The implementation of the Cilk-5 multithreaded language
PLDI '98 Proceedings of the ACM SIGPLAN 1998 conference on Programming language design and implementation
The data locality of work stealing
Proceedings of the twelfth annual ACM symposium on Parallel algorithms and architectures
Physically-based visual simulation on graphics hardware
Proceedings of the ACM SIGGRAPH/EUROGRAPHICS conference on Graphics hardware
Parallel techniques in irregular codes: cloth simulation as case of study
Journal of Parallel and Distributed Computing
Distributed Physical Based Simulations for Large VR Applications
VR '06 Proceedings of the IEEE conference on Virtual Reality
KAAPI: A thread scheduling runtime system for data flow computations on cluster of multi-processors
Proceedings of the 2007 international workshop on Parallel symbolic computation
Fine Grain Distributed Implementation of a Dataflow Language with Provable Performances
ICCS '07 Proceedings of the 7th international conference on Computational Science, Part II
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
Automatic parallelization for graphics processing units
PPPJ '09 Proceedings of the 7th International Conference on Principles and Practice of Programming in Java
An Extension of the StarSs Programming Model for Platforms with Multiple GPUs
Euro-Par '09 Proceedings of the 15th International Euro-Par Conference on Parallel Processing
StarPU: A Unified Platform for Task Scheduling on Heterogeneous Multicore Architectures
Euro-Par '09 Proceedings of the 15th International Euro-Par Conference on Parallel Processing
RenderAnts: interactive Reyes rendering on GPUs
ACM SIGGRAPH Asia 2009 papers
Image-based collision detection and response between arbitrary volume objects
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Interactive physical simulation on multicore architectures
EG PGV'09 Proceedings of the 9th Eurographics conference on Parallel Graphics and Visualization
Enabling task-level scheduling on heterogeneous platforms
Proceedings of the 5th Annual Workshop on General Purpose Processing with Graphics Processing Units
LIBKOMP, an efficient openMP runtime system for both fork-join and data flow paradigms
IWOMP'12 Proceedings of the 8th international conference on OpenMP in a Heterogeneous World
A dynamic self-scheduling scheme for heterogeneous multiprocessor architectures
ACM Transactions on Architecture and Code Optimization (TACO) - Special Issue on High-Performance Embedded Architectures and Compilers
Proceedings of the 18th International Conference on 3D Web Technology
Glinda: a framework for accelerating imbalanced applications on heterogeneous platforms
Proceedings of the ACM International Conference on Computing Frontiers
Multifrontal QR factorization for multicore architectures over runtime systems
Euro-Par'13 Proceedings of the 19th international conference on Parallel Processing
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Today, it is possible to associate multiple CPUs and multiple GPUs in a single shared memory architecture. Using these resources efficiently in a seamless way is a challenging issue. In this paper, we propose a parallelization scheme for dynamically balancing work load between multiple CPUs and GPUs. Most tasks have a CPU and GPU implementation, so they can be executed on any processing unit. We rely on a two level scheduling associating a traditional task graph partitioning and a work stealing guided by processor affinity and heterogeneity. These criteria are intended to limit inefficient task migrations between GPUs, the cost of memory transfers being high, and to favor mapping small tasks on CPUs and large ones on GPUs to take advantage of heterogeneity. This scheme has been implemented to support the SOFA physics simulation engine. Experiments show that we can reach speedups of 22 with 4 GPUs and 29 with 4 CPU cores and 4 GPUs. CPUs unload GPUs from small tasks making these GPUs more efficient, leading to a "cooperative speedup" greater than the sum of the speedups separatly obtained on 4 GPUs and 4 CPUs.