Feedback control by online learning an inverse model

A model, predictor, or error estimator is often used by a feedback controller to control a plant. Creating such a model is difficult when the plant exhibits nonlinear behavior. In this paper, a novel online learning control framework is proposed that does not require explicit knowledge about the plant. This framework uses two learning modules, one for creating an inverse model, and the other for actually controlling the plant. Except for their inputs, they are identical. The inverse model learns by the exploration performed by the not yet fully trained controller, while the actual controller is based on the currently learned model. The proposed framework allows fast online learning of an accurate controller. The controller can be applied on a broad range of tasks with different dynamic characteristics. We validate this claim by applying our control framework on several control tasks: 1) the heating tank problem (slow nonlinear dynamics); 2) flight pitch control (slow linear dynamics); and 3) the balancing problem of a double inverted pendulum (fast linear and nonlinear dynamics). The results of these experiments show that fast learning and accurate control can be achieved. Furthermore, a comparison is made with some classical control approaches, and observations concerning convergence and stability are made

An Efficient Primal-Dual Prox Method for Non-Smooth Optimization

We study the non-smooth optimization problems in machine learning, where both the loss function and the regularizer are non-smooth functions. Previous studies on efficient empirical loss minimization assume either a smooth loss function or a strongly convex regularizer, making them unsuitable for non-smooth optimization. We develop a simple yet efficient method for a family of non-smooth optimization problems where the dual form of the loss function is bilinear in primal and dual variables. We cast a non-smooth optimization problem into a minimax optimization problem, and develop a primal dual prox method that solves the minimax optimization problem at a rate of $O(1/T)$ {assuming that the proximal step can be efficiently solved}, significantly faster than a standard subgradient descent method that has an $O(1/\sqrt{T})$ convergence rate. Our empirical study verifies the efficiency of the proposed method for various non-smooth optimization problems that arise ubiquitously in machine learning by comparing it to the state-of-the-art first order methods

A Novel FPGA Implementation of Hierarchical Temporal Memory Spatial Pooler

There is currently a strong focus across the technological landscape to create machines capable of performing complex, objective based tasks in a manner similar to, or superior to a human. Many of the methods being explored in the machine intelligence space require large sets of labeled data to first train, and then classify inputs. Hierarchical Temporal Memory (HTM) is a biologically inspired machine intelligence framework which aims to classify and interpret streaming unlabeled data, without supervision, and be able to detect anomalies in such data. In software HTM models, increasing the number of “columns” or processing elements to the levels required to make meaningful predictions in complex data can be prohibitive to analyzing in real time. There exists a need to improve the throughput of such systems. HTMs require large amounts of data available to be accessed randomly, and then processed independently. FPGAs provide a reconfigurable, and easily scalable platform ideal for these types of operations. One of the two main components of the HTM architecture is the “spatial pooler”. This thesis explores a novel hardware implementation of an HTM spatial pooler, with a boosting algorithm to increase homeostasis, and a novel classification algorithm to interpret input data in real time. This implementation shows a significant speedup in data processing, and provides a framework to scale the implementation based on the available hardware resources of the FPGA

Integer Echo State Networks: Hyperdimensional Reservoir Computing

We propose an approximation of Echo State Networks (ESN) that can be efficiently implemented on digital hardware based on the mathematics of hyperdimensional computing. The reservoir of the proposed Integer Echo State Network (intESN) is a vector containing only n-bits integers (where n<8 is normally sufficient for a satisfactory performance). The recurrent matrix multiplication is replaced with an efficient cyclic shift operation. The intESN architecture is verified with typical tasks in reservoir computing: memorizing of a sequence of inputs; classifying time-series; learning dynamic processes. Such an architecture results in dramatic improvements in memory footprint and computational efficiency, with minimal performance loss.Comment: 10 pages, 10 figures, 1 tabl

Cloud-efficient modelling and simulation of magnetic nano materials

Scientific simulations are rarely attempted in a cloud due to the substantial performance costs of virtualization. Considerable communication overheads, intolerable latencies, and inefficient hardware emulation are the main reasons why this emerging technology has not been fully exploited. On the other hand, the progress of computing infrastructure nowadays is strongly dependent on perspective storage medium development, where efficient micromagnetic simulations play a vital role in future memory design. This thesis addresses both these topics by merging micromagnetic simulations with the latest OpenStack cloud implementation while providing a time and costeffective alternative to expensive computing centers. However, many challenges have to be addressed before a high-performance cloud platform emerges as a solution for problems in micromagnetic research communities. First, the best solver candidate has to be selected and further improved, particularly in the parallelization and process communication domain. Second, a 3-level cloud communication hierarchy needs to be recognized and each segment adequately addressed. The required steps include breaking the VMisolation for the host’s shared memory activation, cloud network-stack tuning, optimization, and efficient communication hardware integration. The project work concludes with practical measurements and confirmation of successfully implemented simulation into an open-source cloud environment. It is achieved that the renewed Magpar solver runs for the first time in the OpenStack cloud by using ivshmem for shared memory communication. Also, extensive measurements proved the effectiveness of our solutions, yielding from sixty percent to over ten times better results than those achieved in the standard cloud.Aufgrund der erheblichen Leistungskosten der Virtualisierung werden wissenschaftliche Simulationen in einer Cloud selten versucht. Beträchtlicher Kommunikationsaufwand, erhebliche Latenzen und ineffiziente Hardwareemulation sind die Hauptgründe, warum diese aufkommende Technologie nicht vollständig genutzt wurde. Andererseits hängt der Fortschritt der Computertechnologie heutzutage stark von der Entwicklung perspektivischer Speichermedien ab, bei denen effiziente mikromagnetische Simulationen eine wichtige Rolle für die zukünftige Speichertechnologie spielen. Diese Arbeit befasst sich mit diesen beiden Themen, indem mikromagnetische Simulationen mit der neuesten OpenStack Cloud-Implementierung zusammengeführt werden, um eine zeit- und kostengünstige Alternative zu teuren Rechenzentren bereitzustellen. Viele Herausforderungen müssen jedoch angegangen werden, bevor eine leistungsstarke Cloud-Plattform als Lösung für Probleme in mikromagnetischen Forschungsgemeinschaften entsteht. Zunächst muss der beste Kandidat für die Lösung ausgewählt und weiter verbessert werden, insbesondere im Bereich der Parallelisierung und Prozesskommunikation. Zweitens muss eine 3-stufige CloudKommunikationshierarchie erkannt und jedes Segment angemessen adressiert werden. Die erforderlichen Schritte umfassen das Aufheben der VM-Isolation, um den gemeinsam genutzten Speicher zwischen Cloud-Instanzen zu aktivieren, die Optimierung des Cloud-Netzwerkstapels und die effiziente Integration von Kommunikationshardware. Die praktische Arbeit endet mit Messungen und der Bestätigung einer erfolgreich implementierten Simulation in einer Open-Source Cloud-Umgebung. Als Ergebnis haben wir erreicht, dass der neu erstellte Magpar-Solver zum ersten Mal in der OpenStack Cloud ausgeführt wird, indem ivshmem für die Shared-Memory Kommunikation verwendet wird. Umfangreiche Messungen haben auch die Wirksamkeit unserer Lösungen bewiesen und von sechzig Prozent bis zu zehnmal besseren Ergebnissen als in der Standard Cloud geführt

Scalable Digital Architecture of a Liquid State Machine

Liquid State Machine (LSM) is an adaptive neural computational model with rich dynamics to process spatio-temporal inputs. These machines are extremely fast in learning because the goal-oriented training is moved to the output layer, unlike conventional recurrent neural networks. The capability to multiplex at the output layer for multiple tasks makes LSM a powerful intelligent engine. These properties are desirable in several machine learning applications such as speech recognition, anomaly detection, user identification etc. Scalable hardware architectures for spatio-temporal signal processing algorithms like LSMs are energy efficient compared to the software implementations. These designs can also naturally adapt to dierent temporal streams of inputs. Early literature shows few behavioral models of LSM. However, they cannot process real time data either due to their hardware complexity or xed design approach. In this thesis, a scalable digital architecture of an LSM is proposed. A key feature of the architecture is a digital liquid that exploits spatial locality and is capable of processing real time data. The quality of the proposed LSM is analyzed using kernel quality, separation property of the liquid and Lyapunov exponent. When realized using TSMC 65nm technology node, the total power dissipation of the liquid layer, with 60 neurons, is 55.7 mW with an area requirement of 2 mm^2. The proposed model is validated for two benchmark. In the case of an epileptic seizure detection an average accuracy of 84% is observed. For user identification/authentication using gait an average accuracy of 98.65% is achieved