Implementación del detector de esquinas de Harris en la plataforma Jetson TK1

Las esquinas son puntos invariantes, estructurales y con alto contenido de información en una imagen. Estas son usadas en aplicaciones importantes de Procesamiento de imágenes o video entre las cuales destacan Navegación de UAVs (Unmanned Aerial Vehicles) [1] o Detección de objetos [2] que son importantes en distintas áreas y tienen requerimientos de tiempo real. Entre las soluciones para detección de esquinas propuestas destaca el detector de esquinas de Harris [3], el cual demuestra ser robusto y eficiente. El uso de plataformas que permiten realizar procesamiento paralelo permiten implementar métodos de alto costo computacional con un bajo tiempo de procesamiento. Entre ellas destacan los GPU (Graphic Processor Unit) que generalmente tienen un alto consumo energético, lo cual es inconveniente en aplicaciones dirigidas a dispositivos móviles como celulares, robots, drones, entre otros. Por ello, plataformas basadas en mobile CPU que tienen bajo consumo energético son opciones a tomar en cuenta. En la presente tesis se propone el diseño e implementación del Detector de esquinas de Harris en la plataforma Jetson TK1 de Nvidia [4] la cual se distingue por su bajo consumo energético y alto rendimiento. El método será implementado en MATLAB, ANSI-C y CUDA. Los resultados muestran que la implementación en CUDA presentada es hasta 32.08 veces aproximadamente más rápida que la implementación en ANSI-C y permite procesar imágenes de resolución full HD (1920 x 1080) en tiempo real. Además, es comparable a implementaciones en software en plataformas con mayores recursos e implementaciones en hardware usando FPGAs (Field Programmable Gate Array). La estructura del presente documento es la siguiente: En el primer capítulo se presenta el estado del arte sobre detección de esquinas y el Detector de esquinas de Harris. En el segundo capítulo se presenta la plataforma Jetson TK1. El diseño del algoritmo paralelo se detalla en el tercer capítulo. Por último, se presenta la implementación y sus resultados en el cuarto capítulo, seguido de las conclusiones y recomendaciones.Tesi

Application acceleration : an investigation of automatic porting methods for application accelerators

Future HPC systems will contain both large collections of multi-core proces sors and specialist many-core co-processors. These specialised many-core co processors are typically classified as Application Accelerators. More specifically, Application Accelerations are devices such as GPUs, CELL Processors, FPGAs and custom application specific integrated circuit devices(ASICs). These devices present new challenges to overcome, including their programming difficulties, their diversity and lack of commonality of programming approach between them and the issue of selecting the most appropriate device for an application. This thesis attempts to tackle these problems by examining the suitability of automatic porting methods. In the course of this research, relevant software, both academic and com mercial, has been analysed to determine how it attempts to solve the problems relating to the use of application acceleration devices. A new approach is then constructed, this approach is an Automatic Self-Modifying Application Porting system that is able to not only port code to an acceleration device, but, using performance data, predict the appropriate device for the code being ported. Additionally, this system is also able to use the performance data that are gathered by the system to modify its own decision making model and improve its future predictions. Once the system has been developed, a series of applications are trialled and their performance, both in terms of execution time and the accuracy of the systems predictions, are analysed. This analysis has shown that, although the system is not able to flawlessly predict the correct device for an unseen application, it is able to achieve an accuracy of over 80% and, just as importantly, the code it produces is within 15% of that produced by an experienced human programmer. This analysis has also shown that while automatically ported code performs favourably in nearly all cases when compared to a single-core CPU, automatically ported code only out performs a quad-core CPU in three out of seven application case studies. From these results, it is also shown that the system is able to utilise this performance data and build a decision model allowing the users to determine if an automatically ported version of their application will provide performance improvement compared to both CPU types considered. The availability of such a system may prove valuable in allowing a diverse range of users to utilise the performance supplied by many-core devices within next generation HPC systems

RA-LPEL: A Resource-Aware Light-Weight Parallel Execution Layer for Reactive Stream Processing Networks on The SCC Many-core Tiled Architecture

In computing the available computing power has continuously fallen short of the demanded computing performance. As a consequence, performance improvement has been the main focus of processor design. However, due to the phenomenon called “Power Wall” it has become infeasible to build faster processors by just increasing the processor’s clock speed. One of the resulting trends in hardware design is to integrate several simple and power-efficient cores on the same chip. This design shift poses challenges of its own. In the past, with increasing clock frequency the programs became automatically faster as well without modifications. This is no longer true with many-core architectures. To achieve maximum performance the programs have to run concurrently on more than one core, which forces the general computing paradigm to become increasingly parallel to leverage maximum processing power. In this thesis, we will focus on the Reactive Stream Program (RSP). In stream processing, the system consists of computing nodes, which are connected via communication streams. These streams simplify the concurrency management on modern many-core architectures due to their implicit synchronisation. RSP is a stream processing system that implements the reactive system. The RSPs work in tandem with their environment and the load imposed by the environment may vary over time. This provides a unique opportunity to increase performance per watt. In this thesis the research contribution focuses on the design of the execution layer to run RSPs on tiled many-core architectures, using the Intel’s Single-chip Cloud Computer (SCC) processor as a concrete experimentation platform. Further, we have developed a Dynamic Voltage and Frequency Scaling (DVFS) technique for RSP deployed on many-core architectures. In contrast to many other approaches, our DVFS technique does not require the capability of controlling the power settings of individual computing elements, thus making it applicable for modern many-core architectures, with which power can be changed only for power islands. The experimental results confirm that the proposed DVFS technique can effectively improve the energy efficiency, i.e. increase the performance per watt, for RSPs

Reports to the President

A compilation of annual reports for the 1989-1990 academic year, including a report from the President of the Massachusetts Institute of Technology, as well as reports from the academic and administrative units of the Institute. The reports outline the year's goals, accomplishments, honors and awards, and future plans

Reports to the President

A compilation of annual reports for the 1988-1989 academic year, including a report from the President of the Massachusetts Institute of Technology, as well as reports from the academic and administrative units of the Institute. The reports outline the year's goals, accomplishments, honors and awards, and future plans

Reports to the President

A compilation of annual reports for the 1990-1991 academic year, including a report from the President of the Massachusetts Institute of Technology, as well as reports from the academic and administrative units of the Institute. The reports outline the year's goals, accomplishments, honors and awards, and future plans

Reports to the President

A compilation of annual reports for the 1986-1987 academic year, including a report from the President of the Massachusetts Institute of Technology, as well as reports from the academic and administrative units of the Institute. The reports outline the year's goals, accomplishments, honors and awards, and future plans

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Multibody dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: Formulations and Numerical Methods, Efficient Methods and Real-Time Applications, Flexible Multibody Dynamics, Contact Dynamics and Constraints, Multiphysics and Coupled Problems, Control and Optimization, Software Development and Computer Technology, Aerospace and Maritime Applications, Biomechanics, Railroad Vehicle Dynamics, Road Vehicle Dynamics, Robotics, Benchmark Problems. The conference is organized by the Department of Mechanical Engineering of the Universitat Politècnica de Catalunya (UPC) in Barcelona. The organizers would like to thank the authors for submitting their contributions, the keynote lecturers for accepting the invitation and for the quality of their talks, the awards and scientific committees for their support to the organization of the conference, and finally the topic organizers for reviewing all extended abstracts and selecting the awards nominees.Postprint (published version