11,345 research outputs found
FlightGoggles: A Modular Framework for Photorealistic Camera, Exteroceptive Sensor, and Dynamics Simulation
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
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
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
- …