• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.33 no.3C
• /
• pp.219-233
• /
• 2008

Optimal scheduling of parallel tasks with some precedence relationship, onto a parallel machine is known to be NP-complete. The complexity of the problem increases when task scheduling is to be done in a heterogeneous environment, where the processors in the network may not be identical and take different amounts of time to execute the same task. This paper introduces a Duplication based Task Scheduling with Communication Cost in Heterogeneous Systems (DTSC), which provides optimal results for applications represented by Directed Acyclic Graphs (DAGs), provided a simple set of conditions on task computation and network communication time could be satisfied. Results from an extensive simulation show significant performance improvement from the proposed techniques over the Task duplication-based scheduling Algorithm for Network of Heterogeneous systems(TANH) and General Dynamic Level(GDL) scheduling algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1631-1634
• /
• 1997

Since surgery is usually a difficult task because of physiological tremor, eye strain, and tremor, contagious and radioactive hazard, it is necessary to develop micro-surgery telerobotic system using improved tools suitable for their specific tasks. Nowadays the growth of interest on microsurgery and medical applications of robotics has been so rapid. But the medical robots are only practical applications of the industrial robots. This paper identifies five general areas of advanced microsurgery based on the current technological background and expertise, and analyzes the motion, tool and accuracy with respect to microsurgery task, and proposed the criteria to evaluate micro-surgical manipulator. The analysis of microusrgery can be heplful to clarify some basic concept and design of micro-surgical manipulators. With these data we will alos propose an efficient in-parallel-platform manipulator having special kinematic structrue structure suitable for microsurgery.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.9
• /
• pp.158-166
• /
• 1998

This paper presents a geometrical approach to the characteristic analysis of parallel mechanism with free joints intended for use as a planar task robot. Solution of the forward and inverse kinematic problems are described. Because the mechanism has only three degree-of-freedom output, constraint equations must be generated to describe the inter-relationship between actuated joints and free joints so as to describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. and it is used for the solution of the forward kinematic equations by Newton-Raphson technique. Another Jacobian matrix was derived to describe the interrelationship between actuated joints and moving platform. The stiffness, velocity transmission ratio, force transmission ratio and dexterity of the mechanism are then determined based on this another Jacobian matrix. The geometrical construction of the mechanism for the best performance was investigated using the characteristic analysis.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.5 no.9
• /
• pp.1544-1572
• /
• 2011

Task placement and scheduling are traditionally studied in following aspects: resource utilization, application throughput, application execution latency and starvation, and recently, the studies are more on application scalability and application performance. A methodology for task placement and scheduling centered on tasks based on virtual machines is studied in this paper to improve the performances of systems and dynamic adaptability in applications development and deployment oriented parallel computing. For parallel applications with no real-time constraints, we describe a thought of feature model and make a formal description for four layers of task placement and scheduling. To place the tasks to different layers of virtual computing systems, we take the performances of four layers as the goal function in the model of task placement and scheduling. Furthermore, we take the personal preference, the application scalability for a designer in his (her) development and deployment, as the constraint of this model. The workflow of task placement and scheduling based on virtual machines has been discussed. Then, an algorithm TPVM is designed to work out the optimal scheme of the model, and an algorithm TEVM completes the execution of tasks in four layers. The experiments have been performed to validate the effectiveness of time estimated method and the feasibility and rationality of algorithms. It is seen from the experiments that our algorithms are better than other four algorithms in performance. The results show that the methodology presented in this paper has guiding significance to improve the efficiency of virtual computing systems.

• The KIPS Transactions:PartA
• /
• v.11A no.7 s.91
• /
• pp.521-528
• /
• 2004

In this-paper, we propose a new task scheduling scheme for bus-based cluster architectures and analyze performance of the scheduling scheme which has been implemented in a PC cluster. The implemented scheme schedules the tasks of a task graph to the processors of a PC cluster, and it reduces parallel execution time by selectively duplicating critical tasks using heuristic. Experimental results show that the proposed scheduling scheme produces better parallel execution time than the other scheduling scheme.

• ETRI Journal
• /
• v.20 no.4
• /
• pp.327-345
• /
• 1998

This paper deals with the problem of one-to-one mapping of 2$^n$ task modules of a parallel program to an n-dimensional hypercube multicomputer so as to minimize the total communication cost during the execution of the task. The problem of finding an optimal mapping has been proven to be NP-complete. First we show that the mapping problem in a hypercube multicomputer can be transformed into the problem of finding a set of maximum cutsets on a given task graph using a graph modification technique. Then we propose a repeated mapping scheme, using an existing graph bipartitioning algorithm, for the effective mapping of task modules onto the processors of a hypercube multicomputer. The repeated mapping scheme is shown to be highly effective on a number of test task graphs; it increasingly outperforms the greedy and recursive mapping algorithms as the number of processors increases. Our repeated mapping scheme is shown to be very effective for regular graphs, such as hypercube-isomorphic or 'almost' isomorphic graphs and meshes; it finds optimal mappings on almost all the regular task graphs considered.

• The Transactions of the Korea Information Processing Society
• /
• v.7 no.4
• /
• pp.1201-1210
• /
• 2000

In order to tolerate faults which may occur during the execution of distributed tasks in high-performance parallel computer systems, tasks are duplicated on different processors. In this paper, by utilizing the task duplication based scheduling algorithm, a new task scheduling algorithm which duplicates each task on more than two different processors with the minimum schedule length is presented, and the number of processors required for the duplication is analyzed with the ratio of communication cost to computation time and the workload of the system. A simulation with various task graphs reveals that the number of processors required for the full-duplex fault-tolerant task scheduling with the obtainable minimum schedule length increases about 30% to 75% when compared with that of the task duplication based scheduling algorithm.

• Journal of KIISE:Computing Practices and Letters
• /
• v.8 no.3
• /
• pp.251-260
• /
• 2002

The parallel/distributed processing with a lot of the idle hosts on the web has the high coot-performance ratio for large-scale applications. It's processing has to show the solutions for unpredictable status such as heterogeneity of hosts, variability of hosts, autonomy of hosts, the supporting performance continuously, and the number of hosts which are participated in computation and so on. In this paper, we propose the strategy of adaptive tack reallocation based on performance the host job processing, spread out geographically Also, It shows the scheme of dynamic host management with dynamic environment, which is changed by lots of hosts on the web during parallel processing for large-scale applications. This paper implements the PDSWeb (Parallel/Distributed Scheme on Web) system, evaluates and applies It to the generation of rendering image with highly intensive computation. The results are showed that the adaptive task reallocation with the variation of hosts has been increased up to maximum 90% and the improvement in performance according to add/delete of hosts.

• Proceedings of the Korean Information Science Society Conference
• /
• 1999.10c
• /
• pp.777-779
• /
• 1999

A new distributed/parallel algorithm simulator, DASim(Distributed Algorithm Simulator), is proposed in this paper. The idea is to ease the task of design, analysis and implementation of distributed algorithms. A small high level language has been proposed for the purpose. Through this non-language specific high level language, the users are spared from the tedious details about how to program distributed or parallel algorithms. Further, visualization of these algorithms are pretty helpful to understand behaviors of these algorithms.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.29B no.1
• /
• pp.11-17
• /
• 1992

This paper is to propose an analytical queuing model for parallel processing of sequential program with nested loops. The analytical results are compared with the results from the implemented multiprocessor system composed of four intel 8088 microprocessor, eight 2KB shared common memories, and a hardware token ring. At results, this study shows that the processed results are almost similar in proposed analytical model and real system. Proposed analytical model can be applied to evaluate parallel processing of sequential program with nested loops.