Fast and Scalable Architectures and Algorithms for the Computation of the Forward and Inverse Discrete Periodic Radon Transform with Applications to 2D Convolutions and Cross-Correlations

The Discrete Radon Transform (DRT) is an essential component of a wide range of applications in image processing, e.g. image denoising, image restoration, texture analysis, line detection, encryption, compressive sensing and reconstructing objects from projections in computed tomography and magnetic resonance imaging. A popular method to obtain the DRT, or its inverse, involves the use of the Fast Fourier Transform, with the inherent approximation/rounding errors and increased hardware complexity due the need for floating point arithmetic implementations. An alternative implementation of the DRT is through the use of the Discrete Periodic Radon Transform (DPRT). The DPRT also exhibits discrete properties of the continuous-space Radon Transform, including the Fourier Slice Theorem and the convolution property. Unfortunately, the use of the DPRT has been limited by the need to compute a large number of additions O(N^3) and the need for a large number of memory accesses. This PhD dissertation introduces a fast and scalable approach for computing the forward and inverse DPRT that is based on the use of: (i) a parallel array of fixed-point adder trees, (ii) circular shift registers to remove the need for accessing external memory components when selecting the input data for the adder trees, and (iii) an image block-based approach to DPRT computation that can fit the proposed architecture to available resources, and as a result, for an NxN image (N prime), the proposed approach can compute up to N^2 additions per clock cycle. Compared to previous approaches, the scalable approach provides the fastest known implementations for different amounts of computational resources. For the fastest case, I introduce optimized architectures that can compute the DPRT and its inverse in just 2N +ceil(log2 N)+1 and 2N +3(log2 N)+B+2 clock cycles respectively, where B is the number of bits used to represent each input pixel. In comparison, the prior state of the art method required N^2 +N +1 clock cycles for computing the forward DPRT. For systems with limited resources, the resource usage can be reduced to O(N) with a running time of ceil(N/2)(N + 9) + N + 2 for the forward DPRT and ceil(N/2)(N + 2) + 3ceil(log2 N) + B + 4 for the inverse. The results also have important applications in the computation of fast convolutions and cross-correlations for large and non-separable kernels. For this purpose, I introduce fast algorithms and scalable architectures to compute 2-D Linear convolutions/cross-correlations using the convolution property of the DPRT and fixed point arithmetic to simplify the 2-D problem into a 1-D problem. Also an alternative system is proposed for non-separable kernels with low rank using the LU decomposition. As a result, for implementations with enough resources, for a an image and convolution kernel of size PxP, linear convolutions/cross correlations can be computed in just 6N + 4 log2 N + 17 clock cycles for N = 2P-1. Finally, I also propose parallel algorithms to compute the forward and inverse DPRT using Graphic Processing Units (GPUs) and CPUs with multiple cores. The proposed algorithms are implemented in a GPU Nvidia Maxwell GM204 with 2048 cores@1367MHz, 348KB L1 cache (24KB per multiprocessor), 2048KB L2 cache (512KB per memory controller), 4GB device memory, and compared against a serial implementation on a CPU Intel Xeon E5-2630 with 8 physical cores (16 logical processors via hyper-threading)@3.2GHz, L1 cache 512K (32KB Instruction cache, 32KB data cache, per core), L2 cache 2MB (256KB per core), L3 cache 20MB (Shared among all cores), 32GB of system memory. For the CPU, there is a tenfold speedup using 16 logical cores versus a single-core serial implementation. For the GPU, there is a 715-fold speedup compared to the serial implementation. For real-time applications, for an 1021x1021 image, the forward DPRT takes 11.5ms and 11.4ms for the inverse

Advances in Robotics, Automation and Control

The book presents an excellent overview of the recent developments in the different areas of Robotics, Automation and Control. Through its 24 chapters, this book presents topics related to control and robot design; it also introduces new mathematical tools and techniques devoted to improve the system modeling and control. An important point is the use of rational agents and heuristic techniques to cope with the computational complexity required for controlling complex systems. Through this book, we also find navigation and vision algorithms, automatic handwritten comprehension and speech recognition systems that will be included in the next generation of productive systems developed by man

Future Transportation

Greenhouse gas (GHG) emissions associated with transportation activities account for approximately 20 percent of all carbon dioxide (co2) emissions globally, making the transportation sector a major contributor to the current global warming. This book focuses on the latest advances in technologies aiming at the sustainable future transportation of people and goods. A reduction in burning fossil fuel and technological transitions are the main approaches toward sustainable future transportation. Particular attention is given to automobile technological transitions, bike sharing systems, supply chain digitalization, and transport performance monitoring and optimization, among others

ECG analysis and classification using CSVM, MSVM and SIMCA classifiers

Reliable ECG classification can potentially lead to better detection methods and increase accurate diagnosis of arrhythmia, thus improving quality of care. This thesis investigated the use of two novel classification algorithms: CSVM and SIMCA, and assessed their performance in classifying ECG beats. The project aimed to introduce a new way to interactively support patient care in and out of the hospital and develop new classification algorithms for arrhythmia detection and diagnosis. Wave (P-QRS-T) detection was performed using the WFDB Software Package and multiresolution wavelets. Fourier and PCs were selected as time-frequency features in the ECG signal; these provided the input to the classifiers in the form of DFT and PCA coefficients. ECG beat classification was performed using binary SVM. MSVM, CSVM, and SIMCA; these were subsequently used for simultaneously classifying either four or six types of cardiac conditions. Binary SVM classification with 100% accuracy was achieved when applied on feature-reduced ECG signals from well-established databases using PCA. The CSVM algorithm and MSVM were used to classify four ECG beat types: NORMAL, PVC, APC, and FUSION or PFUS; these were from the MIT-BIH arrhythmia database (precordial lead group and limb lead II). Different numbers of Fourier coefficients were considered in order to identify the optimal number of features to be presented to the classifier. SMO was used to compute hyper-plane parameters and threshold values for both MSVM and CSVM during the classifier training phase. The best classification accuracy was achieved using fifty Fourier coefficients. With the new CSVM classifier framework, accuracies of 99%, 100%, 98%, and 99% were obtained using datasets from one, two, three, and four precordial leads, respectively. In addition, using CSVM it was possible to successfully classify four types of ECG beat signals extracted from limb lead simultaneously with 97% accuracy, a significant improvement on the 83% accuracy achieved using the MSVM classification model. In addition, further analysis of the following four beat types was made: NORMAL, PVC, SVPB, and FUSION. These signals were obtained from the European ST-T Database. Accuracies between 86% and 94% were obtained for MSVM and CSVM classification, respectively, using 100 Fourier coefficients for reconstructing individual ECG beats. Further analysis presented an effective ECG arrhythmia classification scheme consisting of PCA as a feature reduction method and a SIMCA classifier to differentiate between either four or six different types of arrhythmia. In separate studies, six and four types of beats (including NORMAL, PVC, APC, RBBB, LBBB, and FUSION beats) with time domain features were extracted from the MIT-BIH arrhythmia database and the St Petersburg INCART 12-lead Arrhythmia Database (incartdb) respectively. Between 10 and 30 PCs, coefficients were selected for reconstructing individual ECG beats in the feature selection phase. The average classification accuracy of the proposed scheme was 98.61% and 97.78 % using the limb lead and precordial lead datasets, respectively. In addition, using MSVM and SIMCA classifiers with four ECG beat types achieved an average classification accuracy of 76.83% and 98.33% respectively. The effectiveness of the proposed algorithms was finally confirmed by successfully classifying both the six beat and four beat types of signal respectively with a high accuracy ratio

The Evolution of Complexity in Autonomous Robots

Evolutionary robotics–the use of evolutionary algorithms to automate the production of autonomous robots–has been an active area of research for two decades. However, previous work in this domain has been limited by the simplicity of the evolved robots and the task environments within which they are able to succeed. This dissertation aims to address these challenges by developing techniques for evolving more complex robots. Particular focus is given to methods which evolve not only the control policies of manually-designed robots, but instead evolve both the control policy and physical form of the robot. These techniques are presented along with their application to investigating previously unexplored relationships between the complexity of evolving robots and the task environments within which they evolve