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

Effects of Time Horizons on Influence Maximization in the Voter Dynamics

In this paper we analyze influence maximization in the voter model with an active strategic and a passive influencing party in non-stationary settings. We thus explore the dependence of optimal influence allocation on the time horizons of the strategic influencer. We find that on undirected heterogeneous networks, for short time horizons, influence is maximized when targeting low-degree nodes, while for long time horizons influence maximization is achieved when controlling hub nodes. Furthermore, we show that for short and intermediate time scales influence maximization can exploit knowledge of (transient) opinion configurations. More in detail, we find two rules. First, nodes with states differing from the strategic influencer's goal should be targeted. Second, if only few nodes are initially aligned with the strategic influencer, nodes subject to opposing influence should be avoided, but when many nodes are aligned, an optimal influencer should shadow opposing influence.Comment: 22 page

Control of coupled oscillator networks with application to microgrid technologies

The control of complex systems and network-coupled dynamical systems is a topic of vital theoretical importance in mathematics and physics with a wide range of applications in engineering and various other sciences. Motivated by recent research into smart grid technologies we study here control of synchronization and consider the important case of networks of coupled phase oscillators with nonlinear interactions--a paradigmatic example that has guided our understanding of self-organization for decades. We develop a method for control based on identifying and stabilizing problematic oscillators, resulting in a stable spectrum of eigenvalues, and in turn a linearly stable synchronized state. Interestingly, the amount of control, i.e., number of oscillators, required to stabilize the network is primarily dictated by the coupling strength, dynamical heterogeneity, and mean degree of the network, and depends little on the structural heterogeneity of the network itself

Matching Theory for Future Wireless Networks: Fundamentals and Applications

The emergence of novel wireless networking paradigms such as small cell and cognitive radio networks has forever transformed the way in which wireless systems are operated. In particular, the need for self-organizing solutions to manage the scarce spectral resources has become a prevalent theme in many emerging wireless systems. In this paper, the first comprehensive tutorial on the use of matching theory, a Nobelprize winning framework, for resource management in wireless networks is developed. To cater for the unique features of emerging wireless networks, a novel, wireless-oriented classification of matching theory is proposed. Then, the key solution concepts and algorithmic implementations of this framework are exposed. Then, the developed concepts are applied in three important wireless networking areas in order to demonstrate the usefulness of this analytical tool. Results show how matching theory can effectively improve the performance of resource allocation in all three applications discussed

Offloading traffic hotspots using moving small cells

In this paper, the concept of moving small cells in mobile networks is presented and evaluated taking into account the dynamics of the system. We consider a small cell moving according to a Manhattan mobility model which is the case when the small cell is deployed on the top of a bus following a predefined trajectory in areas which are generally crowded. Taking into account the distribution of user locations, we study the dynamic level considering a queuing model composed of multi-class Processor Sharing queues. Macro and small cells are assumed to be operating in the same bandwidth. Consequently, they are coupled due to the mutual interferences generated by each cell to the other. Our results show that deploying moving small cells could be an efficient solution to offload traffic hotspots.Comment: This article is already published in IEEE ICC conference 2016, Kuala Lumpur, Wireless networks symposiu