22,051 research outputs found
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
Going Deeper with Convolutions
We propose a deep convolutional neural network architecture codenamed
"Inception", which was responsible for setting the new state of the art for
classification and detection in the ImageNet Large-Scale Visual Recognition
Challenge 2014 (ILSVRC 2014). The main hallmark of this architecture is the
improved utilization of the computing resources inside the network. This was
achieved by a carefully crafted design that allows for increasing the depth and
width of the network while keeping the computational budget constant. To
optimize quality, the architectural decisions were based on the Hebbian
principle and the intuition of multi-scale processing. One particular
incarnation used in our submission for ILSVRC 2014 is called GoogLeNet, a 22
layers deep network, the quality of which is assessed in the context of
classification and detection
Multi-capacity bin packing with dependent items and its application to the packing of brokered workloads in virtualized environments
Providing resource allocation with performance
predictability guarantees is increasingly important in cloud
platforms, especially for data-intensive applications, in which
performance depends greatly on the available rates of data
transfer between the various computing/storage hosts underlying
the virtualized resources assigned to the application. Existing
resource allocation solutions either assume that applications
manage their data transfer between their virtualized resources, or
that cloud providers manage their internal networking resources.
With the increased prevalence of brokerage services in cloud
platforms, there is a need for resource allocation solutions that
provides predictability guarantees in settings, in which neither
application scheduling nor cloud provider resources can be
managed/controlled by the broker. This paper addresses this
problem, as we define the Network-Constrained Packing (NCP)
problem of finding the optimal mapping of brokered resources
to applications with guaranteed performance predictability. We
prove that NCP is NP-hard, and we define two special instances
of the problem, for which exact solutions can be found efficiently.
We develop a greedy heuristic to solve the general instance of the
NCP problem , and we evaluate its efficiency using simulations
on various application workloads, and network models.This work was done while author was at Boston University. It was partially supported by NSF CISE awards #1430145, #1414119, #1239021 and #1012798. (1430145 - NSF CISE; 1414119 - NSF CISE; 1239021 - NSF CISE; 1012798 - NSF CISE
A knowledge-based system with learning for computer communication network design
Computer communication network design is well-known as complex and hard. For that reason, the most effective methods used to solve it are heuristic. Weaknesses of these techniques are listed and a new approach based on artificial intelligence for solving this problem is presented. This approach is particularly recommended for large packet switched communication networks, in the sense that it permits a high degree of reliability and offers a very flexible environment dealing with many relevant design parameters such as link cost, link capacity, and message delay
Active Topology Inference using Network Coding
Our goal is to infer the topology of a network when (i) we can send probes
between sources and receivers at the edge of the network and (ii) intermediate
nodes can perform simple network coding operations, i.e., additions. Our key
intuition is that network coding introduces topology-dependent correlation in
the observations at the receivers, which can be exploited to infer the
topology. For undirected tree topologies, we design hierarchical clustering
algorithms, building on our prior work. For directed acyclic graphs (DAGs),
first we decompose the topology into a number of two-source, two-receiver
(2-by-2) subnetwork components and then we merge these components to
reconstruct the topology. Our approach for DAGs builds on prior work on
tomography, and improves upon it by employing network coding to accurately
distinguish among all different 2-by-2 components. We evaluate our algorithms
through simulation of a number of realistic topologies and compare them to
active tomographic techniques without network coding. We also make connections
between our approach and alternatives, including passive inference, traceroute,
and packet marking
Cross-layer Balanced and Reliable Opportunistic Routing Algorithm for Mobile Ad Hoc Networks
For improving the efficiency and the reliability of the opportunistic routing
algorithm, in this paper, we propose the cross-layer and reliable opportunistic
routing algorithm (CBRT) for Mobile Ad Hoc Networks, which introduces the
improved efficiency fuzzy logic and humoral regulation inspired topology
control into the opportunistic routing algorithm. In CBRT, the inputs of the
fuzzy logic system are the relative variance (rv) of the metrics rather than
the values of the metrics, which reduces the number of fuzzy rules
dramatically. Moreover, the number of fuzzy rules does not increase when the
number of inputs increases. For reducing the control cost, in CBRT, the node
degree in the candidate relays set is a range rather than a constant number.
The nodes are divided into different categories based on their node degree in
the candidate relays set. The nodes adjust their transmission range based on
which categories that they belong to. Additionally, for investigating the
effection of the node mobility on routing performance, we propose a link
lifetime prediction algorithm which takes both the moving speed and moving
direction into account. In CBRT, the source node determines the relaying
priorities of the relaying nodes based on their utilities. The relaying node
which the utility is large will have high priority to relay the data packet. By
these innovations, the network performance in CBRT is much better than that in
ExOR, however, the computation complexity is not increased in CBRT.Comment: 14 pages, 17 figures, 31 formulas, IEEE Sensors Journal, 201
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