ANALOG SIGNAL PROCESSING SOLUTIONS AND DESIGN OF MEMRISTOR-CMOS ANALOG CO-PROCESSOR FOR ACCELERATION OF HIGH-PERFORMANCE COMPUTING APPLICATIONS

Emerging applications in the field of machine vision, deep learning and scientific simulation require high computational speed and are run on platforms that are size, weight and power constrained. With the transistor scaling coming to an end, existing digital hardware architectures will not be able to meet these ever-increasing demands. Analog computation with its rich set of primitives and inherent parallel architecture can be faster, more efficient and compact for some of these applications. The major contribution of this work is to show that analog processing can be a viable solution to this problem. This is demonstrated in the three parts of the dissertation. In the first part of the dissertation, we demonstrate that analog processing can be used to solve the problem of stereo correspondence. Novel modifications to the algorithms are proposed which improves the computational speed and makes them efficiently implementable in analog hardware. The analog domain implementation provides further speedup in computation and has lower power consumption than a digital implementation. In the second part of the dissertation, a prototype of an analog processor was developed using commercially available off-the-shelf components. The focus was on providing experimental results that demonstrate functionality and to show that the performance of the prototype for low-level and mid-level image processing tasks is equivalent to a digital implementation. To demonstrate improvement in speed and power consumption, an integrated circuit design of the analog processor was proposed, and it was shown that such an analog processor would be faster than state-of-the-art digital and other analog processors. In the third part of the dissertation, a memristor-CMOS analog co-processor that can perform floating point vector matrix multiplication (VMM) is proposed. VMM computation underlies some of the major applications. To demonstrate the working of the analog co-processor at a system level, a new tool called PSpice Systems Option is used. It is shown that the analog co-processor has a superior performance when compared to the projected performances of digital and analog processors. Using the new tool, various application simulations for image processing and solution to partial differential equations are performed on the co-processor model

A Real-time Range Finding System with Binocular Stereo Vision

To acquire range information for mobile robots, a TMS320DM642 DSP-based range finding system with binocular stereo vision is proposed. Firstly, paired images of the target are captured and a Gaussian filter, as well as improved Sobel kernels, are achieved. Secondly, a feature-based local stereo matching algorithm is performed so that the space location of the target can be determined. Finally, in order to improve the reliability and robustness of the stereo matching algorithm under complex conditions, the confidence filter and the left-right consistency filter are investigated to eliminate the mismatching points. In addition, the range finding algorithm is implemented in the DSP/BIOS operating system to gain real-time control. Experimental results show that the average accuracy of range finding is more than 99% for measuring single-point distances equal to 120cm in the simple scenario and the algorithm takes about 39ms for ranging a time in a complex scenario. The effectivity, as well as the feasibility, of the proposed range finding system are verified

Autonomous Vehicle Control

A practical knowledge base in the emerging field of Robotics was developed and used to create a framework for further experiments. The framework was designed such that modular parts could be replaced, allowing for future development without reinventing the wheel . To prove the framework, a semi-autonomous robot was implemented, including stereo vision sensors, an inertial navigation system, and a simultaneous localization and mapping algorithm

Dynamically reconfigurable architecture for embedded computer vision systems

The objective of this research work is to design, develop and implement a new architecture which integrates on the same chip all the processing levels of a complete Computer Vision system, so that the execution is efficient without compromising the power consumption while keeping a reduced cost. For this purpose, an analysis and classification of different mathematical operations and algorithms commonly used in Computer Vision are carried out, as well as a in-depth review of the image processing capabilities of current-generation hardware devices. This permits to determine the requirements and the key aspects for an efficient architecture. A representative set of algorithms is employed as benchmark to evaluate the proposed architecture, which is implemented on an FPGA-based system-on-chip. Finally, the prototype is compared to other related approaches in order to determine its advantages and weaknesses

Tuning the Computational Effort: An Adaptive Accuracy-aware Approach Across System Layers

This thesis introduces a novel methodology to realize accuracy-aware systems, which will help designers integrate accuracy awareness into their systems. It proposes an adaptive accuracy-aware approach across system layers that addresses current challenges in that domain, combining and tuning accuracy-aware methods on different system layers. To widen the scope of accuracy-aware computing including approximate computing for other domains, this thesis presents innovative accuracy-aware methods and techniques for different system layers. The required tuning of the accuracy-aware methods is integrated into a configuration layer that tunes the available knobs of the accuracy-aware methods integrated into a system