A model-based design flow for embedded vision applications on heterogeneous architectures

The ability to gather information from images is straightforward to human, and one of the principal input to understand external world. Computer vision (CV) is the process to extract such knowledge from the visual domain in an algorithmic fashion. The requested computational power to process these information is very high. Until recently, the only feasible way to meet non-functional requirements like performance was to develop custom hardware, which is costly, time-consuming and can not be reused in a general purpose. The recent introduction of low-power and low-cost heterogeneous embedded boards, in which CPUs are combine with heterogeneous accelerators like GPUs, DSPs and FPGAs, can combine the hardware efficiency needed for non-functional requirements with the flexibility of software development. Embedded vision is the term used to identify the application of the aforementioned CV algorithms applied in the embedded field, which usually requires to satisfy, other than functional requirements, also non-functional requirements such as real-time performance, power, and energy efficiency. Rapid prototyping, early algorithm parametrization, testing, and validation of complex embedded video applications for such heterogeneous architectures is a very challenging task. This thesis presents a comprehensive framework that: 1) Is based on a model-based paradigm. Differently from the standard approaches at the state of the art that require designers to manually model the algorithm in any programming language, the proposed approach allows for a rapid prototyping, algorithm validation and parametrization in a model-based design environment (i.e., Matlab/Simulink). The framework relies on a multi-level design and verification flow by which the high-level model is then semi-automatically refined towards the final automatic synthesis into the target hardware device. 2) Relies on a polyglot parallel programming model. The proposed model combines different programming languages and environments such as C/C++, OpenMP, PThreads, OpenVX, OpenCV, and CUDA to best exploit different levels of parallelism while guaranteeing a semi-automatic customization. 3) Optimizes the application performance and energy efficiency through a novel algorithm for the mapping and scheduling of the application 3 tasks on the heterogeneous computing elements of the device. Such an algorithm, called exclusive earliest finish time (XEFT), takes into consideration the possible multiple implementation of tasks for different computing elements (e.g., a task primitive for CPU and an equivalent parallel implementation for GPU). It introduces and takes advantage of the notion of exclusive overlap between primitives to improve the load balancing. This thesis is the result of three years of research activity, during which all the incremental steps made to compose the framework have been tested on real case studie

NASA space station automation: AI-based technology review

Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures

GPU Computing for Cognitive Robotics

This thesis presents the first investigation of the impact of GPU computing on cognitive robotics by providing a series of novel experiments in the area of action and language acquisition in humanoid robots and computer vision. Cognitive robotics is concerned with endowing robots with high-level cognitive capabilities to enable the achievement of complex goals in complex environments. Reaching the ultimate goal of developing cognitive robots will require tremendous amounts of computational power, which was until recently provided mostly by standard CPU processors. CPU cores are optimised for serial code execution at the expense of parallel execution, which renders them relatively inefficient when it comes to high-performance computing applications. The ever-increasing market demand for high-performance, real-time 3D graphics has evolved the GPU into a highly parallel, multithreaded, many-core processor extraordinary computational power and very high memory bandwidth. These vast computational resources of modern GPUs can now be used by the most of the cognitive robotics models as they tend to be inherently parallel. Various interesting and insightful cognitive models were developed and addressed important scientific questions concerning action-language acquisition and computer vision. While they have provided us with important scientific insights, their complexity and application has not improved much over the last years. The experimental tasks as well as the scale of these models are often minimised to avoid excessive training times that grow exponentially with the number of neurons and the training data. This impedes further progress and development of complex neurocontrollers that would be able to take the cognitive robotics research a step closer to reaching the ultimate goal of creating intelligent machines. This thesis presents several cases where the application of the GPU computing on cognitive robotics algorithms resulted in the development of large-scale neurocontrollers of previously unseen complexity enabling the conducting of the novel experiments described herein.European Commission Seventh Framework Programm

Advanced Image Acquisition, Processing Techniques and Applications

"Advanced Image Acquisition, Processing Techniques and Applications" is the first book of a series that provides image processing principles and practical software implementation on a broad range of applications. The book integrates material from leading researchers on Applied Digital Image Acquisition and Processing. An important feature of the book is its emphasis on software tools and scientific computing in order to enhance results and arrive at problem solution

Европейский и национальный контексты в научных исследованиях

В настоящем электронном сборнике «Европейский и национальный контексты в научных исследованиях. Технология» представлены работы молодых ученых по геодезии и картографии, химической технологии и машиностроению, информационным технологиям, строительству и радиотехнике. Предназначены для работников образования, науки и производства. Будут полезны студентам, магистрантам и аспирантам университетов.=In this Electronic collected materials “National and European dimension in research. Technology” works in the fields of geodesy, chemical technology, mechanical engineering, information technology, civil engineering, and radio-engineering are presented. It is intended for trainers, researchers and professionals. It can be useful for university graduate and post-graduate students

The Complete Reference (Volume 4)

This is the fourth volume of the successful series Robot Operating Systems: The Complete Reference, providing a comprehensive overview of robot operating systems (ROS), which is currently the main development framework for robotics applications, as well as the latest trends and contributed systems. The book is divided into four parts: Part 1 features two papers on navigation, discussing SLAM and path planning. Part 2 focuses on the integration of ROS into quadcopters and their control. Part 3 then discusses two emerging applications for robotics: cloud robotics, and video stabilization. Part 4 presents tools developed for ROS; the first is a practical alternative to the roslaunch system, and the second is related to penetration testing. This book is a valuable resource for ROS users and wanting to learn more about ROS capabilities and features.info:eu-repo/semantics/publishedVersio

Apprentissage automatique pour le codage cognitif de la parole

Depuis les années 80, les codecs vocaux reposent sur des stratégies de codage à court terme qui fonctionnent au niveau de la sous-trame ou de la trame (généralement 5 à 20 ms). Les chercheurs ont essentiellement ajusté et combiné un nombre limité de technologies disponibles (transformation, prédiction linéaire, quantification) et de stratégies (suivi de forme d'onde, mise en forme du bruit) pour construire des architectures de codage de plus en plus complexes. Dans cette thèse, plutôt que de s'appuyer sur des stratégies de codage à court terme, nous développons un cadre alternatif pour la compression de la parole en codant les attributs de la parole qui sont des caractéristiques perceptuellement importantes des signaux vocaux. Afin d'atteindre cet objectif, nous résolvons trois problèmes de complexité croissante, à savoir la classification, la prédiction et l'apprentissage des représentations. La classification est un élément courant dans les conceptions de codecs modernes. Dans un premier temps, nous concevons un classifieur pour identifier les émotions, qui sont parmi les attributs à long terme les plus complexes de la parole. Dans une deuxième étape, nous concevons un prédicteur d'échantillon de parole, qui est un autre élément commun dans les conceptions de codecs modernes, pour mettre en évidence les avantages du traitement du signal de parole à long terme et non linéaire. Ensuite, nous explorons les variables latentes, un espace de représentations de la parole, pour coder les attributs de la parole à court et à long terme. Enfin, nous proposons un réseau décodeur pour synthétiser les signaux de parole à partir de ces représentations, ce qui constitue notre dernière étape vers la construction d'une méthode complète de compression de la parole basée sur l'apprentissage automatique de bout en bout. Bien que chaque étape de développement proposée dans cette thèse puisse faire partie d'un codec à elle seule, chaque étape fournit également des informations et une base pour la prochaine étape de développement jusqu'à ce qu'un codec entièrement basé sur l'apprentissage automatique soit atteint. Les deux premières étapes, la classification et la prédiction, fournissent de nouveaux outils qui pourraient remplacer et améliorer des éléments des codecs existants. Dans la première étape, nous utilisons une combinaison de modèle source-filtre et de machine à état liquide (LSM), pour démontrer que les caractéristiques liées aux émotions peuvent être facilement extraites et classées à l'aide d'un simple classificateur. Dans la deuxième étape, un seul réseau de bout en bout utilisant une longue mémoire à court terme (LSTM) est utilisé pour produire des trames vocales avec une qualité subjective élevée pour les applications de masquage de perte de paquets (PLC). Dans les dernières étapes, nous nous appuyons sur les résultats des étapes précédentes pour concevoir un codec entièrement basé sur l'apprentissage automatique. un réseau d'encodage, formulé à l'aide d'un réseau neuronal profond (DNN) et entraîné sur plusieurs bases de données publiques, extrait et encode les représentations de la parole en utilisant la prédiction dans un espace latent. Une approche d'apprentissage non supervisé basée sur plusieurs principes de cognition est proposée pour extraire des représentations à partir de trames de parole courtes et longues en utilisant l'information mutuelle et la perte contrastive. La capacité de ces représentations apprises à capturer divers attributs de la parole à court et à long terme est démontrée. Enfin, une structure de décodage est proposée pour synthétiser des signaux de parole à partir de ces représentations. L'entraînement contradictoire est utilisé comme une approximation des mesures subjectives de la qualité de la parole afin de synthétiser des échantillons de parole à consonance naturelle. La haute qualité perceptuelle de la parole synthétisée ainsi obtenue prouve que les représentations extraites sont efficaces pour préserver toutes sortes d'attributs de la parole et donc qu'une méthode de compression complète est démontrée avec l'approche proposée.Abstract: Since the 80s, speech codecs have relied on short-term coding strategies that operate at the subframe or frame level (typically 5 to 20ms). Researchers essentially adjusted and combined a limited number of available technologies (transform, linear prediction, quantization) and strategies (waveform matching, noise shaping) to build increasingly complex coding architectures. In this thesis, rather than relying on short-term coding strategies, we develop an alternative framework for speech compression by encoding speech attributes that are perceptually important characteristics of speech signals. In order to achieve this objective, we solve three problems of increasing complexity, namely classification, prediction and representation learning. Classification is a common element in modern codec designs. In a first step, we design a classifier to identify emotions, which are among the most complex long-term speech attributes. In a second step, we design a speech sample predictor, which is another common element in modern codec designs, to highlight the benefits of long-term and non-linear speech signal processing. Then, we explore latent variables, a space of speech representations, to encode both short-term and long-term speech attributes. Lastly, we propose a decoder network to synthesize speech signals from these representations, which constitutes our final step towards building a complete, end-to-end machine-learning based speech compression method. The first two steps, classification and prediction, provide new tools that could replace and improve elements of existing codecs. In the first step, we use a combination of source-filter model and liquid state machine (LSM), to demonstrate that features related to emotions can be easily extracted and classified using a simple classifier. In the second step, a single end-to-end network using long short-term memory (LSTM) is shown to produce speech frames with high subjective quality for packet loss concealment (PLC) applications. In the last steps, we build upon the results of previous steps to design a fully machine learning-based codec. An encoder network, formulated using a deep neural network (DNN) and trained on multiple public databases, extracts and encodes speech representations using prediction in a latent space. An unsupervised learning approach based on several principles of cognition is proposed to extract representations from both short and long frames of data using mutual information and contrastive loss. The ability of these learned representations to capture various short- and long-term speech attributes is demonstrated. Finally, a decoder structure is proposed to synthesize speech signals from these representations. Adversarial training is used as an approximation to subjective speech quality measures in order to synthesize natural-sounding speech samples. The high perceptual quality of synthesized speech thus achieved proves that the extracted representations are efficient at preserving all sorts of speech attributes and therefore that a complete compression method is demonstrated with the proposed approach

Deep Learning -Powered Computational Intelligence for Cyber-Attacks Detection and Mitigation in 5G-Enabled Electric Vehicle Charging Station

An electric vehicle charging station (EVCS) infrastructure is the backbone of transportation electrification. However, the EVCS has various cyber-attack vulnerabilities in software, hardware, supply chain, and incumbent legacy technologies such as network, communication, and control. Therefore, proactively monitoring, detecting, and defending against these attacks is very important. The state-of-the-art approaches are not agile and intelligent enough to detect, mitigate, and defend against various cyber-physical attacks in the EVCS system. To overcome these limitations, this dissertation primarily designs, develops, implements, and tests the data-driven deep learning-powered computational intelligence to detect and mitigate cyber-physical attacks at the network and physical layers of 5G-enabled EVCS infrastructure. Also, the 5G slicing application to ensure the security and service level agreement (SLA) in the EVCS ecosystem has been studied. Various cyber-attacks such as distributed denial of services (DDoS), False data injection (FDI), advanced persistent threats (APT), and ransomware attacks on the network in a standalone 5G-enabled EVCS environment have been considered. Mathematical models for the mentioned cyber-attacks have been developed. The impact of cyber-attacks on the EVCS operation has been analyzed. Various deep learning-powered intrusion detection systems have been proposed to detect attacks using local electrical and network fingerprints. Furthermore, a novel detection framework has been designed and developed to deal with ransomware threats in high-speed, high-dimensional, multimodal data and assets from eccentric stakeholders of the connected automated vehicle (CAV) ecosystem. To mitigate the adverse effects of cyber-attacks on EVCS controllers, novel data-driven digital clones based on Twin Delayed Deep Deterministic Policy Gradient (TD3) Deep Reinforcement Learning (DRL) has been developed. Also, various Bruteforce, Controller clones-based methods have been devised and tested to aid the defense and mitigation of the impact of the attacks of the EVCS operation. The performance of the proposed mitigation method has been compared with that of a benchmark Deep Deterministic Policy Gradient (DDPG)-based digital clones approach. Simulation results obtained from the Python, Matlab/Simulink, and NetSim software demonstrate that the cyber-attacks are disruptive and detrimental to the operation of EVCS. The proposed detection and mitigation methods are effective and perform better than the conventional and benchmark techniques for the 5G-enabled EVCS

Energy-efficient systems for information transfer and processing

Machine learning (ML) systems are finding excellent utility in tackling the data deluge of the big data era thanks to the exponential increase in computing power. Current ML systems adopt either centralized cloud computing or distributed edge computing. In both, the challenge of energy efficiency has been drawing increased attention. In cloud computing, data transfer due to inter-chip, inter-board, inter-shelf and inter-rack communications (I/O interface) within data centers is one of the dominant energy costs. This will intensify with the growing demand for increased I/O bandwidth of high-performance computing in data centers. On the other hand, in edge computing, energy efficiency is the primary design challenge, as mobile devices have limited energy, computation and storage resources. This challenge is being exacerbated by the need to embed ML algorithms such as convolutional neural networks (CNNs) for enabling local on-device inference capabilities. In this dissertation, we investigate techniques to address these challenges. To address the energy efficiency challenge in data centers, this dissertation focuses on reducing the energy consumption of the I/O interface. Specifically, in the emerging analog-to-digital converter (ADC)-based multi-Gb/s serial link receivers, the power dissipation is dominated by the ADC. ADCs in serial links employ signal-to-noise-and-distortion-ratio (SNDR) and effective-number-of-bits (ENOB) as performance metrics because these are the standard for generic ADC design. This dissertation presents the use of information-based metrics such as bit-error-rate (BER) to design a BER-optimal ADC (BOA) for serial links. First, theoretical analysis is developed to show when the benefits of BOA over a conventional uniform ADC (CUA) in a serial link receiver are substantial. Second, a \unit[4]{GS/s}, 4-\mbox{\textrm{bit}} on-chip ADC in a \unit[90]{nm} CMOS process is designed and integrated into a 4 Gb/s serial link receiver to verify the aforementioned analysis. Specifically, measured results demonstrate that a 3-\mathrm{bit} BOA receiver outperforms a 4-\mathrm{bit} CUA receiver at a BER <10^{-12} and provides \unit[50]{\%} power savings in the ADC. In the process, it is demonstrated conclusively that BER as opposed to ENOB is a better metric when designing ADCs for serial links. For the problem of resource-constrained computing at the edge, this dissertation tackles the issue of energy-efficient implementation of ML algorithms, particularly CNNs which have recently gained considerable interest due to their record-breaking performance in many recognition tasks. However, their implementation complexity hinders their deployment on power-constrained embedded platforms. This dissertation develops two techniques for energy-efficient CNN design. The first technique is a predictive CNN (PredictiveNet), which makes use of high sparsity in well-trained CNNs to bypass a large fraction of power-dominant convolutions at runtime without modifying the CNN structure. Analysis supported by simulations is provided to justify PredictiveNet's effectiveness. When applied to both the MNIST and CIFAR-10 datasets, simulation results show that PredictiveNet achieves 7.2\times and 4.4\times reduction in the computational and representational costs, respectively, compared with a conventional CNN. It is further shown that PredictiveNet enables computational and representational cost reductions of 2.5\times and 1.7\times, respectively, compared to a state-of-the-art CNN, while incurring only 0.02 classification accuracy loss. The second technique is a variation-tolerant architecture for CNN capable of operating in near threshold voltage (NTV) regime for aggressive energy efficiency. It is well-known that NTV computing can achieve up to 10\times energy savings but is sensitive to process, temperature, and voltage (PVT) variations which can lead to timing errors. To leverage the great potential of NTV for energy efficiency, this dissertation develops a new statistical error compensation (SEC) technique referred to as rank decomposed SEC (RD-SEC). RD-SEC makes use of inherent redundancy in CNNs to handle timing errors due to NTV computing. When evaluated in CNNs for both the MNIST and CIFAR-10 datasets, simulation results in \unit[45]{nm} CMOS show that RD-SEC enables robust CNNs operating in the NTV regime. Specifically, the proposed RD-SEC can achieve up to 11\times improvement in variation tolerance and enable up to 113\times reduction in the standard deviation of classification accuracy while incurring marginal degradation in the median classification accuracy