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Chapter 10 Database machine design and performance evaluation: Annotated bibliography

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10.3 — Annotated References

  1. A.Avizienis, A.F.Cardenas, F.Alavian: On the Effectiveness of Fault-Tolerance Techniques in Parallel Associative Database Processors, Proc. of Int. Conf. on Data Engineering, Los Angeles, 1984, pp. 50–59. The paper deals with some fault-tolerant techniques which differ from those proposed in [CAA83]. A general model representing machines like CASSM and RAP is described and fault-tolerance is systematically applied to its organization. Storage areas are protected by duplication and error detecting and/or correcting codes. The area processors, which search storage areas, are replicated and periodically checked. The effectiveness of these techniques is shown by the analytic results obtained by a program based on a unified Markov reliability model.

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  2. R. Agrawal and D. J. DeWitt: Recovery Architecture for Multiprocessor Database Machines, ACM SIGMOD, Austin, Texas, 1985, pp. 131–145. This study deals with recovery and its impact on performance of database machines. The authors propose several parallel recovery architectures for multiprocessor database machines and examine their characteristics in detail; they then evaluate the impact of the results on database machine performance. Log, shadows and differential files mechanisms are examined and performance is evaluated by means of simulation experiments. Two metrics are used for studying the performance: average execution time per page and average transaction completion time. The results indicate that a recovery architecture based on parallel logging has the best overall performance.

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  3. R. Agrawal: A Parallel Logging Algorithm for Multiprocessor Database Machines, Proc. of 4th Int. Workshop on Database Machines, Grand Bahama Island, 1985, Springer-Verlag, 1985, pp. 256–276. In this paper a recovery architecture based on parallel logging for multiprocessor-cache database machines is presented. Simulation experiments are made in order to determine the characteristics of the parallel logging algorithm and its impact on database machine performance. The author shows how the recovery actions can be completely overlapped with the data page processing so that the performance of the database machine is not degraded by recovery overhead.

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  4. Amperif Corporation: The Relational Database Machine RDM-1100, Amperif Corporation, 1982, Chatsworth, California. The RDM 1100 was introduced for use with UNIVAC 1100 host computers and Amperif disk drives; it uses the Britton-Lee IDM (see [BRI81]) internally under its cover. Interface software which permits the host computer to utilize the RDM 1100 requires no modification in the UNIVAC operating system. A relational query language provides a high-level, on-line interface to the RDM 1100.

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  5. J.P.Armisen, J.Y.Caleca: A commercial back-end data base system, Proc. of 7th Int. Conf. on Very Large Data Bases, Cannes, 1981, pp. 56–65. This paper describes the M1X database machine developed for commercialization. The back-end supports both a Codasyl and a relational interface, and locking and recovery mechanisms are included.

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  6. H.Auer, H.Ch.Zeidler: On the Development of Dedicated Hardware for Searching, Proc. of 4th Int. Workshop on Database Machines, Grand Bahama Island, Springer-Verlag, 1985, pp. 346–365. The central points of this paper regard the features required for implementing the logic necessary for forming a search processor. The authors discuss the design of data filters and more in particular they examine the search processor of the RDBM relational database machine (see [SZH83]).

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  7. E. Babb: Implementing a Relational Database by means of Specialized Hardware, ACM TODS, vol. 4, n. 1, March 1979, pp. 1–29. This paper deals with CAFS which is a special-purpose peripheral device designed for handling database transactions in a multiuser environment. In order to perform projection and join, the CAFS system possesses a random access store which contains an array of single-bit elements addressable by the key-field in a tuple. A method of addressing the bit array store by using hashing techniques is given and algorithms using the hashed bit array store to perform join and projection are described. Theoretical and experimental results regarding the behaviour of the hashed single-bit array store are also given.

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  8. D. Bitton, H. Boral, D.J. DeWitt and W.K. Wilkinson: Parallel Algorithms for the Execution of Relational Database Operations, ACM TODS, Vol. 8, n.3, Sept. 1983, pp. 324–353. Parallel algorithms for sorting, projection and join operations in a generalized multiprocessor environment are presented and analyzed by means of deterministic models. Cases in which the number of pages is significantly larger than the number of processors are examined.

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  9. Bogdanowicz, M.Crocker, D.K.Hsiao, C.Ryder, V.Stone and P.Strawser: Experiments in Benchmarking Relational Database Machines, Proc. of 3rd Int. Workshop on Database Machines, Munich, Springer-Verlag, 1983, pp. 106–134. A description of a large set of benchmarking experiments on a relational database machine is presented. The experiments are based on artificial databases which are defined by means of a database generation tool. The benchmark query set includes select, projection, and join operations. One query at a time is run in the machine. The definition of a machine-independent methodology for benchmarking database machines is an important result of this study.

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  10. D. Bitton, D.J. DeWitt, D.K. Hsiao, J. Menon: A Taxonomy of Parallel Sorting, ACM Computing Surveys, vol.16, n.3, September 1984, pp. 287–318. Parallel sorting algorithms are discussed according to several criteria which refer both to the time complexity of the algorithms and their architectural requirements.

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  11. D.Bitton, D.J.DeWitt and C.Turbyfill: Benchmarking Database Systems A Systematic Approach, Proc. of 9th Conf. on VLDB, Florence, 1983, pp. 8–19. Commercial and university INGRES database system versions and the IDM-500 database machine are compared together by using a simple but carefully tuned relational database. A comprehensive set of queries, such as selection, join, projection, aggregate, and update is also used. The benchmarking does not take a multiuser environment into account.

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  12. D.Bitton, D.J.DeWitt and C.Turbyfill: Benchmarking Database Systems a Systematic Approach, Computer Science Department Technical Report, n. 526, Univ. of Wisconsin, October 1983. This report is a revised and expanded version of the [BDT83a] paper in which the ORACLE database system and the DIRECT database machine are added to the original comparison.

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  13. H. Boral, D.J. DeWitt and W.K. Wilkinson: Performance Evaluation of Four Associative Disk Designs, Information Systems, Vol. 7, n.1, 1982, pp.53–64. The results of an event-driven simulation of associative disk architectures are presented. The PPH (Processor-Per-Head), PPT (Processor-Per-Track), PPB (Processor-Per-Bubble-Cell), and PPD (Processor-Per-Disk) designs are analyzed.

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  14. P.B. Berra, E. Oliver: The Role of Associative Array Processors in Data Base Machine Architecture, Computer, vol.12, n.3, 1979, pp. 53–61. This paper discusses the utilization of the STARAN associative array processor in data base management. This processor was built by the Goodyear Aerospace Corporation and was originally designed for image processing. It includes an array, which is the storage device containing the data, a comparand register which contains the argument, a mask register which determines whether or not the bit slices of the array are to function when a given operation has to be performed, response registers which record search results, perform boolean operations and provide word selection capability. Three general configurations are discussed and in all three the data are staged from the auxiliary memory into the associative array processor used for searching, retrieving and updating a large data base.

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  15. F.Bancilhon, D.Fortin, S.Gamerman, J.M.Laubin, P.Richard, M.Scholl, D.Tusera, A.Verroust: VERSO — A Relational Backend Database Machine, in "Advanced Database Machine Architecture", D.K.Hsiao ed., Prentice-Hall, 1983, pp. 1–18. The VERSO database machine is built around a fast filtering device designed for relational databases and based on a programmable finite state automaton. Its filter is capable of executing unary operations on-the-fly and its binary operation execution requires sorted data.

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  16. J. Banerjee, D.K. Hsiao and R. Baum: Concepts and Capabitilies of a Database Computer, ACM TODS, Vol. 3, n.4, Dec. 1978, pp. 347–384. This paper is the first systematic description of the DBC database machine, and for this reason the first subject the authors deal with concerns design problems. In their opinion the problems met in system design are intrinsically related to the nature of conventional hardware and can only be solved by introducing new architectural concepts. The DBC's functional characteristics and theory of operation are then illustrated and the paper concludes with a high-level description of DBC organization.

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  17. J. Banerjee, D. K. Hsiao and K. Kannan: DBC — A Database Computer for Very Large Databases, IEEE Trans. on Computer, Vol. C-28, N. 6, June 1979, pp. 414–429. In this paper, the overall architecture of the DBC machine is described and the organization of the individual components, as well as the implementation of some important concepts which are vital to database management, are discussed. The choice of technologies to be used for implementing the various components of the machine in terms of cost and performance is examined. The paper shows that the DBC machine provides a very high-level instruction repertoire for interfacing with the front-end, a set of elaborate security mechanisms, and an effective cluster mechanism.

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  18. P. Bertolazzi, M.Missikoff and M.Terranova: CID: A VLSI Device for List Intersection, Proc. of 3rd Int. Workshop on Database Machines, Munich, Springer-Verlag, 1983, pp. 188–204. A VLSI device for intersecting two unsorted lists with a high degree of parallelism is described and analyzed. This device is designed for intersecting two lists of tuple identifiers representing intermediate results of a query in the DBMAC database machine.

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  19. H. Boral, D.J. DeWitt: Processor Allocation Strategies for Multiprocessor Data Base Machine, ACM TODS, Vol.6, n. 2, June 1981, pp. 227–254. Four alternative strategies for assigning processors to queries in multiprocessor database machines are described and evaluated: SIMD assignment, packet-level assignment, instruction level and data flow assignment. Evaluation is performed by means of simulation techniques. The queries are subdivided into classes of varying complexity and then their mixes are examined.

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  20. H. Boral, D.J. DeWitt: Database Machines: An Idea Whose Time has Passed? A Critique of the Future of Database Machines, Proc. of 3rd Int. Workshop on Database Machines, Munich, Springer-Verlag, 1983, pp. 166–187. This paper describes three classes of database machines (Processor-per-Track architectures, Processor-per-Head designs and Off-the-Disk machines) and discusses the impact that trends in mass storage and processor technology have on these designs. The authors assert that highly parallel database machine architectures are doomed to extinction unless mechanisms for increasing the bandwidth of mass storage devices are found. Three fields of research are suggested: using unmodified disk drives with a customized disk controller, front-ending a number of conventional disks with a very large and very fast RAM memory, and investigating effective index strategies.

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  21. H. Boral, D.J. DeWitt: A Methodology for Database System Performance Evaluation, Computer Science Department Technical Report, Univ. of Wisconsin, 1984. A benchmarking-based methodology for evaluating the performance of database management systems and database machines in a multiuser environment is presented. The authors show that only four basic query types are needed for constructing a benchmark capable of evaluating a system's performance under a wide variety of workloads. This report is an extended version of [BOD84b].

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  22. H.Boral, D.J.DeWitt: A Methodology for Database System Performance Evaluation, Proceeding of Annual Meeting SIGMOD'84, Boston, Ma., 1984, pp. 176–185. This paper presents a methodology for evaluating the performance of database management systems and database machines in a multiuser environment. The transaction throughput is studied by developing a methodology for multiuser benchmarks. The authors identify three main factors that affect transaction throughput: multiprogramming level, degree of data sharing among simultaneously executed transactions, and transaction mix. They demonstrate that only four basic query types are needed for constructing a benchmark capable of evaluating a system's performance under a wide variety of workloads. Lastly, they present the results obtained by applying the methodology to the Britton-Lee IDM-500 database machine, see [BRI81].

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  23. H.Boral, S.Redfield: Database Machine Morfology, Proc. of 11th Int. Conf. on Very Large Data Bases, Stockholm, 1985, pp. 59–71. This paper analyzes and classifies twenty database machines and catalogue them on the basis of seven macro characteristics: type of mission, number of simultaneous missions, overlap type, memory property, processing primitives, location mechanisms, and storage structures. Furthermore, a language which describes the anatomy of DBM architectures in terms of a collection of modules, links between modules, and subsystems grouping modules is proposed. The analysis points out the following drawbacks: little attention is given to the I/O bottleneck usually faced only by the use of brute force parallelism, the designs are usually optimized towards improving the response time of a single request (in most cases relational operations instead of queries) instead of also being throughput oriented.

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  24. O.H.Bray, H.A. Freeman: Data Base Computers, Lexington Books, 1979. This book introduces readers to data base management and database computer concepts. CAFS, CASSM, STARAN, RAP, DBC architectures are surveyed, classified and compared to one another. Their classification is based on the number of processors involved in database processing and on the type of processing used (search for data on mass storage devices or in an intermediate storage area). They use the following classes: single processor direct search, multiple processor direct search, multiple processor indirect search, and multiple processor combined search.

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  25. Britton-Lee Incorporation: Intelligent Data Base Machine Product Description, Britton-Lee Inc., 1981, Los Gatos, California. The Intelligent Database Machine (IDM) is an integrated hardware/software backend computer designed to provide quality database performance at a moderate cost. It provides a host-independent facility for managing data and the intelligence required for managing user communication is provided by the host's software. IDM architecture is based on a specially designed processor called the Database Accelerator and the tasks a relational DBMS performs while processing queries are microcoded in it. The IDM is not intended for users requiring extremely high transaction rates.

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  26. Britton-Lee Incorporation: IDM Software Reference Manual Version 1.6, Britton-Lee Inc., 1984, Los Gatos, California. The IDM's Intelligent Database Language (IDL) is described here. The IDM contains a relational database management system which is a logical outgrowth of the INGRES system. IDL is available for on-line database creation, accessing and modification. Interface software is available for database management by application programs written in major programming languages and executed in host computers (IDM is not a general-purpose computer and does not have compilers of its own). IDM software features are: relational data management, transaction management, security, optimized access path selection, concurrency control, audit logs, crash recovery, dump and load of data, and a random access file system.

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  27. J. D. Brownsmith: A Simulation Model of the MICRONET Computer System during JOIN Processing, Annual Simulation Simposium 1981, pp. 1–16. A simulation study of queueing and resource utilization of MICRONET during processing relational join operations is presented. Some of the results obtained are compared with those obtained by a deterministic model.

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  28. J.D. Brownsmith, S.Y.W. Su: Performance Analysis of the Equijoin Operation in the MICRONET Computer System, Proc. of the ICC 80, 1980, p.264–268. The performance analysis is carried out by an analytical model. Results related to a number of tuples ranging from 10⋆⋆2 to 10 ⋆⋆8 and to a number of processors ranging from 1 to 1000 are reported.

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  29. A.F. Cardenas, F. Alavian, A. Avizienis: Performance of Recovery Architectures in Parallel Associative Database Processors, ACM TODS, vol. 8, n. 3, September 1983, pp. 291–323. Three different types of recovery mechanisms for parallel associative database processors (belonging to the Processor-Per-Track class) are identified. For each architecture both the workload imposed by the recovery mechanisms on the execution of database operations and the workload involved in the recovery actions are analyzed. The three architectures are then compared to one another in terms of the number of extra database revolutions needed.

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  30. F. Cesarini, D. De Luca and G.Soda: An Assessment of the Query-Processing Capability of DBMAC, in "Advanced Database Machine Architecture", D.K.Hsiao Ed., Prentice-Hall, 1983, pp. 109–129. Query processing in the DBMAC database machine is analyzed by means of simulation techniques. Due to the multiprocessor architecture and the particular scheme used for storing the data, two main query schemes, based on selection primitives, are introduced to represent the machine workload. A description of the simulation model and some results obtained by its application are given.

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  31. F.Cesarini, F.Pippolini: Parallel Evaluation of Relational Operators in a Data Base Machine, Proc. Int. Symp. MIMI82, Paris, 1982, pp. 19–24. The results concerning the time required for answering two sample queries referred to the DBMAC database machine are given. The data are subdivided into a particular structure, called data pool. A basic set of primitives operating on these data is defined and the transformation of a query parse tree into an executive tree made up of appropriate data primitives is described.

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  32. J.P. Cheiney, P. Faudemay, R. Michel and J.M. Thevenin: A Reliable Backend Using Multiattribute Clustering and Select-Join Operator, Proc. 12th Int. Conf. on VLDB, Kyoto, 1986, pp. 220–227. This paper presents some multiprocessor algorithms which speed-up both joins and selections. The techniques proposed are based on the linearization of the join time complexity law. This implies distributing the I/O and the processing load among several processors and disks. The solution proposed in this paper is based on a kind of multi-attribute clustering which uses a parallel implementation of digital hashing and a linearly growing directory. This method is implemented in the SABRE Database Machine. Analytical considerations show that it is possible to improve the multiprocessor hashing join algorithms with a ratio of 3 to 5.

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  33. R.McCord: Sizing and Data Distribution for a Distributed Data Base Machine, Proc. ACM SIGMOD, Michigan, 1981, pp. 198–204. A Simulation Program for the Analysis of Database Machines and Environments (SPADE) is described here. This program was made for evaluating the MUFFIN database machine proposal, which is intended to support a distributed version of the INGRES relational database system. The results of the experiments are used for analyzing possible MUFFIN configurations and processing tactics.

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  34. F.Cesarini, F.Pippolini, G.Soda: A Technique for Analyzing Query Execution in a Multiprocessor Data Base Machines, Proc. of 4th Int. Workshop on Database Machines, Grand Bahama Island, Springer-Verlag, 1985, pp. 68–90 (also reprinted in this volume as chapter 9). In this paper, a methodology for representing and evaluating the execution of relational queries by a multiprocessor database machine is presented. The methodology is based on the analysis of a structure called query execution graph. A query execution graph is the detailed description of the way the database machine must operate in order to answer a query. A procedure for computing the execution cost of query by examining the query execution graph is proposed and takes the parallel execution of subqueries into account.

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  35. D.J.DeWitt, R.Gerber: Multiprocessor Hash-Based Join Algorithms, Proc. of 11th Int. Conf. on Very Large Data Bases, Stockholm, 1985, pp. 151–164. This paper examines multiprocessor hash-join algorithms in a multiprocessor environment where it is possible to identify CPU, communication and I/O bandwidth design parameters. The algorithms analyzed are multiprocessor versions of Simple, Hybrid, and Grace algorithms previously examined by [DKS84] in a single processor environment. A simulation model is constructed and performance is measured by throughput. Utilization of CPU, disk, and network is also illustrated. The results evidence linear increases in throughput with corresponding increases in processor and disk resources.

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  36. D.J.DeWitt, P.B. Hawthorn: A Performance Evaluation of Data Base Machine Architectures, Proc. 7th Int. Conf. on VLDB, Cannes, 1981, pp. 199–213. In this paper, analytical models for a conventional database management system and four generic database machine architectures are proposed. The architectures are classified as PPT (Processor-per-Track systems), PPH (Processor-per-Head systems), PPD (Processor-per-Disk systems) and MPC (Multiprocessor-Cache-Systems) and the following three kinds of queries are taken into consideration: selection, join and aggregate function queries. It is demonstrated that no one type of machine is the best one for executing all types of queries. Furthermore, for some classes of queries, certain database machine designs are slower than a DBMS on a conventional computer.

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  37. D.J. De Witt: DIRECT — A Multiprocessor Organization for Supporting Relational Database Management Systems, IEEE Trans. on Computer, Vol. C-28, N. 6, June 1979, pp. 395–406. This paper presents the overall architecture of the DIRECT machine. The author emphasizes the MIMD aspect of the architecture; i.e., the machine can simultaneously support both intra-query and inter-query concurrency. This feature is obtained by means of an associative memory and an interconnection matrix which permits two query processors to search the same page of the same relation simultaneously while executing different queries. Furthermore, the author proposes a dynamic mechanism for determining the number of processors to be allocated to a query. This mechanism is based on the priority of the query, the size of the relations it references, and the type and number of relational operations included in the query. The relation size is not limited by the size of the associative memory.

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  38. D.J. DeWitt, R.H. Gerber, G. Graefe, M.L. Heytens, K.B. Kumar and M. Murailikrisna: GAMMA — A High Performance Dataflow Database Machine, Proc. of 12th Int. Conf. on VLDB, Kyoto, 1986, pp. 228–237. GAMMA is a relational database machine that exploits dataflow query processing techniques. Its architecture consists of 20 VAX 11/750 processors connected together by an 80 megabit/second token ring. GAMMA is different from a distributed database system running on a local network because it has no notion of site autonomy, and possesses a centralized schema and a single point for starting the execution of all queries. A preliminary performance analysis based on a benchmark strategy elaborated by [BDT83] is also reported in this paper.

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  39. S.A. Demurjian, D.K. Hsiao, D.S. Kerr, J. Menon, P.R. Strawser, R.C. Tekampe, J. Trimble, R.J. Watson: Performance Evaluation of a Database System in a Multiple Backend Configuration, Proc. of 4th Int. Workshop on Database Machines, Grand Bahama Island, Springer-Verlag, 1985, pp. 91–111. This paper deals with the measurement of a database system running on a multiple backend configuration obtained by means of benchmarking experiments. Benchmarking strategies are devised and applied to the external and internal measurements of a MBDS prototype (see [HHK83]). The external performance measurement of MBDS was obtained by collecting macroscopic data, such as the response time of a request, while the internal performance measurement of MBDS was obtained by collecting microscopic data, such as the entering and leaving time in a system process.

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  40. D.J.DeWitt, R.H.Katz, F.Olken, L.D.Shapiro: Implementation Techniques for Main Memory Database Systems, Proc. of Annual Meeting SIGMOD'84, Boston, Ma., 1984, pp. 1–8. In this paper, the authors deal with the changes that must be made in a relational database system so that it can take advantage of large amounts of main memory. In particular, they compare alternative access methods, such as AVL and B+-trees, to one another when applied to main memory database systems, and measure the performance of algorithms used in relational database operations in this environment. Four algorithms for executing joins are presented and evaluated. They are called: Sort-merge, Simple, GRACE and Hybrid algorithm. The multiprocessor versions of these algorithms are discussed in [DEG85].

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  43. D.Ferrari: Computer Systems Performance Evaluation, Prentice-Hall, 1978. The conceptual aspects of performance evaluation techniques are described here and the author does not neglect the informative aspects that contribute significantly to providing a comprehensive view of all existing material in both research and all other fields.

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  50. G.Gardarin, P.Bernadat, N.Temmerman, P.Valduriez, Y.Viemont: SABRE — A Relational Database System for a Multimicroprocessor Machine, in "Advanced Database Machine Architecture", D.K.Hsiao ed., Prentice-Hall, 1983, pp. 19–35. SABRE is a software-oriented machine developed as a portable system on both big computers and multimicroprocessor machines. Its functional architecture is composed of virtual processors mapped on one or more real processors. On-the-fly filtering, multidimensional clustering, and view mechanisms are some of the main characteristics of the project.

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  52. S. Gamerman, S. Salza, M.Scholl: A Methodology for Evaluating the Filter Utilization in the DBM VERSO, Proc. of 3rd Int. Workshop on Database Machines, Munich, Springer-Verlag, 1983, pp. 91–105 (also reprinted in this volume as chapter 8). A probabilistic modelling approach for evaluating filter utilization in the VERSO relational database machine is proposed. An analysis is made of the union operation under a simple algorithm in order to illustrate this approach.

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  53. P.B. Hawthorn, D.J. DeWitt: Performance Analysis of Alternative Database Machine Architectures, IEEE Trans. on Software Engineering, Vol. SE-8 n. 1, 1982 pp.61–75. In this paper, a comparison is made among RAP, CASSM, DBC, DIRECT, and CAFS database machines and associative disks by using three benchmark retrieval queries according to the INGRES system. As a result, a comparison between the above-mentioned systems and the INGRES system is also obtained. It is shown that data-intensive queries can be performed very efficiently on database machines if the function performed on the data is entirely provided by the database machine. If it isn't, the host processor is too highly utilized and so the database machine hardly improves the system's performance at all. The same queries are later used to predict the performance of the NON-VON parallel machine applied to databases [HSN86].

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  63. Intel Corporation: FAST-3805 Semiconductor Disk, Intel Corp., 1982, Austin, Texas. The SYSTEM 2000-FAST 3805 Data Base Assist Processor is intended to be used with a host computer as an intelligent I/O and controller processor. The FAST-3805 is a semiconductor disk memory emulating standard large IBM disks, except that it provides faster access to data and faster transfer rates. It uses a MOS solid-state technology, it requires no electromechanical movement and it provides higher reliability. The database throughput rate and response time are improved by several orders of magnitude.

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  80. T. Moto-Oka, K. Fuchi: The Architectures in the Fifth Generation Computers, Proc. of he IFIP 9th World Computer Congress, Paris, North-Holland, 1983, pp. 589–602. The database machine called GRACE is presented as a typical example of the knowledge-base machine architecture proposed in the FGCS project. GRACE is a relational algebra machine which adopts a relational algebra processing algorithm based on hash and sort. It can join two relations in O((M+N)/n) time, where n is the number of processors, and M and N are the cardinalities of the two joined relations. The global architecture consists of the following four kinds of modules: processing, memory, disk, and control. These modules are connected to each other by two ring buses.

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Francesca Cesarini Silvio Salza

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© 1987 Springer-Verlag Berlin Heidelberg

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Cesarini, F., Pippolini, F., Soda, G. (1987). Chapter 10 Database machine design and performance evaluation: Annotated bibliography. In: Cesarini, F., Salza, S. (eds) Database Machine Performance: Modeling Methodologies and Evaluation Strategies. Lecture Notes in Computer Science, vol 257. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-17942-9_20

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