Efficient Neural Network Implementations on Parallel Embedded Platforms Applied to Real-Time Torque-Vectoring Optimization Using Predictions for Multi-Motor Electric Vehicles

The combination of machine learning and heterogeneous embedded platforms enables new potential for developing sophisticated control concepts which are applicable to the field of vehicle dynamics and ADAS. This interdisciplinary work provides enabler solutions -ultimately implementing fast predictions using neural networks (NNs) on field programmable gate arrays (FPGAs) and graphical processing units (GPUs)- while applying them to a challenging application: Torque Vectoring on a multi-electric-motor vehicle for enhanced vehicle dynamics. The foundation motivating this work is provided by discussing multiple domains of the technological context as well as the constraints related to the automotive field, which contrast with the attractiveness of exploiting the capabilities of new embedded platforms to apply advanced control algorithms for complex control problems. In this particular case we target enhanced vehicle dynamics on a multi-motor electric vehicle benefiting from the greater degrees of freedom and controllability offered by such powertrains. Considering the constraints of the application and the implications of the selected multivariable optimization challenge, we propose a NN to provide batch predictions for real-time optimization. This leads to the major contribution of this work: efficient NN implementations on two intrinsically parallel embedded platforms, a GPU and a FPGA, following an analysis of theoretical and practical implications of their different operating paradigms, in order to efficiently harness their computing potential while gaining insight into their peculiarities. The achieved results exceed the expectations and additionally provide a representative illustration of the strengths and weaknesses of each kind of platform. Consequently, having shown the applicability of the proposed solutions, this work contributes valuable enablers also for further developments following similar fundamental principles.Some of the results presented in this work are related to activities within the 3Ccar project, which has received funding from ECSEL Joint Undertaking under grant agreement No. 662192. This Joint Undertaking received support from the European Union’s Horizon 2020 research and innovation programme and Germany, Austria, Czech Republic, Romania, Belgium, United Kingdom, France, Netherlands, Latvia, Finland, Spain, Italy, Lithuania. This work was also partly supported by the project ENABLES3, which received funding from ECSEL Joint Undertaking under grant agreement No. 692455-2

Toolflows for Mapping Convolutional Neural Networks on FPGAs: A Survey and Future Directions

In the past decade, Convolutional Neural Networks (CNNs) have demonstrated state-of-the-art performance in various Artificial Intelligence tasks. To accelerate the experimentation and development of CNNs, several software frameworks have been released, primarily targeting power-hungry CPUs and GPUs. In this context, reconfigurable hardware in the form of FPGAs constitutes a potential alternative platform that can be integrated in the existing deep learning ecosystem to provide a tunable balance between performance, power consumption and programmability. In this paper, a survey of the existing CNN-to-FPGA toolflows is presented, comprising a comparative study of their key characteristics which include the supported applications, architectural choices, design space exploration methods and achieved performance. Moreover, major challenges and objectives introduced by the latest trends in CNN algorithmic research are identified and presented. Finally, a uniform evaluation methodology is proposed, aiming at the comprehensive, complete and in-depth evaluation of CNN-to-FPGA toolflows.Comment: Accepted for publication at the ACM Computing Surveys (CSUR) journal, 201

Efficient Hardware Architectures for Accelerating Deep Neural Networks: Survey

In the modern-day era of technology, a paradigm shift has been witnessed in the areas involving applications of Artificial Intelligence (AI), Machine Learning (ML), and Deep Learning (DL). Specifically, Deep Neural Networks (DNNs) have emerged as a popular field of interest in most AI applications such as computer vision, image and video processing, robotics, etc. In the context of developed digital technologies and the availability of authentic data and data handling infrastructure, DNNs have been a credible choice for solving more complex real-life problems. The performance and accuracy of a DNN is a way better than human intelligence in certain situations. However, it is noteworthy that the DNN is computationally too cumbersome in terms of the resources and time to handle these computations. Furthermore, general-purpose architectures like CPUs have issues in handling such computationally intensive algorithms. Therefore, a lot of interest and efforts have been invested by the research fraternity in specialized hardware architectures such as Graphics Processing Unit (GPU), Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), and Coarse Grained Reconfigurable Array (CGRA) in the context of effective implementation of computationally intensive algorithms. This paper brings forward the various research works carried out on the development and deployment of DNNs using the aforementioned specialized hardware architectures and embedded AI accelerators. The review discusses the detailed description of the specialized hardware-based accelerators used in the training and/or inference of DNN. A comparative study based on factors like power, area, and throughput, is also made on the various accelerators discussed. Finally, future research and development directions are discussed, such as future trends in DNN implementation on specialized hardware accelerators. This review article is intended to serve as a guide for hardware architectures for accelerating and improving the effectiveness of deep learning research.publishedVersio