115,582 research outputs found
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
AutoAccel: Automated Accelerator Generation and Optimization with Composable, Parallel and Pipeline Architecture
CPU-FPGA heterogeneous architectures are attracting ever-increasing attention
in an attempt to advance computational capabilities and energy efficiency in
today's datacenters. These architectures provide programmers with the ability
to reprogram the FPGAs for flexible acceleration of many workloads.
Nonetheless, this advantage is often overshadowed by the poor programmability
of FPGAs whose programming is conventionally a RTL design practice. Although
recent advances in high-level synthesis (HLS) significantly improve the FPGA
programmability, it still leaves programmers facing the challenge of
identifying the optimal design configuration in a tremendous design space.
This paper aims to address this challenge and pave the path from software
programs towards high-quality FPGA accelerators. Specifically, we first propose
the composable, parallel and pipeline (CPP) microarchitecture as a template of
accelerator designs. Such a well-defined template is able to support efficient
accelerator designs for a broad class of computation kernels, and more
importantly, drastically reduce the design space. Also, we introduce an
analytical model to capture the performance and resource trade-offs among
different design configurations of the CPP microarchitecture, which lays the
foundation for fast design space exploration. On top of the CPP
microarchitecture and its analytical model, we develop the AutoAccel framework
to make the entire accelerator generation automated. AutoAccel accepts a
software program as an input and performs a series of code transformations
based on the result of the analytical-model-based design space exploration to
construct the desired CPP microarchitecture. Our experiments show that the
AutoAccel-generated accelerators outperform their corresponding software
implementations by an average of 72x for a broad class of computation kernels
Fast design space exploration of vibration-based energy harvesting wireless sensors
An energy-harvester-powered wireless sensor node is a complicated system with many design parameters. To investigate the various trade-offs among these parameters, it is desirable to explore the multi-dimensional design space quickly. However, due to the large number of parameters and costly simulation CPU times, it is often difficult or even impossible to explore the design space via simulation. This paper presents a response surface model (RSM) based technique for fast design space exploration of a complete wireless sensor node powered by a tunable energy harvester. As a proof of concept, a software toolkit has been developed which implements the proposed design flow and incorporates either real data or parametrized models of the vibration source, the energy harvester, tuning controller and wireless sensor node. Several test scenarios are considered, which illustrate how the proposed approach permits the designer to adjust a wide range of system parameters and evaluate the effect almost instantly but still with high accuracy. In the developed toolkit, the estimated CPU time of one RSM estimation is 25s and the average RSM estimation error is less than 16.5
Cross-layer system reliability assessment framework for hardware faults
System reliability estimation during early design phases facilitates informed decisions for the integration of effective protection mechanisms against different classes of hardware faults. When not all system abstraction layers (technology, circuit, microarchitecture, software) are factored in such an estimation model, the delivered reliability reports must be excessively pessimistic and thus lead to unacceptably expensive, over-designed systems. We propose a scalable, cross-layer methodology and supporting suite of tools for accurate but fast estimations of computing systems reliability. The backbone of the methodology is a component-based Bayesian model, which effectively calculates system reliability based on the masking probabilities of individual hardware and software components considering their complex interactions. Our detailed experimental evaluation for different technologies, microarchitectures, and benchmarks demonstrates that the proposed model delivers very accurate reliability estimations (FIT rates) compared to statistically significant but slow fault injection campaigns at the microarchitecture level.Peer ReviewedPostprint (author's final draft
Design of multimedia processor based on metric computation
Media-processing applications, such as signal processing, 2D and 3D graphics
rendering, and image compression, are the dominant workloads in many embedded
systems today. The real-time constraints of those media applications have
taxing demands on today's processor performances with low cost, low power and
reduced design delay. To satisfy those challenges, a fast and efficient
strategy consists in upgrading a low cost general purpose processor core. This
approach is based on the personalization of a general RISC processor core
according the target multimedia application requirements. Thus, if the extra
cost is justified, the general purpose processor GPP core can be enforced with
instruction level coprocessors, coarse grain dedicated hardware, ad hoc
memories or new GPP cores. In this way the final design solution is tailored to
the application requirements. The proposed approach is based on three main
steps: the first one is the analysis of the targeted application using
efficient metrics. The second step is the selection of the appropriate
architecture template according to the first step results and recommendations.
The third step is the architecture generation. This approach is experimented
using various image and video algorithms showing its feasibility
Type-driven automated program transformations and cost modelling for optimising streaming programs on FPGAs
In this paper we present a novel approach to program optimisation based on compiler-based type-driven program transformations and a fast and accurate cost/performance model for the target architecture. We target streaming programs for the problem domain of scientific computing, such as numerical weather prediction. We present our theoretical framework for type-driven program transformation, our target high-level language and intermediate representation languages and the cost model and demonstrate the effectiveness of our approach by comparison with a commercial toolchain
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