11,345 research outputs found

    FlightGoggles: A Modular Framework for Photorealistic Camera, Exteroceptive Sensor, and Dynamics Simulation

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    FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics assets generated with photogrammetry. Second, it provides the ability to combine (i) synthetic exteroceptive measurements generated in silico in real time and (ii) vehicle dynamics and proprioceptive measurements generated in motio by vehicle(s) in a motion-capture facility. FlightGoggles is capable of simulating a virtual-reality environment around autonomous vehicle(s). While a vehicle is in flight in the FlightGoggles virtual reality environment, exteroceptive sensors are rendered synthetically in real time while all complex extrinsic dynamics are generated organically through the natural interactions of the vehicle. The FlightGoggles framework allows for researchers to accelerate development by circumventing the need to estimate complex and hard-to-model interactions such as aerodynamics, motor mechanics, battery electrochemistry, and behavior of other agents. The ability to perform vehicle-in-the-loop experiments with photorealistic exteroceptive sensor simulation facilitates novel research directions involving, e.g., fast and agile autonomous flight in obstacle-rich environments, safe human interaction, and flexible sensor selection. FlightGoggles has been utilized as the main test for selecting nine teams that will advance in the AlphaPilot autonomous drone racing challenge. We survey approaches and results from the top AlphaPilot teams, which may be of independent interest.Comment: Initial version appeared at IROS 2019. Supplementary material can be found at https://flightgoggles.mit.edu. Revision includes description of new FlightGoggles features, such as a photogrammetric model of the MIT Stata Center, new rendering settings, and a Python AP

    Tackling Exascale Software Challenges in Molecular Dynamics Simulations with GROMACS

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    GROMACS is a widely used package for biomolecular simulation, and over the last two decades it has evolved from small-scale efficiency to advanced heterogeneous acceleration and multi-level parallelism targeting some of the largest supercomputers in the world. Here, we describe some of the ways we have been able to realize this through the use of parallelization on all levels, combined with a constant focus on absolute performance. Release 4.6 of GROMACS uses SIMD acceleration on a wide range of architectures, GPU offloading acceleration, and both OpenMP and MPI parallelism within and between nodes, respectively. The recent work on acceleration made it necessary to revisit the fundamental algorithms of molecular simulation, including the concept of neighborsearching, and we discuss the present and future challenges we see for exascale simulation - in particular a very fine-grained task parallelism. We also discuss the software management, code peer review and continuous integration testing required for a project of this complexity.Comment: EASC 2014 conference proceedin

    Glider: A GPU Library Driver for Improved System Security

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    Legacy device drivers implement both device resource management and isolation. This results in a large code base with a wide high-level interface making the driver vulnerable to security attacks. This is particularly problematic for increasingly popular accelerators like GPUs that have large, complex drivers. We solve this problem with library drivers, a new driver architecture. A library driver implements resource management as an untrusted library in the application process address space, and implements isolation as a kernel module that is smaller and has a narrower lower-level interface (i.e., closer to hardware) than a legacy driver. We articulate a set of device and platform hardware properties that are required to retrofit a legacy driver into a library driver. To demonstrate the feasibility and superiority of library drivers, we present Glider, a library driver implementation for two GPUs of popular brands, Radeon and Intel. Glider reduces the TCB size and attack surface by about 35% and 84% respectively for a Radeon HD 6450 GPU and by about 38% and 90% respectively for an Intel Ivy Bridge GPU. Moreover, it incurs no performance cost. Indeed, Glider outperforms a legacy driver for applications requiring intensive interactions with the device driver, such as applications using the OpenGL immediate mode API
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