LOCATOR: Low-power ORB accelerator for autonomous cars

Simultaneous Localization And Mapping (SLAM) is crucial for autonomous navigation. ORB-SLAM is a state-of-the-art Visual SLAM system based on cameras used for self-driving cars. In this paper, we propose a high-performance, energy-efficient, and functionally accurate hardware accelerator for ORB-SLAM, focusing on its most time-consuming stage: Oriented FAST and Rotated BRIEF (ORB) feature extraction. The Rotated BRIEF (rBRIEF) descriptor generation is the main bottleneck in ORB computation, as it exhibits highly irregular access patterns to local on-chip memories causing a high-performance penalty due to bank conflicts. We introduce a technique to find an optimal static pattern to perform parallel accesses to banks based on a genetic algorithm. Furthermore, we propose the combination of an rBRIEF pixel duplication cache, selective ports replication, and pipelining to reduce latency without compromising cost. The accelerator achieves a reduction in energy consumption of 14597× and 9609×, with respect to high-end CPU and GPU platforms, respectively.This work has been supported by the CoCoUnit ERC Advanced Grant of the EU’s Horizon 2020 program (grant No 833057), the Spanish State Research Agency (MCIN/AEI) under grant PID2020- 113172RB-I00, the ICREA Academia program and the FPU grant FPU18/04413Peer ReviewedPostprint (published version

GIS and genetic algorithm based integrated optimization for rail transit system planning

The planning of a rail transit system is a complex process involving the determination of station locations and the rail line alignments connecting the stations. There are many requirements and constraints to be considered in the planning process, with complex correlations and interactions, necessitating the application of optimization models in order to realize optimal (i.e. reliable and cost-effective) rail transit systems. Although various optimization models have been developed to address the rail transit system planning problem, they focus mainly on the planning of a single rail line and are therefore, not appropriate in the context of a multi-line rail network. In addition, these models largely neglect the complex interactions between station locations and associated rail lines by treating them in separate optimization processes. This thesis addresses these limitations in the current models by developing an optimal planning method for multiple lines, taking into account the relevant influencing factors, in a single integrated process using a geographic information system (GIS) and a genetic algorithm (GA). The new method considers local factors and the multiple planning requirements that arise from passengers, operators and the community, to simultaneously optimize the locations of stations and the associated line network linking them. The new method consists of three main levels of analysis and decision-making. Level I identifies the requirements that must be accounted for in rail transit system planning. This involves the consideration of the passenger level of service, operator productivity and potential benefits for the community. The analysis and decision making process at level II translates these requirements into effective criteria that can be used to evaluate and compare alternative solutions. Level III formulates mathematical functions for these criteria, and incorporates them into a single planning platform within the context of an integrated optimization model to achieve a rail transit system that best fits the desired requirements identified at level I. This is undertaken in two main stages. Firstly, the development of a GIS based algorithm to screen the study area for a set of feasible station locations. Secondly, the use of a heuristic optimization algorithm, based on GA to identify an optimum set of station locations from the pool of feasible stations, and, together with the GIS system, to generate the line network connecting these stations. The optimization algorithm resolves the essential trade-off between an effective rail system that provides high service quality and benefits for both the passenger and the whole community, and an economically efficient system with acceptable capital and operational costs. The proposed integrated optimization model is applied to a real world case study of the City of Leicester in the UK. The results show that it can generate optimal station locations and the related line network alignment that satisfy the various stakeholder requirements and constraints.Open Acces

Containership Load Planning with Crane Operations

Since the start of the containerization revolution in 1950's, not only the TEU capacity of the vessels has been increasing constantly, but also the number of fully cellular container ships has expanded substantially. Because of the tense competition among ports in recent years, improving the operational efficiency of ports has become an important issue in containership operations. Arrangement of containers both within the container terminal and on the containership play an important role in determining the berthing time. The berthing time of a containership is mainly composed of the unloading and loading time of containers. Containers in a containership are stored in stacks, making a container directly accessible only if it is on the top of one stack. The task of determining a good container arrangement to minimize the number of re-handlings while maintaining the ship's stability over several ports is called stowage planning, which is an everyday problem solved by ship planners. The horizontal distribution of the containers over the bays affects crane utilization and overall ship berthing time. In order to increase the terminal productivity and reduce the turnaround time, the stowage planning must conform to the berth design. Given the configuration of berths and cranes at each visiting port, the stowage planning must take into account the utilization of quay cranes as well as the reduction of unnecessary shifts to minimize the total time at all ports over the voyage. This dissertation introduces an optimization model to solve the stowage planning problem with crane utilization considerations. The optimization model covers a wide range of operational and structural constraints for containership load planning. In order to solve real-size problems, a meta-heuristic approach based on genetic algorithms is designed and implemented which embeds a crane split approximation routine. The genetic encoding is ultra-compact and represents grouping, sorting and assignment strategies that might be applied to form the stowage pattern. The evaluation procedure accounts for technical specification of the cranes as well as the crane split. Numerical results show that timely solution for ultra large size containerships can be obtained under different scenarios

Soft computing and non-parametric techniques for effective video surveillance systems

Esta tesis propone varios objetivos interconectados para el diseño de un sistema de vídeovigilancia cuyo funcionamiento es pensado para un amplio rango de condiciones. Primeramente se propone una métrica de evaluación del detector y sistema de seguimiento basada en una mínima referencia. Dicha técnica es una respuesta a la demanda de ajuste de forma rápida y fácil del sistema adecuándose a distintos entornos. También se propone una técnica de optimización basada en Estrategias Evolutivas y la combinación de funciones de idoneidad en varios pasos. El objetivo es obtener los parámetros de ajuste del detector y el sistema de seguimiento adecuados para el mejor funcionamiento en una amplia gama de situaciones posibles Finalmente, se propone la construcción de un clasificador basado en técnicas no paramétricas que pudieran modelar la distribución de datos de entrada independientemente de la fuente de generación de dichos datos. Se escogen actividades detectables a corto plazo que siguen un patrón de tiempo que puede ser fácilmente modelado mediante HMMs. La propuesta consiste en una modificación del algoritmo de Baum-Welch con el fin de modelar las probabilidades de emisión del HMM mediante una técnica no paramétrica basada en estimación de densidad con kernels (KDE). _____________________________________This thesis proposes several interconnected objectives for the design of a video-monitoring system whose operation is thought for a wide rank of conditions. Firstly an evaluation technique of the detector and tracking system is proposed and it is based on a minimum reference or ground-truth. This technique is an answer to the demand of fast and easy adjustment of the system adapting itself to different contexts. Also, this thesis proposes a technique of optimization based on Evolutionary Strategies and the combination of fitness functions. The objective is to obtain the parameters of adjustment of the detector and tracking system for the best operation in an ample range of possible situations. Finally, it is proposed the generation of a classifier in which a non-parametric statistic technique models the distribution of data regardless the source generation of such data. Short term detectable activities are chosen that follow a time pattern that can easily be modeled by Hidden Markov Models (HMMs). The proposal consists in a modification of the Baum-Welch algorithm with the purpose of modeling the emission probabilities of the HMM by means of a nonparametric technique based on the density estimation with kernels (KDE)

Network coding via evolutionary algorithms

Network coding (NC) is a relatively recent novel technique that generalises network operation beyond traditional store-and-forward routing, allowing intermediate nodes to combine independent data streams linearly. The rapid integration of bandwidth-hungry applications such as video conferencing and HDTV means that NC is a decisive future network technology. NC is gaining popularity since it offers significant benefits, such as throughput gain, robustness, adaptability and resilience. However, it does this at a potential complexity cost in terms of both operational complexity and set-up complexity. This is particularly true of network code construction. Most NC problems related to these complexities are classified as non deterministic polynomial hard (NP-hard) and an evolutionary approach is essential to solve them in polynomial time. This research concentrates on the multicast scenario, particularly: (a) network code construction with optimum network and coding resources; (b) optimising network coding resources; (c) optimising network security with a cost criterion (to combat the unintentionally introduced Byzantine modification security issue). The proposed solution identifies minimal configurations for the source to deliver its multicast traffic whilst allowing intermediate nodes only to perform forwarding and coding. In the method, a preliminary process first provides unevaluated individuals to a search space that it creates using two generic algorithms (augmenting path and linear disjoint path. An initial population is then formed by randomly picking individuals in the search space. Finally, the Multi-objective Genetic algorithm (MOGA) and Vector evaluated Genetic algorithm (VEGA) approaches search the population to identify minimal configurations. Genetic operators (crossover, mutation) contribute to include optimum features (e.g. lower cost, lower coding resources) into feasible minimal configurations. A fitness assignment and individual evaluation process is performed to identify the feasible minimal configurations. Simulations performed on randomly generated acyclic networks are used to quantify the performance of MOGA and VEGA

Stigmergy for autonomous distributed coordination of satellite clusters

EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Architecture landscape

The network architecture evolution journey will carry on in the years ahead, driving a large scale adoption of 5th Generation (5G) and 5G-Advanced use cases with significantly decreased deployment and operational costs, and enabling new and innovative use-case-driven solutions towards 6th Generation (6G) with higher economic and societal values. The goal of this chapter, thus, is to present the envisioned societal impact, use cases and the End-to-End (E2E) 6G architecture. The E2E 6G architecture includes summarization of the various technical enablers as well as the system and functional views of the architecture

Model based test suite minimization using metaheuristics

Software testing is one of the most widely used methods for quality assurance and fault detection purposes. However, it is one of the most expensive, tedious and time consuming activities in software development life cycle. Code-based and specification-based testing has been going on for almost four decades. Model-based testing (MBT) is a relatively new approach to software testing where the software models as opposed to other artifacts (i.e. source code) are used as primary source of test cases. Models are simplified representation of a software system and are cheaper to execute than the original or deployed system. The main objective of the research presented in this thesis is the development of a framework for improving the efficiency and effectiveness of test suites generated from UML models. It focuses on three activities: transformation of Activity Diagram (AD) model into Colored Petri Net (CPN) model, generation and evaluation of AD based test suite and optimization of AD based test suite. Unified Modeling Language (UML) is a de facto standard for software system analysis and design. UML models can be categorized into structural and behavioral models. AD is a behavioral type of UML model and since major revision in UML version 2.x it has a new Petri Nets like semantics. It has wide application scope including embedded, workflow and web-service systems. For this reason this thesis concentrates on AD models. Informal semantics of UML generally and AD specially is a major challenge in the development of UML based verification and validation tools. One solution to this challenge is transforming a UML model into an executable formal model. In the thesis, a three step transformation methodology is proposed for resolving ambiguities in an AD model and then transforming it into a CPN representation which is a well known formal language with extensive tool support. Test case generation is one of the most critical and labor intensive activities in testing processes. The flow oriented semantic of AD suits modeling both sequential and concurrent systems. The thesis presented a novel technique to generate test cases from AD using a stochastic algorithm. In order to determine if the generated test suite is adequate, two test suite adequacy analysis techniques based on structural coverage and mutation have been proposed. In terms of structural coverage, two separate coverage criteria are also proposed to evaluate the adequacy of the test suite from both perspectives, sequential and concurrent. Mutation analysis is a fault-based technique to determine if the test suite is adequate for detecting particular types of faults. Four categories of mutation operators are defined to seed specific faults into the mutant model. Another focus of thesis is to improve the test suite efficiency without compromising its effectiveness. One way of achieving this is identifying and removing the redundant test cases. It has been shown that the test suite minimization by removing redundant test cases is a combinatorial optimization problem. An evolutionary computation based test suite minimization technique is developed to address the test suite minimization problem and its performance is empirically compared with other well known heuristic algorithms. Additionally, statistical analysis is performed to characterize the fitness landscape of test suite minimization problems. The proposed test suite minimization solution is extended to include multi-objective minimization. As the redundancy is contextual, different criteria and their combination can significantly change the solution test suite. Therefore, the last part of the thesis describes an investigation into multi-objective test suite minimization and optimization algorithms. The proposed framework is demonstrated and evaluated using prototype tools and case study models. Empirical results have shown that the techniques developed within the framework are effective in model based test suite generation and optimizatio