algorithm of task assignment

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A Distributed System is a Network of Machines that can exchange information with each other through Message-passing. It can be very useful as it helps in resource sharing. In this article, we will see the concept of the Task Assignment Approach in Distributed systems.

Resource Management:

One of the functions of system management in distributed systems is Resource Management. When a user requests the execution of the process, the resource manager performs the allocation of resources to the process submitted by the user for execution. In addition, the resource manager routes process to appropriate nodes (processors) based on assignments. 

Multiple resources are available in the distributed system so there is a need for system transparency for the user. There can be a logical or a physical resource in the system. For example, data files in sharing mode, Central Processing Unit (CPU), etc.

As the name implies, the task assignment approach is based on the division of the process into multiple tasks. These tasks are assigned to appropriate processors to improve performance and efficiency. This approach has a major setback in that it needs prior knowledge about the features of all the participating processes. Furthermore, it does not take into account the dynamically changing state of the system. This approach’s major objective is to allocate tasks of a single process in the best possible manner as it is based on the division of tasks in a system. For that, there is a need to identify the optimal policy for its implementation.

Working of Task Assignment Approach:

In the working of the Task Assignment Approach, the following are the assumptions:

• The division of an individual process into tasks.
• Each task’s computing requirements and the performance in terms of the speed of each processor are known.
• The cost incurred in the processing of each task performed on every node of the system is known.
• The IPC (Inter-Process Communication) cost is known for every pair of tasks performed between nodes.
• Other limitations are also familiar, such as job resource requirements and available resources at each node, task priority connections, and so on.

Goals of Task Assignment Algorithms:

• Reducing Inter-Process Communication (IPC) Cost
• Quick Turnaround Time or Response Time for the whole process
• A high degree of Parallelism
• Utilization of System Resources in an effective manner

The above-mentioned goals time and again conflict. To exemplify, let us consider the goal-1 using which all the tasks of a process need to be allocated to a single node for reducing the Inter-Process Communication (IPC) Cost. If we consider goal-4 which is based on the efficient utilization of system resources that implies all the tasks of a process to be divided and processed by appropriate nodes in a system.

Note: The possible number of assignments of tasks to nodes:

But in practice, the possible number of assignments of tasks to nodes < m x n because of the constraint for allocation of tasks to the appropriate nodes in a system due to their particular requirements like memory space, etc.

Need for Task Assignment in a Distributed System:

The need for task management in distributed systems was raised for achieving the set performance goals. For that optimal assignments should be carried out concerning cost and time functions such as task assignment to minimize the total execution and communication costs, completion task time, total cost of 3 (execution, communication, and interference), total execution and communication costs with the limit imposed on the number of tasks assigned to each processor, and a weighted product of cost functions of total execution and communication costs and completion task time. All these factors are countable in task allocation and turn, resulting in the best outcome of the system.

Example of Task Assignment Approach:

Let us suppose, there are two nodes namely n1 and n2, and six tasks namely t1, t2, t3, t4, t5, and t6. The two task assignment parameters are:

• execution cost: x ab refers to the cost of executing a task an on node b.
• inter-task communication cost: c ij refers to inter-task communication cost between tasks i and j.

Note: The execution of the task (t2) on the node (n2) and the execution of the task (t6) on the node (n1) is not possible as it can be seen from the above table of Execution costs that resources are not available.

Case1: Serial Assignment

Cost of Execution in Serial Assignment:

Cost of Communication in Serial Assignment:

Case2: Optimal Assignment

Cost of Execution in Optimal Assignment:

Cost of Communication in Optimal Assignment:

Optimal Assignment using Minimal Cutset:

Cutset: The cutset of a graph refers to the set of edges that when removed makes the graph disconnected.

Minimal Cutset: The minimal cutset of a graph refers to the cut which is minimum among all the cuts of the graph.

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A better way to control shape-shifting soft robots

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Imagine a slime-like robot that can seamlessly change its shape to squeeze through narrow spaces, which could be deployed inside the human body to remove an unwanted item.

While such a robot does not yet exist outside a laboratory, researchers are working to develop reconfigurable soft robots for applications in health care, wearable devices, and industrial systems.

But how can one control a squishy robot that doesn’t have joints, limbs, or fingers that can be manipulated, and instead can drastically alter its entire shape at will? MIT researchers are working to answer that question.

They developed a control algorithm that can autonomously learn how to move, stretch, and shape a reconfigurable robot to complete a specific task, even when that task requires the robot to change its morphology multiple times. The team also built a simulator to test control algorithms for deformable soft robots on a series of challenging, shape-changing tasks.

Their method completed each of the eight tasks they evaluated while outperforming other algorithms. The technique worked especially well on multifaceted tasks. For instance, in one test, the robot had to reduce its height while growing two tiny legs to squeeze through a narrow pipe, and then un-grow those legs and extend its torso to open the pipe’s lid.

While reconfigurable soft robots are still in their infancy, such a technique could someday enable general-purpose robots that can adapt their shapes to accomplish diverse tasks.

“When people think about soft robots, they tend to think about robots that are elastic, but return to their original shape. Our robot is like slime and can actually change its morphology. It is very striking that our method worked so well because we are dealing with something very new,” says Boyuan Chen, an electrical engineering and computer science (EECS) graduate student and co-author of a paper on this approach .

Chen’s co-authors include lead author Suning Huang, an undergraduate student at Tsinghua University in China who completed this work while a visiting student at MIT; Huazhe Xu, an assistant professor at Tsinghua University; and senior author Vincent Sitzmann, an assistant professor of EECS at MIT who leads the Scene Representation Group in the Computer Science and Artificial Intelligence Laboratory. The research will be presented at the International Conference on Learning Representations.

Controlling dynamic motion

Scientists often teach robots to complete tasks using a machine-learning approach known as reinforcement learning, which is a trial-and-error process in which the robot is rewarded for actions that move it closer to a goal.

This can be effective when the robot’s moving parts are consistent and well-defined, like a gripper with three fingers. With a robotic gripper, a reinforcement learning algorithm might move one finger slightly, learning by trial and error whether that motion earns it a reward. Then it would move on to the next finger, and so on.

But shape-shifting robots, which are controlled by magnetic fields, can dynamically squish, bend, or elongate their entire bodies.

“Such a robot could have thousands of small pieces of muscle to control, so it is very hard to learn in a traditional way,” says Chen.

To solve this problem, he and his collaborators had to think about it differently. Rather than moving each tiny muscle individually, their reinforcement learning algorithm begins by learning to control groups of adjacent muscles that work together.

Then, after the algorithm has explored the space of possible actions by focusing on groups of muscles, it drills down into finer detail to optimize the policy, or action plan, it has learned. In this way, the control algorithm follows a coarse-to-fine methodology.

“Coarse-to-fine means that when you take a random action, that random action is likely to make a difference. The change in the outcome is likely very significant because you coarsely control several muscles at the same time,” Sitzmann says.

To enable this, the researchers treat a robot’s action space, or how it can move in a certain area, like an image.

Their machine-learning model uses images of the robot’s environment to generate a 2D action space, which includes the robot and the area around it. They simulate robot motion using what is known as the material-point-method, where the action space is covered by points, like image pixels, and overlayed with a grid.

The same way nearby pixels in an image are related (like the pixels that form a tree in a photo), they built their algorithm to understand that nearby action points have stronger correlations. Points around the robot’s “shoulder” will move similarly when it changes shape, while points on the robot’s “leg” will also move similarly, but in a different way than those on the “shoulder.”

In addition, the researchers use the same machine-learning model to look at the environment and predict the actions the robot should take, which makes it more efficient.

Building a simulator

After developing this approach, the researchers needed a way to test it, so they created a simulation environment called DittoGym.

DittoGym features eight tasks that evaluate a reconfigurable robot’s ability to dynamically change shape. In one, the robot must elongate and curve its body so it can weave around obstacles to reach a target point. In another, it must change its shape to mimic letters of the alphabet.

“Our task selection in DittoGym follows both generic reinforcement learning benchmark design principles and the specific needs of reconfigurable robots. Each task is designed to represent certain properties that we deem important, such as the capability to navigate through long-horizon explorations, the ability to analyze the environment, and interact with external objects,” Huang says. “We believe they together can give users a comprehensive understanding of the flexibility of reconfigurable robots and the effectiveness of our reinforcement learning scheme.”

Their algorithm outperformed baseline methods and was the only technique suitable for completing multistage tasks that required several shape changes.

“We have a stronger correlation between action points that are closer to each other, and I think that is key to making this work so well,” says Chen.

While it may be many years before shape-shifting robots are deployed in the real world, Chen and his collaborators hope their work inspires other scientists not only to study reconfigurable soft robots but also to think about leveraging 2D action spaces for other complex control problems.

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Exploratory —

Exploration-focused training lets robotics ai immediately handle new tasks, maximum diffusion reinforcement learning focuses training on end states, not process..

Jacek Krywko - May 10, 2024 6:22 pm UTC

Reinforcement-learning algorithms in systems like ChatGPT or Google’s Gemini can work wonders, but they usually need hundreds of thousands of shots at a task before they get good at it. That’s why it’s always been hard to transfer this performance to robots. You can’t let a self-driving car crash 3,000 times just so it can learn crashing is bad.

But now a team of researchers at Northwestern University may have found a way around it. “That is what we think is going to be transformative in the development of the embodied AI in the real world,” says Thomas Berrueta who led the development of the Maximum Diffusion Reinforcement Learning (MaxDiff RL), an algorithm tailored specifically for robots.

Introducing chaos

The problem with deploying most reinforcement-learning algorithms in robots starts with the built-in assumption that the data they learn from is independent and identically distributed. The independence, in this context, means the value of one variable does not depend on the value of another variable in the dataset—when you flip a coin two times, getting tails on the second attempt does not depend on the result of your first flip. Identical distribution means that the probability of seeing any specific outcome is the same. In the coin-flipping example, the probability of getting heads is the same as getting tails: 50 percent for each.

In virtual, disembodied systems, like YouTube recommendation algorithms, getting such data is easy because most of the time it meets these requirements right off the bat. “You have a bunch of users of a website, and you get data from one of them, and then you get data from another one. Most likely, those two users are not in the same household, they are not highly related to each other. They could be, but it is very unlikely,” says Todd Murphey, a professor of mechanical engineering at Northwestern.

The problem is that, if those two users were related to each other and were in the same household, it could be that the only reason one of them watched a video was that their housemate watched it and told them to watch it. This would violate the independence requirement and compromise the learning.

“In a robot, getting this independent, identically distributed data is not possible in general. You exist at a specific point in space and time when you are embodied, so your experiences have to be correlated in some way,” says Berrueta. To solve this, his team designed an algorithm that pushes robots be as randomly adventurous as possible to get the widest set of experiences to learn from.

Two flavors of entropy

The idea itself is not new. Nearly two decades ago, people in AI figured out algorithms , like Maximum Entropy Reinforcement Learning (MaxEnt RL), that worked by randomizing actions during training. “The hope was that when you take as diverse set of actions as possible, you will explore more varied sets of possible futures. The problem is that those actions do not exist in a vacuum,” Berrueta claims. Every action a robot takes has some kind of impact on its environment and on its own condition—disregarding those impacts completely often leads to trouble. To put it simply, an autonomous car that was teaching itself how to drive using this approach could elegantly park into your driveway but would be just as likely to hit a wall at full speed.

To solve this, Berrueta’s team moved away from maximizing the diversity of actions and went for maximizing the diversity of state changes. Robots powered by MaxDiff RL did not flail their robotic joints at random to see what that would do. Instead, they conceptualized goals like “can I reach this spot ahead of me” and then tried to figure out which actions would take them there safely.

Berrueta and his colleagues achieved that through something called ergodicity, a mathematical concept that says that a point in a moving system will eventually visit all parts of the space that the system moves in. Basically, MaxDiff RL encouraged the robots to achieve every available state in their environment. And the results of first tests in simulated environments were quite surprising.

Racing pool noodles

“In reinforcement learning there are standard benchmarks that people run their algorithms on so we can have a good way of comparing different algorithms on a standard framework,” says Allison Pinosky, a researcher at Northwestern and co-author of the MaxDiff RL study. One of those benchmarks is a simulated swimmer: a three-link body resting on the ground in a viscous environment that needs to learn to swim as fast as possible in a certain direction.

In the swimmer test, MaxDiff RL outperformed two other state-of-the-art reinforcement learning algorithms (NN-MPPI and SAC). These two needed several resets to figure out how to move the swimmers. To complete the task, they were following a standard AI learning process divided down into a training phase where an algorithm goes through multiple failed attempts to slowly improve its performance, and a testing phase where it tries to perform the learned task. MaxDiff RL, by contrast, nailed it, immediately adapting its learned behaviors to the new task.

The earlier algorithms ended up failing to learn because they got stuck trying the same options and never progressing to where they could learn that alternatives work. “They experienced the same data repeatedly because they were locally doing certain actions, and they assumed that was all they could do and stopped learning,” Pinosky explains. MaxDiff RL, on the other hand, continued changing states, exploring, getting richer data to learn from, and finally succeeded. And because, by design, it seeks to achieve every possible state, it can potentially complete all possible tasks within an environment.

But does this mean we can take MaxDiff RL, upload it to a self-driving car, and let it out on the road to figure everything out on its own? Not really.

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Graphs play a central role in the world of algorithms. For example, navigation devices use an algorithm to compute shortest paths on a graph to answer a route query. Many planning and assignment problems can also be easily modeled as problems on graphs. In principle, it is true that a great many problems can be thought of as graph problems, so designing efficient algorithms for such problems is an important subfield of theoretical computer science. In this lecture we will enter the world of graph algorithms. On the one hand, we will learn about important algorithmic problem classes on graphs and efficient algorithms to solve them. Among other things, we will look at finding shortest paths, flows, cuts, separators, and matchings in graphs. Algorithms for these problems have a wide variety of applications, making them an important and useful tool for any algorithmicist. On the other hand, we will also study how constraints on the graphs at hand affect the complexity of the problems and their algorithmic solution. For example, many algorithmic problems are more efficiently solvable on trees and planar graphs (i.e., graphs that can be embedded in the plane without intersection) than on general graphs. We will also explore some properties of graphs that we can exploit specifically for designing efficient algorithms. For example, trees and planar graphs have small separators (sets of nodes whose removal causes the graphs to decompose into multiple context components), which helps design efficient divide & conquer algorithms. The goal of the lecture is the development and training of a structured approach to algorithmic problems on graphs. In doing so, we will jointly develop efficient graph algorithms with appropriate data structures, prove their correctness, and analyze their resource requirements (runtime and memory). In addition, the lecture will highlight special graph classes and other important concepts in graph theory and their impact on the world of algorithms.

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A review of task scheduling in cloud computing based on nature-inspired optimization algorithm

• Published: 29 June 2023
• Volume 26 , pages 3037–3067, ( 2023 )

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• Farida Siddiqi Prity 1 ,
• Md. Hasan Gazi 2 &
• K. M. Aslam Uddin   ORCID: orcid.org/0000-0001-6918-2648 1  

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The advent of the cloud computing paradigm allowed multiple organizations to move, compute, and host their applications in the cloud environment, enabling seamless access to a wide range of services with minimal effort. An efficient and dynamic task scheduler is required to handle concurrent user requests for cloud services using various heterogeneous and diversified resources. Improper scheduling can lead to challenges with under or over-utilization of resources, which could waste cloud resources or degrade service performance. Nature-inspired optimization techniques have been proven effective at solving scheduling problems. This paper accomplishes a review of nature-inspired optimization techniques for scheduling tasks in cloud computing. A novel classification taxonomy and comparative review of these techniques in cloud computing are presented in this research. The taxonomy of nature-inspired scheduling techniques is categorized as per the scheduling algorithms, nature of the scheduling problem, type of tasks, the primary objective of scheduling, task-resource mapping scheme, scheduling constraint, and testing environment. Additionally, guidelines for future research issues are also provided, which should undoubtedly benefit researchers and practitioners as well as open the door for newcomers eager to pursue their glory in the field of cloud task scheduling.

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Prity, F.S., Gazi, M.H. & Uddin, K.M.A. A review of task scheduling in cloud computing based on nature-inspired optimization algorithm. Cluster Comput 26 , 3037–3067 (2023). https://doi.org/10.1007/s10586-023-04090-y

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Received : 10 May 2023

Revised : 30 May 2023

Accepted : 11 June 2023

Published : 29 June 2023

Issue Date : October 2023

DOI : https://doi.org/10.1007/s10586-023-04090-y

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