A field programmable gate array based modular motion control platform

The expectations from motion control systems have been rising day by day. As the systems become more complex, conventional motion control systems can not achieve to meet all the specifications with optimized results. This creates the necessity of fundamental changes in the infrastructure of the system. Field programmable gate array (FPGA) technology enables the reconfiguration of the digital hardware, thus dissolving the necessity of infrastructural changes for minor manipulations in the hardware even if the system is deployed. An FPGA based hardware system shrinks the size of the hardware hence the cost. FPGAs also provide better power ratings for the systems as well as a more reliable system with improved performance. As a trade off, the development is rather more difficult than software based systems, which also affects the research and development time of the overall system. In this paper a level of abstraction is introduced in order to diminish the requirement of advanced hardware description language (HDL) knowledge for implementing motion control systems thoroughly on an FPGA. The intellectual property library consists of synthesizable hardware modules specifically implemented for motion control purposes. Other parts of a motion control system, like user interface and trajectory generation, are implemented as software functions in order to protect the modularity of the system. There are also several external hardware designs for interfacing and driving various types of actuators

Application-Specific Number Representation

Reconfigurable devices, such as Field Programmable Gate Arrays (FPGAs), enable application- specific number representations. Well-known number formats include fixed-point, floating- point, logarithmic number system (LNS), and residue number system (RNS). Such different number representations lead to different arithmetic designs and error behaviours, thus produc- ing implementations with different performance, accuracy, and cost. To investigate the design options in number representations, the first part of this thesis presents a platform that enables automated exploration of the number representation design space. The second part of the thesis shows case studies that optimise the designs for area, latency or throughput from the perspective of number representations. Automated design space exploration in the first part addresses the following two major issues: ² Automation requires arithmetic unit generation. This thesis provides optimised arithmetic library generators for logarithmic and residue arithmetic units, which support a wide range of bit widths and achieve significant improvement over previous designs. ² Generation of arithmetic units requires specifying the bit widths for each variable. This thesis describes an automatic bit-width optimisation tool called R-Tool, which combines dynamic and static analysis methods, and supports different number systems (fixed-point, floating-point, and LNS numbers). Putting it all together, the second part explores the effects of application-specific number representation on practical benchmarks, such as radiative Monte Carlo simulation, and seismic imaging computations. Experimental results show that customising the number representations brings benefits to hardware implementations: by selecting a more appropriate number format, we can reduce the area cost by up to 73.5% and improve the throughput by 14.2% to 34.1%; by performing the bit-width optimisation, we can further reduce the area cost by 9.7% to 17.3%. On the performance side, hardware implementations with customised number formats achieve 5 to potentially over 40 times speedup over software implementations

Computer Architectures to Close the Loop in Real-time Optimization

© 2015 IEEE.Many modern control, automation, signal processing and machine learning applications rely on solving a sequence of optimization problems, which are updated with measurements of a real system that evolves in time. The solutions of each of these optimization problems are then used to make decisions, which may be followed by changing some parameters of the physical system, thereby resulting in a feedback loop between the computing and the physical system. Real-time optimization is not the same as fast optimization, due to the fact that the computation is affected by an uncertain system that evolves in time. The suitability of a design should therefore not be judged from the optimality of a single optimization problem, but based on the evolution of the entire cyber-physical system. The algorithms and hardware used for solving a single optimization problem in the office might therefore be far from ideal when solving a sequence of real-time optimization problems. Instead of there being a single, optimal design, one has to trade-off a number of objectives, including performance, robustness, energy usage, size and cost. We therefore provide here a tutorial introduction to some of the questions and implementation issues that arise in real-time optimization applications. We will concentrate on some of the decisions that have to be made when designing the computing architecture and algorithm and argue that the choice of one informs the other

Efficient Neural Network Implementations on Parallel Embedded Platforms Applied to Real-Time Torque-Vectoring Optimization Using Predictions for Multi-Motor Electric Vehicles

The combination of machine learning and heterogeneous embedded platforms enables new potential for developing sophisticated control concepts which are applicable to the field of vehicle dynamics and ADAS. This interdisciplinary work provides enabler solutions -ultimately implementing fast predictions using neural networks (NNs) on field programmable gate arrays (FPGAs) and graphical processing units (GPUs)- while applying them to a challenging application: Torque Vectoring on a multi-electric-motor vehicle for enhanced vehicle dynamics. The foundation motivating this work is provided by discussing multiple domains of the technological context as well as the constraints related to the automotive field, which contrast with the attractiveness of exploiting the capabilities of new embedded platforms to apply advanced control algorithms for complex control problems. In this particular case we target enhanced vehicle dynamics on a multi-motor electric vehicle benefiting from the greater degrees of freedom and controllability offered by such powertrains. Considering the constraints of the application and the implications of the selected multivariable optimization challenge, we propose a NN to provide batch predictions for real-time optimization. This leads to the major contribution of this work: efficient NN implementations on two intrinsically parallel embedded platforms, a GPU and a FPGA, following an analysis of theoretical and practical implications of their different operating paradigms, in order to efficiently harness their computing potential while gaining insight into their peculiarities. The achieved results exceed the expectations and additionally provide a representative illustration of the strengths and weaknesses of each kind of platform. Consequently, having shown the applicability of the proposed solutions, this work contributes valuable enablers also for further developments following similar fundamental principles.Some of the results presented in this work are related to activities within the 3Ccar project, which has received funding from ECSEL Joint Undertaking under grant agreement No. 662192. This Joint Undertaking received support from the European Union’s Horizon 2020 research and innovation programme and Germany, Austria, Czech Republic, Romania, Belgium, United Kingdom, France, Netherlands, Latvia, Finland, Spain, Italy, Lithuania. This work was also partly supported by the project ENABLES3, which received funding from ECSEL Joint Undertaking under grant agreement No. 692455-2

TensorQuant - A Simulation Toolbox for Deep Neural Network Quantization

Recent research implies that training and inference of deep neural networks (DNN) can be computed with low precision numerical representations of the training/test data, weights and gradients without a general loss in accuracy. The benefit of such compact representations is twofold: they allow a significant reduction of the communication bottleneck in distributed DNN training and faster neural network implementations on hardware accelerators like FPGAs. Several quantization methods have been proposed to map the original 32-bit floating point problem to low-bit representations. While most related publications validate the proposed approach on a single DNN topology, it appears to be evident, that the optimal choice of the quantization method and number of coding bits is topology dependent. To this end, there is no general theory available, which would allow users to derive the optimal quantization during the design of a DNN topology. In this paper, we present a quantization tool box for the TensorFlow framework. TensorQuant allows a transparent quantization simulation of existing DNN topologies during training and inference. TensorQuant supports generic quantization methods and allows experimental evaluation of the impact of the quantization on single layers as well as on the full topology. In a first series of experiments with TensorQuant, we show an analysis of fix-point quantizations of popular CNN topologies