Design and Code Optimization for Systems with Next-generation Racetrack Memories

With the rise of computationally expensive application domains such as machine learning, genomics, and fluids simulation, the quest for performance and energy-efficient computing has gained unprecedented momentum. The significant increase in computing and memory devices in modern systems has resulted in an unsustainable surge in energy consumption, a substantial portion of which is attributed to the memory system. The scaling of conventional memory technologies and their suitability for the next-generation system is also questionable. This has led to the emergence and rise of nonvolatile memory ( NVM ) technologies. Today, in different development stages, several NVM technologies are competing for their rapid access to the market. Racetrack memory ( RTM ) is one such nonvolatile memory technology that promises SRAM -comparable latency, reduced energy consumption, and unprecedented density compared to other technologies. However, racetrack memory ( RTM ) is sequential in nature, i.e., data in an RTM cell needs to be shifted to an access port before it can be accessed. These shift operations incur performance and energy penalties. An ideal RTM , requiring at most one shift per access, can easily outperform SRAM . However, in the worst-cast shifting scenario, RTM can be an order of magnitude slower than SRAM . This thesis presents an overview of the RTM device physics, its evolution, strengths and challenges, and its application in the memory subsystem. We develop tools that allow the programmability and modeling of RTM -based systems. For shifts minimization, we propose a set of techniques including optimal, near-optimal, and evolutionary algorithms for efficient scalar and instruction placement in RTMs . For array accesses, we explore schedule and layout transformations that eliminate the longer overhead shifts in RTMs . We present an automatic compilation framework that analyzes static control flow programs and transforms the loop traversal order and memory layout to maximize accesses to consecutive RTM locations and minimize shifts. We develop a simulation framework called RTSim that models various RTM parameters and enables accurate architectural level simulation. Finally, to demonstrate the RTM potential in non-Von-Neumann in-memory computing paradigms, we exploit its device attributes to implement logic and arithmetic operations. As a concrete use-case, we implement an entire hyperdimensional computing framework in RTM to accelerate the language recognition problem. Our evaluation shows considerable performance and energy improvements compared to conventional Von-Neumann models and state-of-the-art accelerators

Exploring New Computing Paradigms for Data-Intensive Applications

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Dense implementations of binary cellular nonlinear networks : from CMOS to nanotechnology

This thesis deals with the design and hardware realization of the cellular neural/nonlinear network (CNN)-type processors operating on data in the form of black and white (B/W) images. The ultimate goal is to achieve a very compact yet versatile cell structure that would allow for building a network with a very large spatial resolution. It is very important to be able to implement an array with a great number of cells on a single die. Not only it improves the computational power of the processor, but it might be the enabling factor for new applications as well. Larger resolution can be achieved in two ways. First, the cell functionality and operating principles can be tailored to improve the layout compactness. The other option is to use more advanced fabrication technology – either a newer, further downscaled CMOS process or one of the emerging nanotechnologies. It can be beneficial to realize an array processor as two separate parts – one dedicated for gray-scale and the other for B/W image processing, as their designs can be optimized. For instance, an implementation of a CNN dedicated for B/W image processing can be significantly simplified. When working with binary images only, all coefficients in the template matrix can also be reduced to binary values. In this thesis, such a binary programming scheme is presented as a means to reduce the cell size as well as to provide the circuits composed of emerging nanodevices with an efficient programmability. Digital programming can be very fast and robust, and leads to very compact coefficient circuits. A test structure of a binary-programmable CNN has been designed and implemented with standard 0.18 µm CMOS technology. A single cell occupies only 155 µm2, which corresponds to a cell density of 6451 cells per square millimeter. A variety of templates have been tested and the measured chip performance is discussed. Since the minimum feature size of modern CMOS devices has already entered the nanometer scale, and the limitations of further scaling are projected to be reached within the next decade or so, more and more interest and research activity is attracted by nanotechnology. Investigation of the quantum physics phenomena and development of new devices and circuit concepts, which would allow to overcome the CMOS limitations, is becoming an increasingly important science. A single-electron tunneling (SET) transistor is one of the most attractive nanodevices. While relying on the Coulomb interactions, these devices can be connected directly with a wire or through a coupling capacitance. To develop suitable structures for implementing the binary programming scheme with capacitive couplings, the CNN cell based on the floating gate MOSFET (FG-MOSFET) has been designed. This approach can be considered as a step towards a programmable cell implementation with nanodevices. Capacitively coupled CNN has been simulated and the presented results confirm the proper operation. Therefore, the same circuit strategies have also been applied to the CNN cell designed for SET technology. The cell has been simulated to work well with the binary programming scheme applied. This versatile structure can be implemented either as a pure SET design or as a SET-FET hybrid. In addition to the designs mentioned above, a number of promising nanodevices and emerging circuit architectures are introduced.reviewe

Low Power Memory/Memristor Devices and Systems

This reprint focusses on achieving low-power computation using memristive devices. The topic was designed as a convenient reference point: it contains a mix of techniques starting from the fundamental manufacturing of memristive devices all the way to applications such as physically unclonable functions, and also covers perspectives on, e.g., in-memory computing, which is inextricably linked with emerging memory devices such as memristors. Finally, the reprint contains a few articles representing how other communities (from typical CMOS design to photonics) are fighting on their own fronts in the quest towards low-power computation, as a comparison with the memristor literature. We hope that readers will enjoy discovering the articles within

Imitating the Brain: Autonomous Robots Harnessing the Power of Artificial Neural Networks

Artificial Neural Networks (ANNs) imitate biological neural networks, which can have billions of neurons with trillions of interconnections. The first half of this paper focuses on fully-connected ANNs and hardware neural networks. The latter half of this paper focuses on Deep Learning, a strategy in Artificial Intelligence based on massive ANN architectures. We focus on Deep Convolutional Neural Networks, some of which are capable of differentiating between thousands of objects by self-learning from millions of images. We complete research in two areas of focus within the field of ANNs, and we provide ongoing work for and recommend two more areas of research in the future. A hardware neural network was built from inexpensive microprocessors with the capability of not only solving logic operations but to also autonomously drive a model car without hitting any obstacles. We also presented a strategic approach to using the power of Deep Learning to abstract a control program for a mobile robot. The robot successfully learned to avoid obstacles based only on raw RGB images not only in its original area of training, but also in three other environments it had never been exposed to before. Lastly, we contribute work to and recommended two applications of Deep Learning to a robotic platform. One application would be able to recognize and assist individuals based solely on facial recognition and scheduling. A system like this can serve as a personable, non-intrusive reminder system for patients with dementia or Alzheimer’s. The other recommended application would allow the capability of identifying various objects in rooms and pin pointing them with coordinates based on a map

Energy-Efficient Recurrent Neural Network Accelerators for Real-Time Inference

Over the past decade, Deep Learning (DL) and Deep Neural Network (DNN) have gone through a rapid development. They are now vastly applied to various applications and have profoundly changed the life of hu- man beings. As an essential element of DNN, Recurrent Neural Networks (RNN) are helpful in processing time-sequential data and are widely used in applications such as speech recognition and machine translation. RNNs are difficult to compute because of their massive arithmetic operations and large memory footprint. RNN inference workloads used to be executed on conventional general-purpose processors including Central Processing Units (CPU) and Graphics Processing Units (GPU); however, they have un- necessary hardware blocks for RNN computation such as branch predictor, caching system, making them not optimal for RNN processing. To accelerate RNN computations and outperform the performance of conventional processors, previous work focused on optimization methods on both software and hardware. On the software side, previous works mainly used model compression to reduce the memory footprint and the arithmetic operations of RNNs. On the hardware side, previous works also designed domain-specific hardware accelerators based on Field Pro- grammable Gate Arrays (FPGA) or Application Specific Integrated Circuits (ASIC) with customized hardware pipelines optimized for efficient pro- cessing of RNNs. By following this software-hardware co-design strategy, previous works achieved at least 10X speedup over conventional processors. Many previous works focused on achieving high throughput with a large batch of input streams. However, in real-time applications, such as gaming Artificial Intellegence (AI), dynamical system control, low latency is more critical. Moreover, there is a trend of offloading neural network workloads to edge devices to provide a better user experience and privacy protection. Edge devices, such as mobile phones and wearable devices, are usually resource-constrained with a tight power budget. They require RNN hard- ware that is more energy-efficient to realize both low-latency inference and long battery life. Brain neurons have sparsity in both the spatial domain and time domain. Inspired by this human nature, previous work mainly explored model compression to induce spatial sparsity in RNNs. The delta network algorithm alternatively induces temporal sparsity in RNNs and can save over 10X arithmetic operations in RNNs proven by previous works. In this work, we have proposed customized hardware accelerators to exploit temporal sparsity in Gated Recurrent Unit (GRU)-RNNs and Long Short-Term Memory (LSTM)-RNNs to achieve energy-efficient real-time RNN inference. First, we have proposed DeltaRNN, the first-ever RNN accelerator to exploit temporal sparsity in GRU-RNNs. DeltaRNN has achieved 1.2 TOp/s effective throughput with a batch size of 1, which is 15X higher than its related works. Second, we have designed EdgeDRNN to accelerate GRU-RNN edge inference. Compared to DeltaRNN, EdgeDRNN does not rely on on-chip memory to store RNN weights and focuses on reducing off-chip Dynamic Random Access Memory (DRAM) data traffic using a more scalable architecture. EdgeDRNN have realized real-time inference of large GRU-RNNs with submillisecond latency and only 2.3 W wall plug power consumption, achieving 4X higher energy efficiency than commercial edge AI platforms like NVIDIA Jetson Nano. Third, we have used DeltaRNN to realize the first-ever continuous speech recognition sys- tem with the Dynamic Audio Sensor (DAS) as the front-end. The DAS is a neuromorphic event-driven sensor that produces a stream of asyn- chronous events instead of audio data sampled at a fixed sample rate. We have also showcased how an RNN accelerator can be integrated with an event-driven sensor on the same chip to realize ultra-low-power Keyword Spotting (KWS) on the extreme edge. Fourth, we have used EdgeDRNN to control a powered robotic prosthesis using an RNN controller to replace a conventional proportional–derivative (PD) controller. EdgeDRNN has achieved 21 μs latency of running the RNN controller and could maintain stable control of the prosthesis. We have used DeltaRNN and EdgeDRNN to solve these problems to prove their value in solving real-world problems. Finally, we have applied the delta network algorithm on LSTM-RNNs and have combined it with a customized structured pruning method, called Column-Balanced Targeted Dropout (CBTD), to induce spatio-temporal sparsity in LSTM-RNNs. Then, we have proposed another FPGA-based accelerator called Spartus, the first RNN accelerator that exploits spatio- temporal sparsity. Spartus achieved 9.4 TOp/s effective throughput with a batch size of 1, the highest among present FPGA-based RNN accelerators with a power budget around 10 W. Spartus can complete the inference of an LSTM layer having 5 million parameters within 1 μs