850 research outputs found
DeepPicar: A Low-cost Deep Neural Network-based Autonomous Car
We present DeepPicar, a low-cost deep neural network based autonomous car
platform. DeepPicar is a small scale replication of a real self-driving car
called DAVE-2 by NVIDIA. DAVE-2 uses a deep convolutional neural network (CNN),
which takes images from a front-facing camera as input and produces car
steering angles as output. DeepPicar uses the same network architecture---9
layers, 27 million connections and 250K parameters---and can drive itself in
real-time using a web camera and a Raspberry Pi 3 quad-core platform. Using
DeepPicar, we analyze the Pi 3's computing capabilities to support end-to-end
deep learning based real-time control of autonomous vehicles. We also
systematically compare other contemporary embedded computing platforms using
the DeepPicar's CNN-based real-time control workload. We find that all tested
platforms, including the Pi 3, are capable of supporting the CNN-based
real-time control, from 20 Hz up to 100 Hz, depending on hardware platform.
However, we find that shared resource contention remains an important issue
that must be considered in applying CNN models on shared memory based embedded
computing platforms; we observe up to 11.6X execution time increase in the CNN
based control loop due to shared resource contention. To protect the CNN
workload, we also evaluate state-of-the-art cache partitioning and memory
bandwidth throttling techniques on the Pi 3. We find that cache partitioning is
ineffective, while memory bandwidth throttling is an effective solution.Comment: To be published as a conference paper at RTCSA 201
A High-Accuracy Nonintrusive Networking Testbed for Wireless Sensor Networks
It becomes increasingly important to obtain the accurate and spontaneous runtime network behavior for further studies onwireless sensor networks. However, the existing testbeds cannot appropriately match such requirements. A High-accuracyNonintrusive Networking Testbed (HINT) is proposed. In HINT, the interconnected chip-level signals are passively captured withauxiliary test boards and the captured data are transferred in additional networks to test server. The test server of HINT collects allthe test data and depicts the full network behavior. HINT supports networking test, protocol verification, performance evaluationand so on. The experiments show that HINT transparently gathers accurate runtime data and does not disturb the spontaneousbehavior of sensor networks. HINT is also extendible to different hardware platforms of sensor nodes. Consequently, HINT isan upstanding testbed solution for the future fine-grained and experimental studies on the resource-constrained wireless sensornetworks
AirSync: Enabling Distributed Multiuser MIMO with Full Spatial Multiplexing
The enormous success of advanced wireless devices is pushing the demand for
higher wireless data rates. Denser spectrum reuse through the deployment of
more access points per square mile has the potential to successfully meet the
increasing demand for more bandwidth. In theory, the best approach to density
increase is via distributed multiuser MIMO, where several access points are
connected to a central server and operate as a large distributed multi-antenna
access point, ensuring that all transmitted signal power serves the purpose of
data transmission, rather than creating "interference." In practice, while
enterprise networks offer a natural setup in which distributed MIMO might be
possible, there are serious implementation difficulties, the primary one being
the need to eliminate phase and timing offsets between the jointly coordinated
access points.
In this paper we propose AirSync, a novel scheme which provides not only time
but also phase synchronization, thus enabling distributed MIMO with full
spatial multiplexing gains. AirSync locks the phase of all access points using
a common reference broadcasted over the air in conjunction with a Kalman filter
which closely tracks the phase drift. We have implemented AirSync as a digital
circuit in the FPGA of the WARP radio platform. Our experimental testbed,
comprised of two access points and two clients, shows that AirSync is able to
achieve phase synchronization within a few degrees, and allows the system to
nearly achieve the theoretical optimal multiplexing gain. We also discuss MAC
and higher layer aspects of a practical deployment. To the best of our
knowledge, AirSync offers the first ever realization of the full multiuser MIMO
gain, namely the ability to increase the number of wireless clients linearly
with the number of jointly coordinated access points, without reducing the per
client rate.Comment: Submitted to Transactions on Networkin
Reproducible Host Networking Evaluation with End-to-End Simulation
Networking researchers are facing growing challenges in evaluating and
reproducing results for modern network systems. As systems rely on closer
integration of system components and cross-layer optimizations in the pursuit
of performance and efficiency, they are also increasingly tied to specific
hardware and testbed properties. Combined with a trend towards heterogeneous
hardware, such as protocol offloads, SmartNICs, and in-network accelerators,
researchers face the choice of either investing more and more time and
resources into comparisons to prior work or, alternatively, lower the standards
for evaluation.
We aim to address this challenge by introducing SimBricks, a simulation
framework that decouples networked systems from the physical testbed and
enables reproducible end-to-end evaluation in simulation. Instead of
reinventing the wheel, SimBricks is a modular framework for combining existing
tried-and-true simulators for individual components, processor and memory, NIC,
and network, into complete testbeds capable of running unmodified systems. In
our evaluation, we reproduce key findings from prior work, including dctcp
congestion control, NOPaxos in-network consensus acceleration, and the Corundum
FPGA NIC.Comment: 15 pages, 10 figures, under submissio
Proceedings Work-In-Progress Session of the 13th Real-Time and Embedded Technology and Applications Symposium
The Work-In-Progress session of the 13th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS\u2707) presents papers describing contributions both to state of the art and state of the practice in the broad field of real-time and embedded systems. The 17 accepted papers were selected from 19 submissions. This proceedings is also available as Washington University in St. Louis Technical Report WUCSE-2007-17, at http://www.cse.seas.wustl.edu/Research/FileDownload.asp?733. Special thanks go to the General Chairs – Steve Goddard and Steve Liu and Program Chairs - Scott Brandt and Frank Mueller for their support and guidance
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