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

Efficient Irregular Wavefront Propagation Algorithms on Hybrid CPU-GPU Machines

In this paper, we address the problem of efficient execution of a computation pattern, referred to here as the irregular wavefront propagation pattern (IWPP), on hybrid systems with multiple CPUs and GPUs. The IWPP is common in several image processing operations. In the IWPP, data elements in the wavefront propagate waves to their neighboring elements on a grid if a propagation condition is satisfied. Elements receiving the propagated waves become part of the wavefront. This pattern results in irregular data accesses and computations. We develop and evaluate strategies for efficient computation and propagation of wavefronts using a multi-level queue structure. This queue structure improves the utilization of fast memories in a GPU and reduces synchronization overheads. We also develop a tile-based parallelization strategy to support execution on multiple CPUs and GPUs. We evaluate our approaches on a state-of-the-art GPU accelerated machine (equipped with 3 GPUs and 2 multicore CPUs) using the IWPP implementations of two widely used image processing operations: morphological reconstruction and euclidean distance transform. Our results show significant performance improvements on GPUs. The use of multiple CPUs and GPUs cooperatively attains speedups of 50x and 85x with respect to single core CPU executions for morphological reconstruction and euclidean distance transform, respectively.Comment: 37 pages, 16 figure

Graphic-Card Cluster for Astrophysics (GraCCA) -- Performance Tests

In this paper, we describe the architecture and performance of the GraCCA system, a Graphic-Card Cluster for Astrophysics simulations. It consists of 16 nodes, with each node equipped with 2 modern graphic cards, the NVIDIA GeForce 8800 GTX. This computing cluster provides a theoretical performance of 16.2 TFLOPS. To demonstrate its performance in astrophysics computation, we have implemented a parallel direct N-body simulation program with shared time-step algorithm in this system. Our system achieves a measured performance of 7.1 TFLOPS and a parallel efficiency of 90% for simulating a globular cluster of 1024K particles. In comparing with the GRAPE-6A cluster at RIT (Rochester Institute of Technology), the GraCCA system achieves a more than twice higher measured speed and an even higher performance-per-dollar ratio. Moreover, our system can handle up to 320M particles and can serve as a general-purpose computing cluster for a wide range of astrophysics problems.Comment: Accepted for publication in New Astronom

A QUDA-branch to compute disconnected diagrams in GPUs

Although QUDA allows for an efficient computation of many QCD quantities, it is surprinsingly lacking tools to evaluate disconnected diagrams, for which GPUs are specially well suited. We aim to fill this gap by creating our own branch of QUDA, which includes new kernels and functions required to calculate fermion loops using several methods and fermionic regularizations.Comment: 7 pages, 4 figures. Proceedings of the talk given during the code session of the 31st International Symposium on Lattice Field Theory, July 29 - August 3, 2013, Mainz, Germany. Added a missing reference (number [4]

Benchmarking CPUs and GPUs on embedded platforms for software receiver usage

Smartphones containing multi-core central processing units (CPUs) and powerful many-core graphics processing units (GPUs) bring supercomputing technology into your pocket (or into our embedded devices). This can be exploited to produce power-efficient, customized receivers with flexible correlation schemes and more advanced positioning techniques. For example, promising techniques such as the Direct Position Estimation paradigm or usage of tracking solutions based on particle filtering, seem to be very appealing in challenging environments but are likewise computationally quite demanding. This article sheds some light onto recent embedded processor developments, benchmarks Fast Fourier Transform (FFT) and correlation algorithms on representative embedded platforms and relates the results to the use in GNSS software radios. The use of embedded CPUs for signal tracking seems to be straight forward, but more research is required to fully achieve the nominal peak performance of an embedded GPU for FFT computation. Also the electrical power consumption is measured in certain load levels.Peer ReviewedPostprint (published version