  Pipelined Krylov subspace methods typically offer improved strong scaling on
parallel HPC hardware compared to standard Krylov subspace methods for large
and sparse linear systems. In pipelined methods the traditional synchronization
bottleneck is mitigated by overlapping time-consuming global communications
with useful computations. However, to achieve this communication hiding
strategy, pipelined methods introduce additional recurrence relations for a
number of auxiliary variables that are required to update the approximate
solution. This paper aims at studying the influence of local rounding errors
that are introduced by the additional recurrences in the pipelined Conjugate
Gradient method. Specifically, we analyze the impact of local round-off effects
on the attainable accuracy of the pipelined CG algorithm and compare to the
traditional CG method. Furthermore, we estimate the gap between the true
residual and the recursively computed residual used in the algorithm. Based on
this estimate we suggest an automated residual replacement strategy to reduce
the loss of attainable accuracy on the final iterative solution. The resulting
pipelined CG method with residual replacement improves the maximal attainable
accuracy of pipelined CG, while maintaining the efficient parallel performance
of the pipelined method. This conclusion is substantiated by numerical results
for a variety of benchmark problems.
