線程在執行指令時，需訪問處于不同存儲器的數據，而對各類存儲器的訪問速度差異很大[13]。CUDA存儲器分為3層：（1）私有本地存儲器（private local memory），容量小，訪問速度快；（2）全局存儲器（global memory），所有線程都可訪問，訪問速度慢；（3）共享存儲器（shared memory），屬于片上存儲器，訪問速度與寄存器相當，定義共享類型變量時需使用限定符__shared__。
3.3 CUDA C
CUDA C是對C的擴展，為程序員提供了一種用C語言在設備上編寫代碼的編程方式。主要擴展[14-15]：（1）引入__device__，__host__和__global__3個限定符，限定函數調用和執行的位置；（2）引入4個內置變量，blockIdx，threadIdx，gridDim和blockDim；（3）引入<<<>>>運算符，內含4個參數，主要用于設置線程格和線程塊的尺寸；（4）擴展了一些數學函數庫，如CURAND[16]。
4 基于CUDA的PSO算法
4.1 PSO算法的并行編程
群體中各粒子只在更新全局時互相交換信息，其他步驟均相互獨立。獲取歷史時，一個線程對應一個粒子，各線程同時調用適應函數；更新位置和速度時，一個線程對應粒子的每一維；均按線程索引來讀取數據并處理。
主機端初始化粒子的位置和速度，將數據從CPU復制到GPU上，在設備上迭代尋優，最后將解復制到CPU輸出。表1列出了實現各部分功能的函數，獲取全局值時，星形結構可以通過線程歸約比較獲取全局，環形結構由于多鄰域而相對復雜，在后續部分詳述。
4.2 環形PSO算法尋優過程
星形PSO算法獲取全局較為簡單，不作分析，環形PSO算法在獲取局部時，文中設定每個粒子只有左右兩個鄰居。在編寫該部分程序時，設置讓相鄰線程訪問索引間隔為3的共享內存中的數據，這種方法避開了bank沖突，但以時間消耗作為代價。各線程具體負責找出粒子的歷史值.
找出歷史值的方式有以下兩種情形（其中N為粒子規模）：
（1）N%3=0時，各線程按圖5所示處理相應的數據，3次并行運行即可得到每個粒子在其鄰域內的局部。
（2）N%3≠0時，將圖5中N令為N-N%3，按情形（1）可以得到0~N-N%3-1號粒子在其鄰域內的局部，再對余下的1或2個粒子依次找出其鄰域內局部。
由于環型PSO算法有N個局部值，設備上尋優結束后，需將N個局部從GPU復制到CPU進行比較，最后輸出全局解。
4.3 CUDA程序性能優化
GPU性能雖然出色，但很大程度上受限于算法本身[15]。在CUDA的使用中，數據結構和對內存的訪問對GPU性能有極大地影響，有時甚至起決定性作用。文中實驗程序對CUDA性能優化，主要考慮了以下4個方面：（1）化并行性；（2）優化內存訪問以獲得的帶寬；（3）優化指令使用以獲得指令的吞吐量；（4）線程塊和線程數的設置，實驗表明當設置線程塊數為32，每個塊中線程數為256時獲得效率。
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IC3600STKA1 TEMPERATURE CONTROL
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IC3600STKG1 TEMPERATURE CONTROL
IC3600STKH1 CARD TEMP CONTROL IC3600STKH
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IC3600SVA1 GE SPEEDTRONIC / GE DRIVE SYSTEMS
IC3600SVDA1 VIBR DET BOARD IC3600SVDA
IC3600SVDB1 VIBRATION CALIBRATOR IC3600SVDB
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IC3600SVDE1 VIBR ALARM BD IC3600SVDE
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IC3600TILA1 INV LIMIT BOARD
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IC3600TLFC1 PHASE SHIFT BD
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IC3600TPGA1 GATE PLS GEN BD
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IC3600TPSA1 POWER SUPPLY BD IC3600TPSA
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IC3600TSKB1 STARTUP CONTROL & SU
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IC3600TSUD1 SUPPRESSION AND BIAS
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IC3600VANA1 ANNUNCIATOR BD IC3600VANA
IC3600VANB1 ANNUNCIATOR BD IC3600VANB
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IC3600VBCD1 DOWN COUNTER BD
IC3600VBCG1 CIRCUIT BOARD
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IC3606ATCA1 IC3606ATCA
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IC3606YSMA1 MAINTENANCE MODULE FUNCTION
IC3606YSMID1 SPEEDTRONIC
IC3606YSQA2A GE SPEEDTRONIC
IC3606YSQB1 GE CARD
IC3606YSQC1 GE CARD
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IC3800TLFA1 GE SPEEDTRONIC / GE DRIVE SYSTEMS
IC4501101 GE SPEEDTRONIC / GE DRIVE SYSTEMS
IC4501108A POWER SUPPLY
IC4988A100AA GE CALIBRATOR
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