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

AxleDB: A novel programmable query processing platform on FPGA

With the rise of Big Data, providing high-performance query processing capabilities through the acceleration of the database analytic has gained significant attention. Leveraging Field Programmable Gate Array (FPGA) technology, this approach can lead to clear benefits. In this work, we present the design and implementation of AxleDB: An FPGA-based platform that enables fast query processing for database systems by melding novel database-specific accelerators with commercial-off-the-shelf (COTS) storage using modern interfaces, in a novel, unified, and a programmable environment. AxleDB can perform a large subset of SQL queries through its set of instructions that can map compute-intensive database operations, such as filter, arithmetic, aggregate, group by, table join, or sort, on to the specialized high-throughput accelerators. To minimize the amount of SSD I/O operations required, AxleDB also supports hardware MinMax indexing for databases. We evaluated AxleDB with five decision support queries from the TPC-H benchmark suite and achieved a speedup from 1.8X to 34.2X and energy efficiency from 2.8X to 62.1X, in comparison to the state-of-the-art DBMS, i.e., PostgreSQL and MonetDB.The research leading to these results has received funding from the European Union Seventh Framework Program (FP7) (under the AXLE project GA number 318633), the Ministry of Economy and Competitiveness of Spain (under contract number TIN2015-65316-p), Turkish Ministry of Development TAM Project (number 2007K120610), and Bogazici University Scientific Projects (number 7060).Peer ReviewedPostprint (author's final draft

Advanced analytics through FPGA based query processing and deep reinforcement learning

Today, vast streams of structured and unstructured data have been incorporated in databases, and analytical processes are applied to discover patterns, correlations, trends and other useful relationships that help to take part in a broad range of decision-making processes. The amount of generated data has grown very large over the years, and conventional database processing methods from previous generations have not been sufficient to provide satisfactory results regarding analytics performance and prediction accuracy metrics. Thus, new methods are needed in a wide array of fields from computer architectures, storage systems, network design to statistics and physics. This thesis proposes two methods to address the current challenges and meet the future demands of advanced analytics. First, we present AxleDB, a Field Programmable Gate Array based query processing system which constitutes the frontend of an advanced analytics system. AxleDB melds highly-efficient accelerators with memory, storage and provides a unified programmable environment. AxleDB is capable of offloading complex Structured Query Language queries from host CPU. The experiments have shown that running a set of TPC-H queries, AxleDB can perform full queries between 1.8x and 34.2x faster and 2.8x to 62.1x more energy efficient compared to MonetDB, and PostgreSQL on a single workstation node. Second, we introduce TauRieL, a novel deep reinforcement learning (DRL) based method for combinatorial problems. The design idea behind combining DRL and combinatorial problems is to apply the prediction capabilities of deep reinforcement learning and to use the universality of combinatorial optimization problems to explore general purpose predictive methods. TauRieL utilizes an actor-critic inspired DRL architecture that adopts ordinary feedforward nets. Furthermore, TauRieL performs online training which unifies training and state space exploration. The experiments show that TauRieL can generate solutions two orders of magnitude faster and performs within 3% of accuracy compared to the state-of-the-art DRL on the Traveling Salesman Problem while searching for the shortest tour. Also, we present that TauRieL can be adapted to the Knapsack combinatorial problem. With a very minimal problem specific modification, TauRieL can outperform a Knapsack specific greedy heuristics.Hoy en día, se han incorporado grandes cantidades de datos estructurados y no estructurados en las bases de datos, y se les aplican procesos analíticos para descubrir patrones, correlaciones, tendencias y otras relaciones útiles que se utilizan mayormente para la toma de decisiones. La cantidad de datos generados ha crecido enormemente a lo largo de los años, y los métodos de procesamiento de bases de datos convencionales utilizados en las generaciones anteriores no son suficientes para proporcionar resultados satisfactorios respecto al rendimiento del análisis y respecto de la precisión de las predicciones. Por lo tanto, se necesitan nuevos métodos en una amplia gama de campos, desde arquitecturas de computadoras, sistemas de almacenamiento, diseño de redes hasta estadísticas y física. Esta tesis propone dos métodos para abordar los desafíos actuales y satisfacer las demandas futuras de análisis avanzado. Primero, presentamos AxleDB, un sistema de procesamiento de consultas basado en FPGAs (Field Programmable Gate Array) que constituye la interfaz de un sistema de análisis avanzado. AxleDB combina aceleradores altamente eficientes con memoria, almacenamiento y proporciona un entorno programable unificado. AxleDB es capaz de descargar consultas complejas de lenguaje de consulta estructurado desde la CPU del host. Los experimentos han demostrado que al ejecutar un conjunto de consultas TPC-H, AxleDB puede realizar consultas completas entre 1.8x y 34.2x más rápido y 2.8x a 62.1x más eficiente energéticamente que MonetDB, y PostgreSQL en un solo nodo de una estación de trabajo. En segundo lugar, presentamos TauRieL, un nuevo método basado en Deep Reinforcement Learning (DRL) para problemas combinatorios. La idea central que está detrás de la combinación de DRL y problemas combinatorios, es aplicar las capacidades de predicción del aprendizaje de refuerzo profundo y el uso de la universalidad de los problemas de optimización combinatoria para explorar métodos predictivos de propósito general. TauRieL utiliza una arquitectura DRL inspirada en el actor-crítico que se adapta a redes feedforward. Además, TauRieL realiza el entrenamieton en línea que unifica el entrenamiento y la exploración espacial de los estados. Los experimentos muestran que TauRieL puede generar soluciones dos órdenes de magnitud más rápido y funciona con un 3% de precisión en comparación con el estado del arte en DRL aplicado al problema del viajante mientras busca el recorrido más corto. Además, presentamos que TauRieL puede adaptarse al problema de la Mochila. Con una modificación específica muy mínima del problema, TauRieL puede superar a una heurística codiciosa de Knapsack Problem.Postprint (published version

A Survey of Pipelined Workflow Scheduling: Models and Algorithms

International audienceA large class of applications need to execute the same workflow on different data sets of identical size. Efficient execution of such applications necessitates intelligent distribution of the application components and tasks on a parallel machine, and the execution can be orchestrated by utilizing task-, data-, pipelined-, and/or replicated-parallelism. The scheduling problem that encompasses all of these techniques is called pipelined workflow scheduling, and it has been widely studied in the last decade. Multiple models and algorithms have flourished to tackle various programming paradigms, constraints, machine behaviors or optimization goals. This paper surveys the field by summing up and structuring known results and approaches

Vector processor virtualization: distributed memory hierarchy and simultaneous multithreading

Taking advantage of DLP (Data-Level Parallelism) is indispensable in most data streaming and multimedia applications. Several architectures have been proposed to improve both the performance and energy consumption for such applications. Superscalar and VLIW (Very Long Instruction Word) processors, along with SIMD (Single-Instruction Multiple-Data) and vector processor (VP) accelerators, are among the available options for designers to accomplish their desired requirements. On the other hand, these choices turn out to be large resource and energy consumers, while also not being always used efficiently due to data dependencies among instructions and limited portion of vectorizable code in single applications that deploy them. This dissertation proposes an innovative architecture for a multithreaded VP which separates the path for performing data shuffle and memory-indexed accesses from the data path for executing other vector instructions that access the memory. This separation speeds up the most common memory access operations by avoiding extra delays and unnecessary stalls. In this multilane-based VP design, each vector lane uses its own private memory to avoid any stalls during memory access instructions. More importantly, the proposed VP has an innovative multithreaded architecture which makes it highly suitable for concurrent sharing in multicore environments. To this end, the VP which is developed in VHDL and prototyped on an FPGA (Field-Programmable Gate Array), serves as a coprocessor for one or more scalar cores in various system architectures presented in the dissertation. In the first system architecture, the VP is allocated exclusively to a single scalar core. Benchmarking shows that the VP can achieve very high performance. The inclusion of distributed data shuffle engines across vector lanes has a spectacular impact on the execution time, primarily for applications like FFT (Fast-Fourier Transform) that require large amounts of data shuffling. In the second system architecture, a VP virtualization technique is presented which, when applied, enables the multithreaded VP to simultaneously execute many threads of various vector lengths. The threads compete simultaneously for the VP resources having as a goal an improved aggregate VP utilization. This approach yields high VP utilization even under low utilization for the individual threads. A vector register file (VRF) virtualization technique dynamically allocates physical vector registers to running threads. The technique is implemented for a multi-core processor embedded in an FPGA. Under the dynamic creation of threads, benchmarking demonstrates large VP speedups and drastic energy savings when compared to the first system architecture. In the last system architecture, further improvements focus on VP virtualization relying exclusively on hardware. Moreover, a pipelined data shuffle network replaces the non-pipelined shuffle engines. The VP can then take advantage of identical instruction flows that may be present in different vector applications by running in a fused instruction mode that increases its utilization. A power dissipation model is introduced as well as two optimization policies towards minimizing the consumed energy, or the product of the energy and runtime for a given application. Benchmarking shows the positive impact of these optimizations

FPGA Acceleration of Domain-specific Kernels via High-Level Synthesis

L'abstract è presente nell'allegato / the abstract is in the attachmen