Perception-motivated parallel algorithms for haptics

Negli ultimi anni l\u2019utilizzo di dispositivi aptici, atti cio\ue8 a riprodurre l\u2019interazione fisica con l\u2019ambiente remoto o virtuale, si sta diffondendo in vari ambiti della robotica e dell\u2019informatica, dai videogiochi alla chirurgia robotizzata eseguita in teleoperazione, dai cellulari alla riabilitazione. In questo lavoro di tesi abbiamo voluto considerare nuovi punti di vista sull\u2019argomento, allo scopo di comprendere meglio come riportare l\u2019essere umano, che \ue8 l\u2019unico fruitore del ritorno di forza, tattile e di telepresenza, al centro della ricerca sui dispositivi aptici. Allo scopo ci siamo focalizzati su due aspetti: una manipolazione del segnale di forza mutuata dalla percezione umana e l\u2019utilizzo di architetture multicore per l\u2019implementazione di algoritmi aptici e robotici. Con l\u2019aiuto di un setup sperimentale creato ad hoc e attraverso l\u2019utilizzo di un joystick con ritorno di forza a 6 gradi di libert\ue0, abbiamo progettato degli esperimenti psicofisici atti all\u2019identificazione di soglie differenziali di forze/coppie nel sistema mano-braccio. Sulla base dei risultati ottenuti abbiamo determinato una serie di funzioni di scalatura del segnale di forza, una per ogni grado di libert\ue0, che permettono di aumentare l\u2019abilit\ue0 umana nel discriminare stimoli differenti. L\u2019utilizzo di tali funzioni, ad esempio in teleoperazione, richiede la possibilit\ue0 di variare il segnale di feedback e il controllo del dispositivo sia in relazione al lavoro da svolgere, sia alle peculiari capacit\ue0 dell\u2019utilizzatore. La gestione del dispositivo deve quindi essere in grado di soddisfare due obbiettivi tendenzialmente in contrasto, e cio\ue8 il raggiungimento di alte prestazioni in termini di velocit\ue0, stabilit\ue0 e precisione, abbinato alla flessibilit\ue0 tipica del software. Una soluzione consiste nell\u2019affidare il controllo del dispositivo ai nuovi sistemi multicore che si stanno sempre pi\uf9 prepotentemente affacciando sul panorama informatico. Per far ci\uf2 una serie di algoritmi consolidati deve essere portata su sistemi paralleli. In questo lavoro abbiamo dimostrato che \ue8 possibile convertire facilmente vecchi algoritmi gi\ue0 implementati in hardware, e quindi intrinsecamente paralleli. Un punto da definire rimane per\uf2 quanto costa portare degli algoritmi solitamente descritti in VLSI e schemi in un linguaggio di programmazione ad alto livello. Focalizzando la nostra attenzione su un problema specifico, la pseudoinversione di matrici che \ue8 presente in molti algoritmi di dinamica e cinematica, abbiamo mostrato che un\u2019attenta progettazione e decomposizione del problema permette una mappatura diretta sulle unit\ue0 di calcolo disponibili. In aggiunta, l\u2019uso di parallelismo a livello di dati su macchine SIMD permette di ottenere buone prestazioni utilizzando semplici operazioni vettoriali come addizioni e shift. Dato che di solito tali istruzioni fanno parte delle implementazioni hardware la migrazione del codice risulta agevole. Abbiamo testato il nostro approccio su una Sony PlayStation 3 equipaggiata con un processore IBM Cell Broadband Engine.In the last years the use of haptic feedback has been used in several applications, from mobile phones to rehabilitation, from video games to robotic aided surgery. The haptic devices, that are the interfaces that create the stimulation and reproduce the physical interaction with virtual or remote environments, have been studied, analyzed and developed in many ways. Every innovation in the mechanics, electronics and technical design of the device it is valuable, however it is important to maintain the focus of the haptic interaction on the human being, who is the only user of force feedback. In this thesis we worked on two main topics that are relevant to this aim: a perception based force signal manipulation and the use of modern multicore architectures for the implementation of the haptic controller. With the help of a specific experimental setup and using a 6 dof haptic device we designed a psychophysical experiment aimed at identifying of the force/torque differential thresholds applied to the hand-arm system. On the basis of the results obtained we determined a set of task dependent scaling functions, one for each degree of freedom of the three-dimensional space, that can be used to enhance the human abilities in discriminating different stimuli. The perception based manipulation of the force feedback requires a fast, stable and configurable controller of the haptic interface. Thus a solution is to use new available multicore architectures for the implementation of the controller, but many consolidated algorithms have to be ported to these parallel systems. Focusing on specific problem, i.e. the matrix pseudoinversion, that is part of the robotics dynamic and kinematic computation, we showed that it is possible to migrate code that was already implemented in hardware, and in particular old algorithms that were inherently parallel and thus not competitive on sequential processors. The main question that still lies open is how much effort is required in order to write these algorithms, usually described in VLSI or schematics, in a modern programming language. We show that a careful task decomposition and design permit a mapping of the code on the available cores. In addition, the use of data parallelism on SIMD machines can give good performance when simple vector instructions such as add and shift operations are used. Since these instructions are present also in hardware implementations the migration can be easily performed. We tested our approach on a Sony PlayStation 3 game console equipped with IBM Cell Broadband Engine processor

Parallel language programming in different platforms

The need to speed-up computing has introduced the interest to explore parallelism in algorithms and parallel programming. Technology is evolving fast but computing power in sequential execution is not increasing as much as earlier but CPUs contain more and more parallel computing resources. However, parallel algorithms may not be able to exploit all the parallelism in computers. The key issue is that algorithms need to be divided in independent parts to be executed at the same time. By using suitable parallel processors, such a GPU, we can address this problem and explore possibilities for higher speed-ups in computation. High performance calls for efficient parallel architecture but also the tools used to convert high level program description to parallel machine instructions, like languages, compilers. are equally important. This thesis remarks on the importance of using suitable languages to describes the algorithm to exploit the parallelism. This thesis discusses the following parallel programming languages: CUDA, OpenCL, OpenACC and Halide. The programming model and how they run on parallel processors. Each language has its different properties and we discuss portability, scalability, architectures and programming models. In the thesis these languages are compared and advantages and drawbacks are considered

Fundamentals

Volume 1 establishes the foundations of this new field. It goes through all the steps from data collection, their summary and clustering, to different aspects of resource-aware learning, i.e., hardware, memory, energy, and communication awareness. Machine learning methods are inspected with respect to resource requirements and how to enhance scalability on diverse computing architectures ranging from embedded systems to large computing clusters

Fundamentals

Volume 1 establishes the foundations of this new field. It goes through all the steps from data collection, their summary and clustering, to different aspects of resource-aware learning, i.e., hardware, memory, energy, and communication awareness. Machine learning methods are inspected with respect to resource requirements and how to enhance scalability on diverse computing architectures ranging from embedded systems to large computing clusters

Towards Fast and High-quality Biomedical Image Reconstruction

Department of Computer Science and EngineeringReconstruction is an important module in the image analysis pipeline with purposes of isolating the majority of meaningful information that hidden inside the acquired data. The term ???reconstruction??? can be understood and subdivided in several specific tasks in different modalities. For example, in biomedical imaging, such as Computed Tomography (CT), Magnetic Resonance Image (MRI), that term stands for the transformation from the, possibly fully or under-sampled, spectral domains (sinogram for CT and k-space for MRI) to the visible image domains. Or, in connectomics, people usually refer it to segmentation (reconstructing the semantic contact between neuronal connections) or denoising (reconstructing the clean image). In this dissertation research, I will describe a set of my contributed algorithms from conventional to state-of-the-art deep learning methods, with a transition at the data-driven dictionary learning approaches that tackle the reconstruction problems in various image analysis tasks.clos

A domain-extensible compiler with controllable automation of optimisations

In high performance domains like image processing, physics simulation or machine learning, program performance is critical. Programmers called performance engineers are responsible for the challenging task of optimising programs. Two major challenges prevent modern compilers targeting heterogeneous architectures from reliably automating optimisation. First, domain specific compilers such as Halide for image processing and TVM for machine learning are difficult to extend with the new optimisations required by new algorithms and hardware. Second, automatic optimisation is often unable to achieve the required performance, and performance engineers often fall back to painstaking manual optimisation. This thesis shows the potential of the Shine compiler to achieve domain-extensibility, controllable automation, and generate high performance code. Domain-extensibility facilitates adapting compilers to new algorithms and hardware. Controllable automation enables performance engineers to gradually take control of the optimisation process. The first research contribution is to add 3 code generation features to Shine, namely: synchronisation barrier insertion, kernel execution, and storage folding. Adding these features requires making novel design choices in terms of compiler extensibility and controllability. The rest of this thesis builds on these features to generate code with competitive runtime compared to established domain-specific compilers. The second research contribution is to demonstrate how extensibility and controllability are exploited to optimise a standard image processing pipeline for corner detection. Shine achieves 6 well-known image processing optimisations, 2 of them not being supported by Halide. Our results on 4 ARM multi-core CPUs show that the code generated by Shine for corner detection runs up to 1.4× faster than the Halide code. However, we observe that controlling rewriting is tedious, motivating the need for more automation. The final research contribution is to introduce sketch-guided equality saturation, a semiautomated technique that allows performance engineers to guide program rewriting by specifying rewrite goals as sketches: program patterns that leave details unspecified. We evaluate this approach by applying 7 realistic optimisations of matrix multiplication. Without guidance, the compiler fails to apply the 5 most complex optimisations even given an hour and 60GB of RAM. With the guidance of at most 3 sketch guides, each 10 times smaller than the complete program, the compiler applies the optimisations in seconds using less than 1GB

Ray Tracing Gems

This book is a must-have for anyone serious about rendering in real time. With the announcement of new ray tracing APIs and hardware to support them, developers can easily create real-time applications with ray tracing as a core component. As ray tracing on the GPU becomes faster, it will play a more central role in real-time rendering. Ray Tracing Gems provides key building blocks for developers of games, architectural applications, visualizations, and more. Experts in rendering share their knowledge by explaining everything from nitty-gritty techniques that will improve any ray tracer to mastery of the new capabilities of current and future hardware. What you'll learn: The latest ray tracing techniques for developing real-time applications in multiple domains Guidance, advice, and best practices for rendering applications with Microsoft DirectX Raytracing (DXR) How to implement high-performance graphics for interactive visualizations, games, simulations, and more Who this book is for: Developers who are looking to leverage the latest APIs and GPU technology for real-time rendering and ray tracing Students looking to learn about best practices in these areas Enthusiasts who want to understand and experiment with their new GPU

Coronary Artery Calcium Quantification in Contrast-enhanced Computed Tomography Angiography

Coronary arteries are the blood vessels supplying oxygen-rich blood to the heart muscles. Coronary artery calcium (CAC), which is the total amount of calcium deposited in these arteries, indicates the presence or the future risk of coronary artery diseases. Quantification of CAC is done by using computed tomography (CT) scan which uses attenuation of x-ray by different tissues in the body to generate three-dimensional images. Calcium can be easily spotted in the CT images because of its higher opacity to x-ray compared to that of the surrounding tissue. However, the arteries cannot be identified easily in the CT images. Therefore, a second scan is done after injecting a patient with an x-ray opaque dye known as contrast material which makes different chambers of the heart and the coronary arteries visible in the CT scan. This procedure is known as computed tomography angiography (CTA) and is performed to assess the morphology of the arteries in order to rule out any blockage in the arteries. The CT scan done without the use of contrast material (non-contrast-enhanced CT) can be eliminated if the calcium can be quantified accurately from the CTA images. However, identification of calcium in CTA images is difficult because of the proximity of the calcium and the contrast material and their overlapping intensity range. In this dissertation first we compare the calcium quantification by using a state-of-the-art non-contrast-enhanced CT scan method to conventional methods suggesting optimal quantification parameters. Then we develop methods to accurately quantify calcium from the CTA images. The methods include novel algorithms for extracting centerline of an artery, calculating the threshold of calcium adaptively based on the intensity of contrast along the artery, calculating the amount of calcium in mixed intensity range, and segmenting the artery and the outer wall. The accuracy of the calcium quantification from CTA by using our methods is higher than the non-contrast-enhanced CT thus potentially eliminating the need of the non-contrast-enhanced CT scan. The implications are that the total time required for the CT scan procedure, and the patient\u27s exposure to x-ray radiation are reduced

Software for Exascale Computing - SPPEXA 2016-2019

This open access book summarizes the research done and results obtained in the second funding phase of the Priority Program 1648 "Software for Exascale Computing" (SPPEXA) of the German Research Foundation (DFG) presented at the SPPEXA Symposium in Dresden during October 21-23, 2019. In that respect, it both represents a continuation of Vol. 113 in Springer’s series Lecture Notes in Computational Science and Engineering, the corresponding report of SPPEXA’s first funding phase, and provides an overview of SPPEXA’s contributions towards exascale computing in today's sumpercomputer technology. The individual chapters address one or more of the research directions (1) computational algorithms, (2) system software, (3) application software, (4) data management and exploration, (5) programming, and (6) software tools. The book has an interdisciplinary appeal: scholars from computational sub-fields in computer science, mathematics, physics, or engineering will find it of particular interest

Políticas de Copyright de Publicações Científicas em Repositórios Institucionais: O Caso do INESC TEC

A progressiva transformação das práticas científicas, impulsionada pelo desenvolvimento das novas Tecnologias de Informação e Comunicação (TIC), têm possibilitado aumentar o acesso à informação, caminhando gradualmente para uma abertura do ciclo de pesquisa. Isto permitirá resolver a longo prazo uma adversidade que se tem colocado aos investigadores, que passa pela existência de barreiras que limitam as condições de acesso, sejam estas geográficas ou financeiras. Apesar da produção científica ser dominada, maioritariamente, por grandes editoras comerciais, estando sujeita às regras por estas impostas, o Movimento do Acesso Aberto cuja primeira declaração pública, a Declaração de Budapeste (BOAI), é de 2002, vem propor alterações significativas que beneficiam os autores e os leitores. Este Movimento vem a ganhar importância em Portugal desde 2003, com a constituição do primeiro repositório institucional a nível nacional. Os repositórios institucionais surgiram como uma ferramenta de divulgação da produção científica de uma instituição, com o intuito de permitir abrir aos resultados da investigação, quer antes da publicação e do próprio processo de arbitragem (preprint), quer depois (postprint), e, consequentemente, aumentar a visibilidade do trabalho desenvolvido por um investigador e a respetiva instituição. O estudo apresentado, que passou por uma análise das políticas de copyright das publicações científicas mais relevantes do INESC TEC, permitiu não só perceber que as editoras adotam cada vez mais políticas que possibilitam o auto-arquivo das publicações em repositórios institucionais, como também que existe todo um trabalho de sensibilização a percorrer, não só para os investigadores, como para a instituição e toda a sociedade. A produção de um conjunto de recomendações, que passam pela implementação de uma política institucional que incentive o auto-arquivo das publicações desenvolvidas no âmbito institucional no repositório, serve como mote para uma maior valorização da produção científica do INESC TEC.The progressive transformation of scientific practices, driven by the development of new Information and Communication Technologies (ICT), which made it possible to increase access to information, gradually moving towards an opening of the research cycle. This opening makes it possible to resolve, in the long term, the adversity that has been placed on researchers, which involves the existence of barriers that limit access conditions, whether geographical or financial. Although large commercial publishers predominantly dominate scientific production and subject it to the rules imposed by them, the Open Access movement whose first public declaration, the Budapest Declaration (BOAI), was in 2002, proposes significant changes that benefit the authors and the readers. This Movement has gained importance in Portugal since 2003, with the constitution of the first institutional repository at the national level. Institutional repositories have emerged as a tool for disseminating the scientific production of an institution to open the results of the research, both before publication and the preprint process and postprint, increase the visibility of work done by an investigator and his or her institution. The present study, which underwent an analysis of the copyright policies of INESC TEC most relevant scientific publications, allowed not only to realize that publishers are increasingly adopting policies that make it possible to self-archive publications in institutional repositories, all the work of raising awareness, not only for researchers but also for the institution and the whole society. The production of a set of recommendations, which go through the implementation of an institutional policy that encourages the self-archiving of the publications developed in the institutional scope in the repository, serves as a motto for a greater appreciation of the scientific production of INESC TEC