14,723 research outputs found
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Many algorithms for control, optimization and estimation in robotics depend
on derivatives of the underlying system dynamics, e.g. to compute
linearizations, sensitivities or gradient directions. However, we show that
when dealing with Rigid Body Dynamics, these derivatives are difficult to
derive analytically and to implement efficiently. To overcome this issue, we
extend the modelling tool `RobCoGen' to be compatible with Automatic
Differentiation. Additionally, we propose how to automatically obtain the
derivatives and generate highly efficient source code. We highlight the
flexibility and performance of the approach in two application examples. First,
we show a Trajectory Optimization example for the quadrupedal robot HyQ, which
employs auto-differentiation on the dynamics including a contact model. Second,
we present a hardware experiment in which a 6 DoF robotic arm avoids a randomly
moving obstacle in a go-to task by fast, dynamic replanning
Trusting Computations: a Mechanized Proof from Partial Differential Equations to Actual Program
Computer programs may go wrong due to exceptional behaviors, out-of-bound
array accesses, or simply coding errors. Thus, they cannot be blindly trusted.
Scientific computing programs make no exception in that respect, and even bring
specific accuracy issues due to their massive use of floating-point
computations. Yet, it is uncommon to guarantee their correctness. Indeed, we
had to extend existing methods and tools for proving the correct behavior of
programs to verify an existing numerical analysis program. This C program
implements the second-order centered finite difference explicit scheme for
solving the 1D wave equation. In fact, we have gone much further as we have
mechanically verified the convergence of the numerical scheme in order to get a
complete formal proof covering all aspects from partial differential equations
to actual numerical results. To the best of our knowledge, this is the first
time such a comprehensive proof is achieved.Comment: N° RR-8197 (2012). arXiv admin note: text overlap with
arXiv:1112.179
Efficient Neural Network Implementations on Parallel Embedded Platforms Applied to Real-Time Torque-Vectoring Optimization Using Predictions for Multi-Motor Electric Vehicles
The combination of machine learning and heterogeneous embedded platforms enables new potential for developing sophisticated control concepts which are applicable to the field of vehicle dynamics and ADAS. This interdisciplinary work provides enabler solutions -ultimately implementing fast predictions using neural networks (NNs) on field programmable gate arrays (FPGAs) and graphical processing units (GPUs)- while applying them to a challenging application: Torque Vectoring on a multi-electric-motor vehicle for enhanced vehicle dynamics. The foundation motivating this work is provided by discussing multiple domains of the technological context as well as the constraints related to the automotive field, which contrast with the attractiveness of exploiting the capabilities of new embedded platforms to apply advanced control algorithms for complex control problems. In this particular case we target enhanced vehicle dynamics on a multi-motor electric vehicle benefiting from the greater degrees of freedom and controllability offered by such powertrains. Considering the constraints of the application and the implications of the selected multivariable optimization challenge, we propose a NN to provide batch predictions for real-time optimization. This leads to the major contribution of this work: efficient NN implementations on two intrinsically parallel embedded platforms, a GPU and a FPGA, following an analysis of theoretical and practical implications of their different operating paradigms, in order to efficiently harness their computing potential while gaining insight into their peculiarities. The achieved results exceed the expectations and additionally provide a representative illustration of the strengths and weaknesses of each kind of platform. Consequently, having shown the applicability of the proposed solutions, this work contributes valuable enablers also for further developments following similar fundamental principles.Some of the results presented in this work are related to activities within the 3Ccar project, which has
received funding from ECSEL Joint Undertaking under grant agreement No. 662192. This Joint Undertaking
received support from the European Union’s Horizon 2020 research and innovation programme and Germany,
Austria, Czech Republic, Romania, Belgium, United Kingdom, France, Netherlands, Latvia, Finland, Spain, Italy,
Lithuania. This work was also partly supported by the project ENABLES3, which received funding from ECSEL
Joint Undertaking under grant agreement No. 692455-2
Computing hypergeometric functions rigorously
We present an efficient implementation of hypergeometric functions in
arbitrary-precision interval arithmetic. The functions , ,
and (or the Kummer -function) are supported for
unrestricted complex parameters and argument, and by extension, we cover
exponential and trigonometric integrals, error functions, Fresnel integrals,
incomplete gamma and beta functions, Bessel functions, Airy functions, Legendre
functions, Jacobi polynomials, complete elliptic integrals, and other special
functions. The output can be used directly for interval computations or to
generate provably correct floating-point approximations in any format.
Performance is competitive with earlier arbitrary-precision software, and
sometimes orders of magnitude faster. We also partially cover the generalized
hypergeometric function and computation of high-order parameter
derivatives.Comment: v2: corrected example in section 3.1; corrected timing data for case
E-G in section 8.5 (table 6, figure 2); adjusted paper siz
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