Optimizing Servers for High-Throughput and Low-Latency at DropboxScyllaDB
I'm going to discuss the efficiency/performance optimizations of different layers of the system. Starting from the lowest levels like hardware and drivers: these tunings can be applied to pretty much any high-load server. Then we’ll move to Linux kernel and its TCP/IP stack: these are the knobs you want to try on any of your TCP-heavy boxes. Finally, we’ll discuss library and application-level tunings, which are mostly applicable to HTTP servers in general and nginx/envoy specifically.
For each potential area of optimization I’ll try to give some background on latency/throughput tradeoffs (if any), monitoring guidelines, and, finally, suggest tunings for different workloads.
Also, I'll cover more theoretical approaches to performance analysis and the newly developed tooling like `bpftrace` and new `perf` features.
OSNoise Tracer: Who Is Stealing My CPU Time?ScyllaDB
In the context of high-performance computing (HPC), the Operating System Noise (osnoise) refers to the interference experienced by an application due to activities inside the operating system. In the context of Linux, NMIs, IRQs, softirqs, and any other system thread can cause noise to the application. Moreover, hardware-related jobs can also cause noise, for example, via SMIs.
HPC users and developers that care about every microsecond stolen by the OS need not only a precise way to measure the osnoise but mainly to figure out who is stealing cpu time so that they can pursue the perfect tune of the system. These users and developers are the inspiration of Linux's osnoise tracer.
The osnoise tracer runs an in-kernel loop measuring how much time is available. It does it with preemption, softirq and IRQs enabled, thus allowing all the sources of osnoise during its execution. The osnoise tracer takes note of the entry and exit point of any source of interferences. When the noise happens without any interference from the operating system level, the tracer can safely point to a hardware-related noise. In this way, osnoise can account for any source of interference. The osnoise tracer also adds new kernel tracepoints that auxiliaries the user to point to the culprits of the noise in a precise and intuitive way.
At the end of a period, the osnoise tracer prints the sum of all noise, the max single noise, the percentage of CPU available for the thread, and the counters for the noise sources, serving as a benchmark tool.
Optimizing Servers for High-Throughput and Low-Latency at DropboxScyllaDB
I'm going to discuss the efficiency/performance optimizations of different layers of the system. Starting from the lowest levels like hardware and drivers: these tunings can be applied to pretty much any high-load server. Then we’ll move to Linux kernel and its TCP/IP stack: these are the knobs you want to try on any of your TCP-heavy boxes. Finally, we’ll discuss library and application-level tunings, which are mostly applicable to HTTP servers in general and nginx/envoy specifically.
For each potential area of optimization I’ll try to give some background on latency/throughput tradeoffs (if any), monitoring guidelines, and, finally, suggest tunings for different workloads.
Also, I'll cover more theoretical approaches to performance analysis and the newly developed tooling like `bpftrace` and new `perf` features.
OSNoise Tracer: Who Is Stealing My CPU Time?ScyllaDB
In the context of high-performance computing (HPC), the Operating System Noise (osnoise) refers to the interference experienced by an application due to activities inside the operating system. In the context of Linux, NMIs, IRQs, softirqs, and any other system thread can cause noise to the application. Moreover, hardware-related jobs can also cause noise, for example, via SMIs.
HPC users and developers that care about every microsecond stolen by the OS need not only a precise way to measure the osnoise but mainly to figure out who is stealing cpu time so that they can pursue the perfect tune of the system. These users and developers are the inspiration of Linux's osnoise tracer.
The osnoise tracer runs an in-kernel loop measuring how much time is available. It does it with preemption, softirq and IRQs enabled, thus allowing all the sources of osnoise during its execution. The osnoise tracer takes note of the entry and exit point of any source of interferences. When the noise happens without any interference from the operating system level, the tracer can safely point to a hardware-related noise. In this way, osnoise can account for any source of interference. The osnoise tracer also adds new kernel tracepoints that auxiliaries the user to point to the culprits of the noise in a precise and intuitive way.
At the end of a period, the osnoise tracer prints the sum of all noise, the max single noise, the percentage of CPU available for the thread, and the counters for the noise sources, serving as a benchmark tool.
Desktop App Converter で Microsoft ストアデビュー & 野良野良ライフ満喫!!hiyohiyo
少しずつ盛り上がってきたような気がしないでもない Windows ストア。 従来のデスクトップアプリ(Win32, WinForms, WPF)もちょっと変換するだけで 簡単に Windows ストアに登録することが出来るんです。 Desktop App Converter を使ってサクッと Windows ストアデビューする方法をご紹介します。
セル生産方式におけるロボットの活用には様々な問題があるが,その一つとして 3 体以上の物体の組み立てが挙げられる.一般に,複数物体を同時に組み立てる際は,対象の部品をそれぞれロボットアームまたは治具でそれぞれ独立に保持することで組み立てを遂行すると考えられる.ただし,この方法ではロボットアームや治具を部品数と同じ数だけ必要とし,部品数が多いほどコスト面や設置スペースの関係で無駄が多くなる.この課題に対して音𣷓らは組み立て対象物に働く接触力等の解析により,治具等で固定されていない対象物が組み立て作業中に運動しにくい状態となる条件を求めた.すなわち,環境中の非把持対象物のロバスト性を考慮して,組み立て作業条件を検討している.本研究ではこの方策に基づいて,複数物体の組み立て作業を単腕マニピュレータで実行することを目的とする.このとき,対象物のロバスト性を考慮することで,仮組状態の複数物体を同時に扱う手法を提案する.作業対象としてパイプジョイントの組み立てを挙げ,簡易な道具を用いることで単腕マニピュレータで複数物体を同時に把持できることを示す.さらに,作業成功率の向上のために RGB-D カメラを用いた物体の位置検出に基づくロボット制御及び動作計画を実装する.
This paper discusses assembly operations using a single manipulator and a parallel gripper to simultaneously
grasp multiple objects and hold the group of temporarily assembled objects. Multiple robots and jigs generally operate
assembly tasks by constraining the target objects mechanically or geometrically to prevent them from moving. It is
necessary to analyze the physical interaction between the objects for such constraints to achieve the tasks with a single
gripper. In this paper, we focus on assembling pipe joints as an example and discuss constraining the motion of the
objects. Our demonstration shows that a simple tool can facilitate holding multiple objects with a single gripper.
【DLゼミ】XFeat: Accelerated Features for Lightweight Image Matchingharmonylab
公開URL:https://arxiv.org/pdf/2404.19174
出典:Guilherme Potje, Felipe Cadar, Andre Araujo, Renato Martins, Erickson R. ascimento: XFeat: Accelerated Features for Lightweight Image Matching, Proceedings of the 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (2023)
概要:リソース効率に優れた特徴点マッチングのための軽量なアーキテクチャ「XFeat(Accelerated Features)」を提案します。手法は、局所的な特徴点の検出、抽出、マッチングのための畳み込みニューラルネットワークの基本的な設計を再検討します。特に、リソースが限られたデバイス向けに迅速かつ堅牢なアルゴリズムが必要とされるため、解像度を可能な限り高く保ちながら、ネットワークのチャネル数を制限します。さらに、スパース下でのマッチングを選択できる設計となっており、ナビゲーションやARなどのアプリケーションに適しています。XFeatは、高速かつ同等以上の精度を実現し、一般的なラップトップのCPU上でリアルタイムで動作します。