1,703 research outputs found
Landmark Guided Probabilistic Roadmap Queries
A landmark based heuristic is investigated for reducing query phase run-time
of the probabilistic roadmap (\PRM) motion planning method. The heuristic is
generated by storing minimum spanning trees from a small number of vertices
within the \PRM graph and using these trees to approximate the cost of a
shortest path between any two vertices of the graph. The intermediate step of
preprocessing the graph increases the time and memory requirements of the
classical motion planning technique in exchange for speeding up individual
queries making the method advantageous in multi-query applications. This paper
investigates these trade-offs on \PRM graphs constructed in randomized
environments as well as a practical manipulator simulation.We conclude that the
method is preferable to Dijkstra's algorithm or the algorithm with
conventional heuristics in multi-query applications.Comment: 7 Page
Circuit design and analysis for on-FPGA communication systems
On-chip communication system has emerged as a prominently important subject in Very-Large-
Scale-Integration (VLSI) design, as the trend of technology scaling favours logics more than interconnects.
Interconnects often dictates the system performance, and, therefore, research for new
methodologies and system architectures that deliver high-performance communication services
across the chip is mandatory. The interconnect challenge is exacerbated in Field-Programmable
Gate Array (FPGA), as a type of ASIC where the hardware can be programmed post-fabrication.
Communication across an FPGA will be deteriorating as a result of interconnect scaling. The programmable
fabrics, switches and the specific routing architecture also introduce additional latency
and bandwidth degradation further hindering intra-chip communication performance.
Past research efforts mainly focused on optimizing logic elements and functional units in FPGAs.
Communication with programmable interconnect received little attention and is inadequately understood.
This thesis is among the first to research on-chip communication systems that are built on
top of programmable fabrics and proposes methodologies to maximize the interconnect throughput
performance. There are three major contributions in this thesis: (i) an analysis of on-chip
interconnect fringing, which degrades the bandwidth of communication channels due to routing
congestions in reconfigurable architectures; (ii) a new analogue wave signalling scheme that significantly
improves the interconnect throughput by exploiting the fundamental electrical characteristics
of the reconfigurable interconnect structures. This new scheme can potentially mitigate
the interconnect scaling challenges. (iii) a novel Dynamic Programming (DP)-network to provide
adaptive routing in network-on-chip (NoC) systems. The DP-network architecture performs runtime
optimization for route planning and dynamic routing which, effectively utilizes the in-silicon
bandwidth. This thesis explores a new horizon in reconfigurable system design, in which new
methodologies and concepts are proposed to enhance the on-FPGA communication throughput
performance that is of vital importance in new technology processes
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 dÃa, se han incorporado grandes cantidades de datos estructurados y no estructurados en las bases de datos, y se les aplican procesos analÃticos 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 estadÃsticas y fÃsica. Esta tesis propone dos métodos para abordar los desafÃos 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-crÃtico que se adapta a redes feedforward. Además, TauRieL realiza el entrenamieton en lÃnea 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 especÃfica muy mÃnima del problema, TauRieL puede superar a una heurÃstica codiciosa de Knapsack Problem.Postprint (published version
Optimization of DSSS Receivers Using Hardware-in-the-Loop Simulations
Over the years, there has been significant interest in defining a hardware abstraction layer to facilitate code reuse in software defined radio (SDR) applications. Designers are looking for a way to enable application software to specify a waveform, configure the platform, and control digital signal processing (DSP) functions in a hardware platform in a way that insulates it from the details of realization.
This thesis presents a tool-based methodolgy for developing and optimizing a Direct Sequence Spread Spectrum (DSSS) transceiver deployed in custom hardware like Field Programmble Gate Arrays (FPGAs). The system model consists of a tranmitter which employs a quadrature phase shift keying (QPSK) modulation scheme, an additive white Gaussian noise (AWGN) channel, and a receiver whose main parts consist of an analog-to-digital converter (ADC), digital down converter (DDC), image rejection low-pass filter (LPF), carrier phase locked loop (PLL), tracking locked loop, down-sampler, spread spectrum correlators, and rectangular-to-polar converter.
The design methodology is based on a new programming model for FPGAs developed in the industry by Xilinx Inc. The Xilinx System Generator for DSP software tool provides design portability and streamlines system development by enabling engineers to create and validate a system model in Xilinx FPGAs. By providing hierarchical modeling and automatic HDL code generation for programmable devices, designs can be easily verified through hardware-in-the-loop (HIL) simulations.
HIL provides a significant increase in simulation speed which allows optimization of the receiver design with respect to the datapath size for different functional parts of the receiver. The parameterized datapath points used in the simulation are ADC resolution, DDC datapath size, LPF datapath size, correlator height, correlator datapath size, and rectangular-to-polar datapath size. These parameters are changed in the software enviornment and tested for bit error rate (BER) performance through real-time hardware simualtions. The final result presents a system design with minimum harware area occupancy relative to an acceptable BER degradation
Field Programmable Gate Arrays and Reconfigurable Computing in Automatic Control
New combustion engine principles increase the demands on feedback combustion control, at the same time economical considerations currently enforce the usage of low-end control hardware limiting implementation possibilities. Significant development is simultaneously and continuously carried out within the field of Field Programmable Gate Arrays (FPGAs). In recent years FPGAs have developed, from being a device mainly used to implement grids of 'glue-logic' to something of a flexible 'dream device' in cost and performance sensitive applications. It is not solely the development of FPGA devices which has made the FPGA the promising implementation platform it is, development of software tool sets and design methodologies is as important as the device as such. This thesis describes the nature of FPGAs, how they work, which programming environments that are available and which design methodologies that can be used on different levels. Focus is set on implementing control and feedback control on FPGAs in general terms. There are a lot of practical considerations differing between the FPGA environment and the well-known micro-controller environment and those are discussed from the view of the literature available in the different areas. The potential application of FPGAs is described and illustrated with application examples found in the literature, both general applications and control applications are discussed. The intended application is control of internal combustion engines and one FPGA implementation of a modeling algorithm commonly used within automotive control is described and discussed. The intention is to illustrate the usefulness in automotive control applications. Finally a suggestion of a suitable FPGA based automotive-control development environment is treat
Proton tracking in a high-granularity Digital Tracking Calorimeter for proton CT purposes
Radiation therapy with protons as of today utilizes information from x-ray CT
in order to estimate the proton stopping power of the traversed tissue in a
patient. The conversion from x-ray attenuation to proton stopping power in
tissue introduces range uncertainties of the order of 2-3% of the range,
uncertainties that are contributing to an increase of the necessary planning
margins added to the target volume in a patient. Imaging methods and
modalities, such as Dual Energy CT and proton CT, have come into consideration
in the pursuit of obtaining an as good as possible estimate of the proton
stopping power. In this study, a Digital Tracking Calorimeter is benchmarked
for proof-of-concept for proton CT purposes. The Digital Tracking Calorimeteris
applied for reconstruction of the tracks and energies of individual high energy
protons. The presented prototype forms the basis for a proton CT system using a
single technology for tracking and calorimetry. This advantage simplifies the
setup and reduces the cost of a proton CT system assembly, and it is a unique
feature of the Digital Tracking Calorimeter. Data from the AGORFIRM beamline at
KVI-CART in Groningen in the Netherlands and Monte Carlo simulation results are
used to in order to develop a tracking algorithm for the estimation of the
residual ranges of a high number of concurrent proton tracks. The range of the
individual protons can at present be estimated with a resolution of 4%. The
readout system for this prototype is able to handle an effective proton
frequency of 1 MHz by using 500 concurrent proton tracks in each readout frame,
which is at the high end range of present similar prototypes. A future further
optimized prototype will enable a high-speed and more accurate determination of
the ranges of individual protons in a therapeutic beam.Comment: 21 pages, 8 figure
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