A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on AI approaches, such as deep neural networks (DNNs) are becoming pervasive for standard-size drones, but are considered out of reach for nanodrones with size of a few cm${}^\mathrm{2}$. In this work, we present the first (to the best of our knowledge) demonstration of a navigation engine for autonomous nano-drones capable of closed-loop end-to-end DNN-based visual navigation. To achieve this goal we developed a complete methodology for parallel execution of complex DNNs directly on-bard of resource-constrained milliwatt-scale nodes. Our system is based on GAP8, a novel parallel ultra-low-power computing platform, and a 27 g commercial, open-source CrazyFlie 2.0 nano-quadrotor. As part of our general methodology we discuss the software mapping techniques that enable the state-of-the-art deep convolutional neural network presented in [1] to be fully executed on-board within a strict 6 fps real-time constraint with no compromise in terms of flight results, while all processing is done with only 64 mW on average. Our navigation engine is flexible and can be used to span a wide performance range: at its peak performance corner it achieves 18 fps while still consuming on average just 3.5% of the power envelope of the deployed nano-aircraft.Comment: 15 pages, 13 figures, 5 tables, 2 listings, accepted for publication in the IEEE Internet of Things Journal (IEEE IOTJ

pocl: A Performance-Portable OpenCL Implementation

OpenCL is a standard for parallel programming of heterogeneous systems. The benefits of a common programming standard are clear; multiple vendors can provide support for application descriptions written according to the standard, thus reducing the program porting effort. While the standard brings the obvious benefits of platform portability, the performance portability aspects are largely left to the programmer. The situation is made worse due to multiple proprietary vendor implementations with different characteristics, and, thus, required optimization strategies. In this paper, we propose an OpenCL implementation that is both portable and performance portable. At its core is a kernel compiler that can be used to exploit the data parallelism of OpenCL programs on multiple platforms with different parallel hardware styles. The kernel compiler is modularized to perform target-independent parallel region formation separately from the target-specific parallel mapping of the regions to enable support for various styles of fine-grained parallel resources such as subword SIMD extensions, SIMD datapaths and static multi-issue. Unlike previous similar techniques that work on the source level, the parallel region formation retains the information of the data parallelism using the LLVM IR and its metadata infrastructure. This data can be exploited by the later generic compiler passes for efficient parallelization. The proposed open source implementation of OpenCL is also platform portable, enabling OpenCL on a wide range of architectures, both already commercialized and on those that are still under research. The paper describes how the portability of the implementation is achieved. Our results show that most of the benchmarked applications when compiled using pocl were faster or close to as fast as the best proprietary OpenCL implementation for the platform at hand.Comment: This article was published in 2015; it is now openly accessible via arxi

User-Behavior Based Detection of Infection Onset

A major vector of computer infection is through exploiting software or design flaws in networked applications such as the browser. Malicious code can be fetched and executed on a victim’s machine without the user’s permission, as in drive-by download (DBD) attacks. In this paper, we describe a new tool called DeWare for detecting the onset of infection delivered through vulnerable applications. DeWare explores and enforces causal relationships between computer-related human behaviors and system properties, such as file-system access and process execution. Our tool can be used to provide real time protection of a personal computer, as well as for diagnosing and evaluating untrusted websites for forensic purposes. Besides the concrete DBD detection solution, we also formally define causal relationships between user actions and system events on a host. Identifying and enforcing correct causal relationships have important applications in realizing advanced and secure operating systems. We perform extensive experimental evaluation, including a user study with 21 participants, thousands of legitimate websites (for testing false alarms), as well as 84 malicious websites in the wild. Our results show that DeWare is able to correctly distinguish legitimate download events from unauthorized system events with a low false positive rate (< 1%)

TensorFlow Doing HPC

TensorFlow is a popular emerging open-source programming framework supporting the execution of distributed applications on heterogeneous hardware. While TensorFlow has been initially designed for developing Machine Learning (ML) applications, in fact TensorFlow aims at supporting the development of a much broader range of application kinds that are outside the ML domain and can possibly include HPC applications. However, very few experiments have been conducted to evaluate TensorFlow performance when running HPC workloads on supercomputers. This work addresses this lack by designing four traditional HPC benchmark applications: STREAM, matrix-matrix multiply, Conjugate Gradient (CG) solver and Fast Fourier Transform (FFT). We analyze their performance on two supercomputers with accelerators and evaluate the potential of TensorFlow for developing HPC applications. Our tests show that TensorFlow can fully take advantage of high performance networks and accelerators on supercomputers. Running our TensorFlow STREAM benchmark, we obtain over 50% of theoretical communication bandwidth on our testing platform. We find an approximately 2x, 1.7x and 1.8x performance improvement when increasing the number of GPUs from two to four in the matrix-matrix multiply, CG and FFT applications respectively. All our performance results demonstrate that TensorFlow has high potential of emerging also as HPC programming framework for heterogeneous supercomputers.Comment: Accepted for publication at The Ninth International Workshop on Accelerators and Hybrid Exascale Systems (AsHES'19