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Cache-Oblivious Algorithms A Unified Approach to Hierarchical Memory Algorithms Gerth Stølting Brodal Aarhus Univer

Cache-Oblivious Algorithms A Unified Approach to Hierarchical Memory Algorithms Gerth Stølting Brodal Aarhus University. Current Trends in Algorithms , Complexity Theory , and Cryptography , Tsinghua University , Beijing, China, May 22-27, 2009. Overview. Computer ≠ Unit Cost RAM

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Cache-Oblivious Algorithms A Unified Approach to Hierarchical Memory Algorithms Gerth Stølting Brodal Aarhus Univer

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  1. Cache-ObliviousAlgorithmsA Unified Approach to HierarchicalMemoryAlgorithmsGerthStølting BrodalAarhus University • Current Trends in Algorithms, ComplexityTheory, and Cryptography, TsinghuaUniversity, Beijing, China, May 22-27, 2009

  2. Overview • Computer ≠ Unit Cost RAM • Overview of Computer Hardware • A Trivial Program • HierarchicalMemory Models • BasicAlgorithmicResults for HierarchicalMemory • The influence of other Chip Technologies TheoryPractice

  3. Computer ≠ Unit Cost RAM

  4. From AlgorithmicIdea to Program Execution (Java) Code PseudoCode Divide and conquer? … if ( t1[t1index] <= t2[t2index] ) a[index] = t1[t1index++]; else a[index] = t2[t2index++]; … … for each x inmup to middle add x to left for eachxinmafter middle add x to right … Assembler MachineCode Idea (Java) Byte Code + Virtual machine Compiler Microcode Virtual Memory/ TLB L1, L2,… cache Pipelining Branch Prediction Program Execution

  5. Computer Hardware

  6. Computer Hardware

  7. Inside a PC

  8. Motherboard

  9. Intel Pentium (1993)

  10. Inside a Harddisk

  11. Memory Access Times Increasing

  12. A Trivial Program

  13. for (i=0; i+d<n; i+=d) A[i]=i+d; A[i]=0; for (i=0, j=0; j<8*1024*1024; j++) i = A[i]; d A n A Trivial Program

  14. A Trivial Program — d=1 RAM : n ≈ 225 = 128 MB

  15. A Trivial Program — d=1 L1 : n ≈ 212 = 16 KB L2 : n ≈ 216 = 256 KB

  16. A Trivial Program — n=224

  17. HierarchicalMemoryModels

  18. Modern hardware is not uniform — many different parameters Number of memory levels Cache sizes Cache line/disk block sizes Cache associativity Cache replacement strategy CPU/BUS/memory speed Programs should ideally run for many different parameters by knowing many of the parameters at runtime, or by knowing few essential parameters, or ignoring the memory hierarchies Programs are executed on unpredictable configurations Generic portable and scalable software libraries Code downloaded from the Internet, e.g. Java applets Dynamic environments, e.g. multiple processes Algorithmic Problem Practice

  19. HierarchicalMemory– AbstractView R CPU L1 L2 L3 Disk A M Increasing access time and space

  20. HierarchicalMemoryModels — many parameters M4 M3 M2 B3 M1 B1 R CPU L1 L2 L3 Disk A M B2 B4 Increasing access time and space Limitedsuccessbecauseto complicated

  21. Measure number of block transfers between two memory levels Bottleneck in many computations Very successful (simplicity) Limitations Parameters B and M must be known Does not handle multiple memory levels Does not handle dynamic M I/O M c B e a m c CPU o h r e y M ExternalMemory Model— two parameters Aggarwal and Vitter 1988

  22. Program with only one memory Analyze in the I/O model for Optimal off-line cache replacement strategy arbitrary B and M Advantages Optimal on arbitrary level → optimal on all levels Portability, B and M not hard-wired into algorithm Dynamic changing parameters I/O M c B e a m c CPU o h r e y M Ideal Cache Model— no parameters !? Frigo, Leiserson, Prokop, Ramachandran 1999

  23. Optimal replacementLRU + 2 × cache size → at most 2 × cache misses Sleator and Tarjan, 1985 Corollary TM,B(N) = O(T2M,B(N)) ) #cache misses using LRU is O(TM,B(N)) Two memory levels Optimal cache-oblivious algorithm satisfying TM,B(N) = O(T2M,B(N)) → optimal #cache misses on each level of a multilevel LRU cache Fully associativity cache Simulation of LRU Direct mapped cache Explicit memory management Dictionary (2-universal hash functions) of cache lines in memory Expected O(1) access time to a cache line in memory Justification of the Ideal-Cache Model Frigo, Leiserson, Prokop, Ramachandran 1999

  24. BasicExternal-Memory andCache-ObliviousResults

  25. sum = 0 for i = 1 to N do sum = sum + A[i] B A N Scanning O(N/B) I/Os Corollary External/Cache-oblivious selection requires O(N/B) I/Os Hoare 1961 / Blum et al. 1973

  26. Merging k sequenceswith N elements requiresO(N/B) IOsprovidedk ≤ M/B - 1 2 2 3 3 5 5 6 6 9 9 11 13 15 19 21 25 27 1 4 7 10 14 29 33 41 49 51 52 57 k-way 1 2 3 4 5 6 7 8 9 10 11 12 13 14 merger 8 12 16 18 22 24 31 34 35 38 42 46 write 17 20 23 26 28 30 32 37 39 43 45 50 read External-MemoryMerging

  27. θ(M/B)-way MergeSort achieves optimal O(Sort(N)=O(N/B·logM/B(N/B)) I/Os Aggarwal and Vitter 1988 ... M M N Unsorted input Partition into runs Run 1 Run 2 Run N/M Sort each run Sorted Sorted Sorted Merge pass I Sorted Sorted Merge pass II Sorted ouput External-MemorySorting

  28. Mtop B1 ... ... M1 Cache-ObliviousMerging Frigo, Leiserson, Prokop, Ramachandran 1999 • k-waymerging (lazy) usingbinarymergingwith buffers • tallcacheassumption M ≥ B2 • O(N/B·logM/B k) IOs Bk M k

  29. Divide input in N1/3segments of size N2/3 Recursively FunnelSorteach segment Merge sorted segments by an N1/3-merger Cache-ObliviousSorting – FunnelSort Frigo, Leiserson, Prokop and Ramachandran 1999 • Theorem Provided M≥B2 performs optimal O(Sort(N)) I/Os

  30. Sorting (Disk) Brodal, Fagerberg, Vinther 2004

  31. Sorting (RAM) Brodal, Fagerberg, Vinther 2004

  32. B-trees Bayer and McCreight 1972 Searches and updatesuseO(logB N) I/Os ExternalMemorySearchTrees degreeO(B) Search/update path

  33. Recursivememory layout (van Emde Boas) Prokop 1999 h/2 A h ... ... h/2 B1 Bk A B1 Bk ... Cache-ObliviousSearchTrees Binary tree SearchesuseO(logBN) I/Os • Dynamization (severalpapers) – ”reduction to static layout”

  34. Cache-ObliviousSearchTrees • Brodal, Jacob, Fagerberg 1999

  35. Matrix Multiplication Frigo, Leiserson, Prokop and Ramachandran 1999 Iterative: Recursive: O(N3) I/Os I/Os N Average time taken to multiplytwoN x Nmatricsdivided by N3

  36. Cache-Oblivious Summary • The ideal cache model helps designing competitive and robust algorithms • Basictechniques: Scanning, recursion/divide-and-conquer, recursivememory layout, sorting • Many other problems studied: Permuting, FFT, Matrix transposition, Priority queues, Graph algorithms, Computationalgeometry... • Overhead involved in being cache-oblivious can be small enough for the nice theoretical properties to transfer into practical advantages

  37. The Influence of other Chip Technologies... ....whysomeexperiments do not turn out as expected

  38. translate virtual addresses into physical addresses small table (full associative) TLB miss requireslookup to the page table Translation Lookaside Buffer (TLB) • Size: 8 - 4,096 entries • Hit time: 0.5 - 1 clock cycle • Miss penalty: 10 - 30 clock cycles wikipedia.org

  39. TLB and Radix Sort Rahman and Raman 1999 Time for one permutation phase

  40. CacheAssociativity wikipedia.org Execution times for scanning k sequences of total length N=224 in round-robin fashion (SUN-Sparc Ultra, direct mapped cache) Cache associativity TLB misses Sanders 1999

  41. TLB and Radix Sort Rahman and Raman 1999 TLB optimized

  42. Prefetching vs. Caching Pan, Cherng, Dick, Ladner 2007 All Pairs Shortest Paths (APSP) Organize data so that the CPU can prefetch the data → computation (can) dominate cache effects Prefetching disabled Prefetching enabled

  43. BranchPrediction vs. Caching QuickSort Select the pivot biased to achieve subproblems of size α and 1-α + reduces # branch mispredictions -increases # instructions and # cache faults Kaligosi and Sanders 2006

  44. BranchPrediction vs. Caching α 1-α SkewedSearchTreesSubtrees have sizeα and 1-α +reduces # branchmispredictions -increases # instructions and # cachefaults Brodal and Moruz 2006

  45. for(i=0;i<n;i++) A[i]=rand()% 1000; for(i=0;i<n;i++) if(A[i]>threshold) g++; else s++; A n Another Trivial Program — the influence of branch predictions

  46. for(i=0;i<n;i++) a[i]=rand()% 1000; for(i=0;i<n;i++) if(a[i]>threshold) g++; else s++; BranchMispredictions Worst-case#mispredictionsfor thresholds 0..1000

  47. for(i=0;i<n;i++) a[i]=rand()% 1000; for(i=0;i<n;i++) if(a[i]>threshold) g++; else s++; Prefetchingdisabled Prefetching enabled RunningTime • Prefetchingdisabled • → 0.3 - 0.7 sec • Prefetchingenabled • → 0.15 – 0.5 sec

  48. for(i=0;i<n;i++) a[i]=rand()% 1000; for(i=0;i<n;i++) if(a[i]>threshold) g++; else s++; Prefetching disabled Prefetching enabled L2 Cache Misses • Prefetchingdisabled • → 2.500.000 cache misses • Prefetchingenabled • → 40.000 cache misses

  49. for(i=0;i<n;i++) a[i]=rand()% 1000; for(i=0;i<n;i++) if(a[i]>threshold) g++; else s++; Prefetching disabled Prefetching enabled L1 Cache Misses • Prefetchingdisabled • → 4 – 16 x 106cache misses • Prefetchingenabled • → 2.5 – 5.5 x 106 cache misses

  50. Beconsciousabout the presence of memoryhierarcieswhendesigningalgorithms Experimentalresults not oftenquite as expected due to neglected hardware features in algorithmdesign Externalmemory model and cache-oblivious model adequate models for capturingdisk/cachebuttlenecks Summary

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