling one hundred hosts. Various combinations of
585 the above factors have providing the results shown in Table~\ref{tab.cluster.2x50} with a matrix size
586 ranging from Nx = Ny = Nz = 62 to 171 elements or from 62$^{3}$ = 238328 to
587 171$^{3}$ = 5,211,000 entries.
589 Then we have changed the network configuration using three clusters containing
590 respectively 33, 33 and 34 hosts, or again by on hundred hosts for all the
591 clusters. In the same way as above, a judicious choice of key parameters has
592 permitted to get the results in Table~\ref{tab.cluster.3x33} which shows the speedups less than 1 with
593 a matrix size from 62 to 100 elements.
595 In a final step, results of an execution attempt to scale up the three clustered
596 configuration but increasing by two hundreds hosts has been recorded in Table~\ref{tab.cluster.3x67}.
598 Note that the program was run with the following parameters:
600 \paragraph*{SMPI parameters}
603 \item HOSTFILE : Hosts file description.
604 \item PLATFORM: file description of the platform architecture : clusters (CPU power,
605 ... ) , intra cluster network description, inter cluster network (bandwidth bw ,
610 \paragraph*{Arguments of the program}
613 \item Description of the cluster architecture;
614 \item Maximum number of internal and external iterations;
615 \item Internal and external precisions;
616 \item Matrix size NX , NY and NZ;
617 \item Matrix diagonal value = 6.0;
618 \item Execution Mode: synchronous or asynchronous.
623 \caption{2 clusters X 50 nodes}
624 \label{tab.cluster.2x50}
625 \includegraphics[width=209pt]{img1.jpg}
630 \caption{3 clusters X 33 nodes}
631 \label{tab.cluster.3x33}
632 \includegraphics[width=209pt]{img2.jpg}
637 \caption{3 clusters X 67 nodes}
638 \label{tab.cluster.3x67}
639 % \includegraphics[width=160pt]{img3.jpg}
640 \includegraphics[scale=0.5]{img3.jpg}
643 \paragraph*{Interpretations and comments}
645 After analyzing the outputs, generally, for the configuration with two or three
646 clusters including one hundred hosts (Tables~\ref{tab.cluster.2x50} and~\ref{tab.cluster.3x33}), some combinations of the
647 used parameters affecting the results have given a speedup less than 1, showing
648 the effectiveness of the asynchronous performance compared to the synchronous
651 In the case of a two clusters configuration, Table~\ref{tab.cluster.2x50} shows that with a
652 deterioration of inter cluster network set with 5 Mbits/s of bandwidth, a latency
653 in order of a hundredth of a millisecond and a system power of one GFlops, an
654 efficiency of about 40\% in asynchronous mode is obtained for a matrix size of 62
655 elements . It is noticed that the result remains stable even if we vary the
656 external precision from E -05 to E-09. By increasing the problem size up to 100
657 elements, it was necessary to increase the CPU power of 50 \% to 1.5 GFlops for a
658 convergence of the algorithm with the same order of asynchronous mode efficiency.
659 Maintaining such a system power but this time, increasing network throughput
660 inter cluster up to 50 Mbits /s, the result of efficiency of about 40\% is
661 obtained with high external precision of E-11 for a matrix size from 110 to 150
664 For the 3 clusters architecture including a total of 100 hosts, Table~\ref{tab.cluster.3x33} shows
665 that it was difficult to have a combination which gives an efficiency of
666 asynchronous below 80 \%. Indeed, for a matrix size of 62 elements, equality
667 between the performance of the two modes (synchronous and asynchronous) is
668 achieved with an inter cluster of 10 Mbits/s and a latency of E- 01 ms. To
669 challenge an efficiency by 78\% with a matrix size of 100 points, it was
670 necessary to degrade the inter cluster network bandwidth from 5 to 2 Mbit/s.
672 A last attempt was made for a configuration of three clusters but more power
673 with 200 nodes in total. The convergence with a speedup of 90 \% was obtained
674 with a bandwidth of 1 Mbits/s as shown in Table~\ref{tab.cluster.3x67}.
679 % An example of a floating figure using the graphicx package.
680 % Note that \label must occur AFTER (or within) \caption.
681 % For figures, \caption should occur after the \includegraphics.
682 % Note that IEEEtran v1.7 and later has special internal code that
683 % is designed to preserve the operation of \label within \caption
684 % even when the captionsoff option is in effect. However, because
685 % of issues like this, it may be the safest practice to put all your
686 % \label just after \caption rather than within \caption{}.
688 % Reminder: the "draftcls" or "draftclsnofoot", not "draft", class
689 % option should be used if it is desired that the figures are to be
690 % displayed while in draft mode.
694 %\includegraphics[width=2.5in]{myfigure}
695 % where an .eps filename suffix will be assumed under latex,
696 % and a .pdf suffix will be assumed for pdflatex; or what has been declared
697 % via \DeclareGraphicsExtensions.
698 %\caption{Simulation Results}
702 % Note that IEEE typically puts floats only at the top, even when this
703 % results in a large percentage of a column being occupied by floats.
706 % An example of a double column floating figure using two subfigures.
707 % (The subfig.sty package must be loaded for this to work.)
708 % The subfigure \label commands are set within each subfloat command, the
709 % \label for the overall figure must come after \caption.
710 % \hfil must be used as a separator to get equal spacing.
711 % The subfigure.sty package works much the same way, except \subfigure is
712 % used instead of \subfloat.
715 %\centerline{\subfloat[Case I]\includegraphics[width=2.5in]{subfigcase1}%
716 %\label{fig_first_case}}
718 %\subfloat[Case II]{\includegraphics[width=2.5in]{subfigcase2}%
719 %\label{fig_second_case}}}
720 %\caption{Simulation results}
724 % Note that often IEEE papers with subfigures do not employ subfigure
725 % captions (using the optional argument to \subfloat), but instead will
726 % reference/describe all of them (a), (b), etc., within the main caption.
729 % An example of a floating table. Note that, for IEEE style tables, the
730 % \caption command should come BEFORE the table. Table text will default to
731 % \footnotesize as IEEE normally uses this smaller font for tables.
732 % The \label must come after \caption as always.
735 %% increase table row spacing, adjust to taste
736 %\renewcommand{\arraystretch}{1.3}
737 % if using array.sty, it might be a good idea to tweak the value of
738 % \extrarowheight as needed to properly center the text within the cells
739 %\caption{An Example of a Table}
740 %\label{table_example}
742 %% Some packages, such as MDW tools, offer better commands for making tables
743 %% than the plain LaTeX2e tabular which is used here.
744 %\begin{tabular}{|c||c|}
754 % Note that IEEE does not put floats in the very first column - or typically
755 % anywhere on the first page for that matter. Also, in-text middle ("here")
756 % positioning is not used. Most IEEE journals/conferences use top floats
757 % exclusively. Note that, LaTeX2e, unlike IEEE journals/conferences, places
758 % footnotes above bottom floats. This can be corrected via the \fnbelowfloat
759 % command of the stfloats package.
767 % conference papers do not normally have an appendix
770 % use section* for acknowledgement
771 \section*{Acknowledgment}
774 The authors would like to thank...
780 % trigger a \newpage just before the given reference
781 % number - used to balance the columns on the last page
782 % adjust value as needed - may need to be readjusted if
783 % the document is modified later
784 %\IEEEtriggeratref{8}
785 % The "triggered" command can be changed if desired:
786 %\IEEEtriggercmd{\enlargethispage{-5in}}
790 % can use a bibliography generated by BibTeX as a .bbl file
791 % BibTeX documentation can be easily obtained at:
792 % http://www.ctan.org/tex-archive/biblio/bibtex/contrib/doc/
793 % The IEEEtran BibTeX style support page is at:
794 % http://www.michaelshell.org/tex/ieeetran/bibtex/
795 \bibliographystyle{IEEEtran}
796 % argument is your BibTeX string definitions and bibliography database(s)
797 \bibliography{hpccBib}
799 % <OR> manually copy in the resultant .bbl file
800 % set second argument of \begin to the number of references
801 % (used to reserve space for the reference number labels box)
802 %\begin{thebibliography}{1}
804 %\bibitem{IEEEhowto:kopka}
805 %H.~Kopka and P.~W. Daly, \emph{A Guide to \LaTeX}, 3rd~ed.\hskip 1em plus
806 % 0.5em minus 0.4em\relax Harlow, England: Addison-Wesley, 1999.
808 %\end{thebibliography}