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Enrico Fedrigo. Trends on real time control for adaptive optics. Source of inspiration. Where to detect trends? The Real Time Control Workshop Garching December 4 th , 5 th , 2012 ESO Messenger 151, March 2013, pages 55-57 ESO ELT Telescope RTC Advanced prototype developed - PowerPoint PPT Presentation
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© ESO© ESOPage 1Page 1 Enrico FedrigoEnrico Fedrigo
TRENDS ON REAL TIME CONTROL FOR ADAPTIVE OPTICS
TRENDS ON REAL TIME CONTROL FOR ADAPTIVE OPTICS
Enrico FedrigoEnrico Fedrigo
EuropeanSouthernObservatory
EuropeanSouthernObservatory
© ESO© ESOPage 2Page 2 Enrico FedrigoEnrico Fedrigo
Source of inspirationSource of inspiration
Where to detect trends?Where to detect trends?The Real Time Control WorkshopThe Real Time Control Workshop
Garching December 4Garching December 4thth, 5, 5thth , 2012 , 2012
ESO Messenger 151, March 2013, pages 55-57ESO Messenger 151, March 2013, pages 55-57
ESO ELT Telescope RTCESO ELT Telescope RTCAdvanced prototype developedAdvanced prototype developed
ESO ELT Instrument RTC Development PlanESO ELT Instrument RTC Development PlanPlan under development based on Phase-A Instrument requirementsPlan under development based on Phase-A Instrument requirements
My own experienceMy own experience
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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EuropeanSouthernObservatory
© ESO© ESOPage 3Page 3 Enrico FedrigoEnrico Fedrigo
The Real Time Control WorkshopThe Real Time Control Workshop
22ndnd meeting, first in Durham 13 meeting, first in Durham 13thth, 14, 14thth April 2011 April 2011 66 registered participants, 20% commercial66 registered participants, 20% commercial 28 talks, 1 special invited talk, 7 sessions, 1 panel 28 talks, 1 special invited talk, 7 sessions, 1 panel
discussion, 2 free-form open discussionsdiscussion, 2 free-form open discussions 2 major topics: technology and algorithms2 major topics: technology and algorithms All talks here: All talks here:
http://www.eso.org/sci/meetings/2012/RTCWorkshop.htmlhttp://www.eso.org/sci/meetings/2012/RTCWorkshop.html
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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RTC Workshop: TechnologyRTC Workshop: Technology
DSPDSP
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
DeterministicMassively parallelDifficult to program (now)Expensive
High degree of parallelismSimpler to program but need internal
knowledgeInternally deterministicLacks I/O (but there is GPUdirect)Non standard, subject to vendor lock-inRelatively cheapVery fast evolution
Non deterministicMulti-core/many-coreEasiest to program, most difficult to optimizeCheapVery fast evolution
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© ESO© ESOPage 5Page 5 Enrico FedrigoEnrico Fedrigo
FPGAFPGA
TMT conceptTMT concept- Based on a commercial card with 8xVirtex6 from Based on a commercial card with 8xVirtex6 from
NutaqNutaq- Not the best match for MVMNot the best match for MVM- PowerfulPowerful
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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FPGAFPGA
Microgate productMicrogate product- Tailored to a specific product, adaptive mirrors, Tailored to a specific product, adaptive mirrors,
where COTS might not always be the best choicewhere COTS might not always be the best choice- Delivers the required performanceDelivers the required performance- Custom product: obsolescence managed in-Custom product: obsolescence managed in-
househouse
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FPGAFPGA
ESO SPARTA productESO SPARTA product- Uses FPGA to manage communication and to Uses FPGA to manage communication and to
compress the input stream (WPU)compress the input stream (WPU)- Design of 2005, getting obsoleteDesign of 2005, getting obsolete- Still 80us is respectableStill 80us is respectable- It deliversIt delivers
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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CPUCPU
Durham RTC system DARCDurham RTC system DARC CPU-based with support for GPUCPU-based with support for GPU Good to test algorithmsGood to test algorithms Flexible, expandable Flexible, expandable Tested on skyTested on sky Interfaces to simulatorInterfaces to simulator
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
See talkSee talkFridayFriday
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CPUCPU
Kiepenheuer Institute AO systemKiepenheuer Institute AO system Stock Linux with few tweaks to improve real-timeStock Linux with few tweaks to improve real-time Correlation Shack-HartmannCorrelation Shack-Hartmann FlexibleFlexible Tested on skyTested on sky Moving to FPGA?Moving to FPGA?
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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CPUCPU
ESO’s SPARTA all-CPUESO’s SPARTA all-CPU For VxWorks (partially available on Linux)For VxWorks (partially available on Linux) Runs on IntelRuns on Intel Can be turned to FPGACan be turned to FPGA Same supervisorSame supervisor
save investmentssave investments
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ELT: the Telescope RTCELT: the Telescope RTC
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
Biggest CPU-based system so farBiggest CPU-based system so far Based on tweaked BSDBased on tweaked BSD Designed for a specific application Designed for a specific application
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The Intel PhiThe Intel Phi
Recent product from IntelRecent product from Intel Dedicated to HPCDedicated to HPC Modest speed-up promised, Modest speed-up promised, Still you can put 8 of them in one machineStill you can put 8 of them in one machine First tests disappointingFirst tests disappointing Interesting for portabilityInteresting for portability Roadmap to be verifiedRoadmap to be verified
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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High performance on CPUsHigh performance on CPUs
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Matteo Frigo, creator of FFTW and CilkMatteo Frigo, creator of FFTW and Cilk
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GPUGPU
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
TNO proposal for an array of GPUsTNO proposal for an array of GPUs- MVM (cuBLAS or Fujimoto)MVM (cuBLAS or Fujimoto)- 4xGPU good for ELT SCAO4xGPU good for ELT SCAO- Uses external API or librariesUses external API or libraries
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GPUGPU
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
TMT conceptTMT concept- MVM, 2xGPU per WFSMVM, 2xGPU per WFS- More GPUs on cluster systemMore GPUs on cluster system- Slow update of the control matrixSlow update of the control matrix
See talkSee talkWangWangFridayFriday
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GPUGPU
LESIA projectLESIA project- Real time and Real time and simulatorsimulator on GPU on GPU- Addresses the latency problem with GPUdirectAddresses the latency problem with GPUdirect- Relies on Nvidia and CUDARelies on Nvidia and CUDA
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
See talkSee talkGratadourGratadour
todaytoday
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Technological trendsTechnological trends
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
GPUs are the hottest technological componentGPUs are the hottest technological component The latency problem is being addressed by Nvidia with GPUdirectThe latency problem is being addressed by Nvidia with GPUdirect The roadmap is robust and proceeding at a fast paceThe roadmap is robust and proceeding at a fast pace Prototypes show ELT GLAO/SCAO can be targetedPrototypes show ELT GLAO/SCAO can be targeted
CPU: going the parallel wayCPU: going the parallel way Not always easy to manageNot always easy to manage
FPGA still important for high performance and special tasksFPGA still important for high performance and special tasks Communication layer, stream processingCommunication layer, stream processing Can implement a complete very high performance (==low latency) Can implement a complete very high performance (==low latency)
system; concepts can target EPICS full MVMsystem; concepts can target EPICS full MVM High level tools appearing (OpenCL, C-to-VHDL)High level tools appearing (OpenCL, C-to-VHDL)
Real Challenge: write a portable software that can benefit Real Challenge: write a portable software that can benefit from the advantages of each platformfrom the advantages of each platform
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Transistor densityTransistor density
Transistors, Transistors, frequency, power, frequency, power, performance, and performance, and cores over time cores over time (1985-2010).(1985-2010).
Computer density: still growing Computer density: still growing Clock speed: haltedClock speed: halted
Performance: growing, slowerPerformance: growing, slowerPower density: haltedPower density: halted
Cre
dits
: C
omm
itte
e on
Sus
tain
ing
Gro
wth
in
Com
put
ing
Per
form
ance
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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ParallelismParallelism
Parallelism and distributed computing is needed. The Parallelism and distributed computing is needed. The 5 challenges:5 challenges:
Extract parallelism from algorithm, find independent Extract parallelism from algorithm, find independent execution branchesexecution branchesAmdahl law:Amdahl law:
LocalityLocality
CommunicationCommunication
SynchronisationSynchronisation
Load balancingLoad balancing
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Amdahl lawAmdahl law
P=99%. N=256: How much ‘speedup’?
0 5 10 15 20 25 30 35 40 45 501
2
3
4
5
6
7
8
9
P=50%
P=60%
P=70%P=80%
P=90%
0 100 200 300 400 500 600 700 800 900 10000
10
20
30
40
50
60
70
80
90
100
P=50%
P=60%
P=70%P=80%
P=90%
P=99%72
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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Usage trendsUsage trends
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
GPUGPU Most groups stay away from the internals of the GPU and use them Most groups stay away from the internals of the GPU and use them
through standard libraries (BLAS)through standard libraries (BLAS) Some get into the technology for a further optimisation stepSome get into the technology for a further optimisation step
FPGAFPGA Still perceived as “difficult” and expensiveStill perceived as “difficult” and expensive Groups looking into ways to simplify the developmentGroups looking into ways to simplify the development
CPUCPU They have always been there, now increasing scopeThey have always been there, now increasing scope MACAO and SPARTA Light for small/mid size systemsMACAO and SPARTA Light for small/mid size systems DARC/KAOS for small/mid size DARC/KAOS for small/mid size FORCE prototype for ELT entry level (GLAO)FORCE prototype for ELT entry level (GLAO)
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The real issueThe real issue
Development costsDevelopment costs
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RTC Workshop: AlgorithmsRTC Workshop: Algorithms
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
Algorithm System Speedup
Cure (CuReD, Cure w/ preprocessing)Misalignment estimationTested in the real world
SCAO/XAO 100-1000
CLIF for Pyramid XAO 200
Kaczmarz MCAO/LTAO/MOAO
10-200
Wavelets with PCG MCAO 5-100
Frim (PCG)Heavily used to accelerate simulations
SCAO/LTAO/MCAO
30-50
SABRE XAO 10-20
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Smart algorithms performanceSmart algorithms performance
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
CuReD performance
See talkSee talkShatokinaShatokina
FridayFriday
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Smart algorithms performanceSmart algorithms performance
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
Kazcmarz performance
See talkSee talkRamlauRamlautodaytoday
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Smart algorithms performanceSmart algorithms performance
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
SABRE overview
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Smart arrangementSmart arrangement Split an on-line partSplit an on-line part
and an off-line partand an off-line part Applicable to any iterative algorithmApplicable to any iterative algorithm
Frim accelerationFrim acceleration
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
P
i
Q
jji jnyainxbnb
nba
nxba
ny
1 1
00
0
][][][
][1
][1
][
On-lineOn-line
This is how 80µs latency is achievedThis is how 80µs latency is achieved
Off-lineOff-line
SPARTA does it on the IIR controller:SPARTA does it on the IIR controller:
P
i
Q
jji jnyainxb
any
0 10
][][1
][
See posterSee posterBechetBechet
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The latency (and jitter) issueThe latency (and jitter) issue
How crucial is the latency and the jitter?How crucial is the latency and the jitter?
Specifications on latency and jitter must be carefully checked Specifications on latency and jitter must be carefully checked against Top Level Requirements to avoid over-specifying against Top Level Requirements to avoid over-specifying the real time controllerthe real time controller
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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Trends on algorithmsTrends on algorithms
Smart algorithms are readySmart algorithms are ready Some tested on skySome tested on sky Need to characterize them, mapping to different platformsNeed to characterize them, mapping to different platforms
Biggest question: do we need them?Biggest question: do we need them? Brute-force MVM on optimised hardware can be used to Brute-force MVM on optimised hardware can be used to
implement almost all the foreseen ELT instruments but one implement almost all the foreseen ELT instruments but one Array of GPUs or FPGAsArray of GPUs or FPGAs
Still need them to compute the CMStill need them to compute the CM Anyway, would you throw away a factor 1000 speed-up?Anyway, would you throw away a factor 1000 speed-up?
Can make room for more advanced control schemesCan make room for more advanced control schemes
It is now a matter of a design decisionIt is now a matter of a design decisionFirenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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Vibration rejectionVibration rejection
A trend (and hot topic) on his ownA trend (and hot topic) on his own
Several groups at work with different solutionsSeveral groups at work with different solutions
Two main categories: LQG-based or RLS-basedTwo main categories: LQG-based or RLS-based
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
See talkSee talkSivoSivo
FridayFriday
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ELT: the Instrument RTCELT: the Instrument RTC
ESO is developing a development planESO is developing a development plan
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
RequirementsRequirements
RequirementsRequirementsAnalysisAnalysis
TechnologicalTechnologicalsurveysurvey
CommunityCommunitysurveysurvey
LESIA
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ELT: the Instrument RTCELT: the Instrument RTC
Major drivers:Major drivers: Compatibility with ELT established standards wherever possibleCompatibility with ELT established standards wherever possible Obsolescence management, upgradability, maintenanceObsolescence management, upgradability, maintenance Scalability both in performance (small to big systems) and in cost Scalability both in performance (small to big systems) and in cost
(laboratory to instrument systems)(laboratory to instrument systems) Structure of development, development phases, industrializationStructure of development, development phases, industrialization Define need for a common development (a platform) and at which levelDefine need for a common development (a platform) and at which level Flexibility to accommodate varying requirements/algorithms during the Flexibility to accommodate varying requirements/algorithms during the
development and AIT phases (maybe with degraded performance)development and AIT phases (maybe with degraded performance) Strong decoupling between the I/O and computing modes technology Strong decoupling between the I/O and computing modes technology
choices, allowing separate upgrade paths/roadmaps.choices, allowing separate upgrade paths/roadmaps. High SW component reusability through loosely-coupled development High SW component reusability through loosely-coupled development
techniques and standard libraries.techniques and standard libraries.
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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ELT: the Instrument RTCELT: the Instrument RTC
Technological surveyTechnological survey Operating systemOperating system
VxWorks, LinuxVxWorks, Linux
Parallel programming and architecturesParallel programming and architectures Cilk, OpenMP, OpenCL, NUMA, SSECilk, OpenMP, OpenCL, NUMA, SSE
Interconnects (PCIe, GbE)Interconnects (PCIe, GbE) CPU-based implementationsCPU-based implementations AcceleratorsAccelerators
GPU for soft and hard real time, GPU direct, multi-GPU systemsGPU for soft and hard real time, GPU direct, multi-GPU systems Role of PhiRole of Phi
FPGA as FPGA as protocol offload engineprotocol offload engine Computing engineComputing engine
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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10-40-100 GbE Interconnect10-40-100 GbE Interconnect
Raw UDPRaw UDPWith FPGA-to-FPGA: <1µs latencyWith FPGA-to-FPGA: <1µs latencyFull bandwidth (10Gb) reachedFull bandwidth (10Gb) reached
Optimised switching with multicastOptimised switching with multicast<2.5µs latency, switch only<2.5µs latency, switch onlyFull bandwidth on all ports (48) reachedFull bandwidth on all ports (48) reached
March 29th, ESO GarchingMarch 29th, ESO Garching
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Concept for successor of SPARTAConcept for successor of SPARTA
WPUWPU
sw
itc
hs
wit
ch
RECREC
sw
itc
hs
wit
ch
CTRCTR
sw
itc
hs
wit
ch
CODECODEDETDET
ClusterCluster
• Communication based on 10-40-100 GbE• Distribution based on UDP or RTPS • Directly managed by FPGAs where latency/jitter is important• Metrology derived from the switch• Switch can deliver low latency (proved by Cisco)
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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My own experienceMy own experience
Portability of MACAO Portability of MACAO codecode
CPUs catch up: 2007: CPUs catch up: 2007: NAOS UpgradeNAOS Upgrade
Obsolescence of Obsolescence of SPARTASPARTA
Modularity to fight Modularity to fight obsolescenceobsolescence
Real time performance Real time performance vs feasibilityvs feasibility
The rest of the The rest of the development is the development is the biggest partbiggest part
Importance of shared Importance of shared developmentdevelopment
Lack of closed loop Lack of closed loop testing toolstesting tools
Firenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
MACAO VLTIMACAO VLTI
CRIRESCRIRES
SINFONISINFONI
MADMAD
SPHERESPHERE
GRAALGRAAL
GALACSIGALACSI
ERISERIS
NAOMINAOMI
GRAVITYGRAVITY
NAOSNAOS
44
11
1 - LGS1 - LGS
LGSLGS
MA
CA
OM
AC
AO
11
11
11
11
44
44
SP
AR
TA
SP
AR
TA
2003
2006
2006
2013
2015
2015
2004/2006
2007
1.5M-MAC1.5M-MAC
1.5M-MAC1.5M-MAC
1.5M-MAC1.5M-MAC
27M-MAC27M-MAC
15M-MAC15M-MAC
4.1G-MAC4.1G-MAC
12G-MAC12G-MAC
12G-MAC12G-MAC
7.5M-MAC7.5M-MAC
5 M-MAC5 M-MAC
4.1G-MAC4.1G-MAC
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The importance of being a PlatformThe importance of being a Platform
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ConclusionsConclusions Heterogeneous computing, with GPUs playing a very important roleHeterogeneous computing, with GPUs playing a very important role MVM coming backMVM coming back Deterministic transport settling on GbEDeterministic transport settling on GbE Use of embedded systems more and more limitedUse of embedded systems more and more limited Emergence and importance of optical bench simulatorsEmergence and importance of optical bench simulators Need to find “space” for more complex control schemesNeed to find “space” for more complex control schemes
Anti wind-up, saturation management, vibration rejection, modal control. LQGAnti wind-up, saturation management, vibration rejection, modal control. LQG They add complexityThey add complexity
Use of commodity hardware Use of commodity hardware upgradeabilityupgradeability Maintainability of commodity hardware imposes continuous upgradesMaintainability of commodity hardware imposes continuous upgrades
Importance of software development costsImportance of software development costs Minimizing it key to success Minimizing it key to success shared developments, collaborations shared developments, collaborations
Portability and modularity recognised but need more developmentPortability and modularity recognised but need more development Need to harness computing power of the different technologies in a Need to harness computing power of the different technologies in a
portable/maintainable way portable/maintainable way template programming or metaprogramming template programming or metaprogramming
Total Cost of Ownership rarely addressedTotal Cost of Ownership rarely addressedFirenze, 26-31 May 2013; AO4ELT3Firenze, 26-31 May 2013; AO4ELT3
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