Ono: an open platform for social robotics

In recent times, the focal point of research in robotics has shifted from industrial ro- bots toward robots that interact with humans in an intuitive and safe manner. This evolution has resulted in the subfield of social robotics, which pertains to robots that function in a human environment and that can communicate with humans in an int- uitive way, e.g. with facial expressions. Social robots have the potential to impact many different aspects of our lives, but one particularly promising application is the use of robots in therapy, such as the treatment of children with autism. Unfortunately, many of the existing social robots are neither suited for practical use in therapy nor for large scale studies, mainly because they are expensive, one-of-a-kind robots that are hard to modify to suit a specific need. We created Ono, a social robotics platform, to tackle these issues. Ono is composed entirely from off-the-shelf components and cheap materials, and can be built at a local FabLab at the fraction of the cost of other robots. Ono is also entirely open source and the modular design further encourages modification and reuse of parts of the platform

Acceleration of ListNet for ranking using reconfigurable architecture

Document ranking is used to order query results by relevance with ranking models. ListNet is a well-known ranking approach for constructing and training learning-to-rank models. Compared with traditional learning approaches, ListNet delivers better accuracy, but is computationally too expensive to learn models with large data sets due to the large number of permutations and documents involved in computing the gradients. Currently, the long training time limits the practicality of ListNet in ranking applications such as breaking news search and stock prediction, and this situation is getting worse with the increase in data-set size. In order to tackle the challenge of long training time, this thesis optimises the ListNet algorithm, and designs hardware accelerators for learning the ListNet algorithm using Field Programmable Gate Arrays (FPGAs), making the algorithm more practical for real-world application. The contributions of this thesis include: 1) A novel computation method of the ListNet algorithm for ranking. The proposed computation method exposes more fine-grained parallelism for FPGA implementation. 2) A weighted sampling method that takes into account the ranking positions, along with an effective quantisation method based on FPGA devices. The proposed design achieves a 4.42x improvement over GPU implementation speed, while still guaranteeing the accuracy. 3) A full reconfigurable architecture for the ListNet training using multiple bitstream kernels. The proposed method achieves a higher model accuracy than pure fixed point training, and a better throughput than pure floating point training. This thesis has resulted in the acceleration of the ListNet algorithm for ranking using FPGAs by applying the above techniques. Significant improvements in speed have been achieved in this work against CPU and GPU implementations.Open Acces