Computing SpMV on FPGAs

There are hundreds of papers on accelerating sparse matrix vector multiplication (SpMV), however, only a handful target FPGAs. Some claim that FPGAs inherently perform inferiorly to CPUs and GPUs. FPGAs do perform inferiorly for some applications like matrix-matrix multiplication and matrix-vector multiplication. CPUs and GPUs have too much memory bandwidth and too much floating point computation power for FPGAs to compete. However, the low computations to memory operations ratio and irregular memory access of SpMV trips up both CPUs and GPUs. We see this as a leveling of the playing field for FPGAs. Our implementation focuses on three pillars: matrix traversal, multiply-accumulator design, and matrix compression. First, most SpMV implementations traverse the matrix in row-major order, but we mix column and row traversal. Second, To accommodate the new traversal the multiply accumulator stores many intermediate y values. Third, we compress the matrix to increase the transfer rate of the matrix from RAM to the FPGA. Together these pillars enable our SpMV implementation to perform competitively with CPUs and GPUs

Implementation of Ultra-Low Latency and High-Speed Communication Channels for an FPGA-Based HPC Cluster

RÉSUMÉ Les clusters basés sur les FPGA bénéficient de leur flexibilité et de leurs performances en termes de puissance de calcul et de faible consommation. Et puisque la consommation de puissance devient un élément de plus en plus importants sur le marché des superordinateurs, le domaine d’exploration multi-FPGA devient chaque année plus populaire. Les performances des ordinateurs n’ont jamais cessé d’augmenter mais la latence des réseaux d’interconnexion n’a pas suivi leur taux d’amélioration. Dans le but d’augmenter le niveau d’abstraction et les fonctionnalités des interconnexions, la complexité des piles de communication atteinte à nos jours engendre des coûts et affecte la latence des communications, ce qui rend ces piles de communication très souvent inefficaces, voire inutiles. Les protocoles de communication commerciaux existants et les contrôleurs d’interfaces réseau FPGA-FPGA n’ont la performance pour supporter ni les applications à temps critique ni un partitionnement étroitement couplé des systèmes sur puce. Au lieu de cela, les approches de communication personnalisées sont souvent préférées. Dans ce travail, nous proposons une implémentation de canaux de communication à haut débit et à faible latence pour une grappe de FPGA. Le système est constitué de deux BEE3, chacun contenant 4 FPGA de la famille Virtex-5 interconnectés par une topologie en anneau. Notre approche exploite la technologie à transducteur à plusieurs gigabits par seconde pour l’obtention d’une bande passante fiable de 8Gbps. Le module de propriété intellectuelle (IP) de communication proposé permet le transfert de données entre des milliers de coprocesseurs sur le réseau, grâce à l’implémentation d’un réseau direct avec capacité de routage de paquets. Les résultats expérimentaux ont montré une latence de seulement 34 cycles d’horloge entre deux noeuds voisins, ce qui est un des plus bas parmi ceux rapportés dans la littérature. En outre, nous proposons une architecture adaptée au calcul à haute performance qui comporte un traitement extensible, parallèle et distribué. Pour une plateforme à 8 FPGA, l’architecture fournit 35.6Go/s de bande passante effective pour la mémoire externe, une bande passante globale de réseau de 128Gbps et une puissance de calcul de 8.9GFLOPS. Un solveur matrice-vecteur de grande taille est partitionné et mis en oeuvre à travers le cluster. Nous avons obtenu une performance et une efficacité de calcul concurrentielles grâce à la faible empreinte du protocole de communication entre les éléments de traitement distribués. Ce travail contribue à soutenir de nouvelles recherches dans le domaine du calcul parallèle intensif et permet le partitionnement de système sur puce à grande taille sur des clusters à base de FPGA.----------ABSTRACT An FPGA-based cluster profits from the flexibility and the performance potential FPGA technology provides. Since price and power consumption are becoming increasingly important elements in the High-Performance Computing market, the multi-FPGA exploration field is getting more popular each year. Network latency has failed to keep up with other improvements in computer performance. Complex communication stacks have sacrificed latency and increased overhead to achieve other goals, being in most of the time inefficient and unnecessary. The existing commercial offthe- shelf communication protocols and Network Interfaces Controllers for FPGA-to-FPGA interconnection lack of performance to support time-critical applications and tightly coupled System-on-Chip partitioning. Instead, custom communication approaches are preferred. In this work, ultra-low latency and high-speed communication channels for an FPGA-based cluster are presented. Two BEE3s grouping 8 FPGAs Virtex-5 interconnected in a ring topology, compose the targeting platform. Our approach exploits Multi-Gigabit Transceiver technology to achieve reliable 8Gbps channel bandwidth. The proposed communication IP supports data transfer from coprocessors over the network, by means of a direct network implementation with hop-by-hop packet routing capability. Experimental results showed a latency of only 34 clock cycles between two neighboring nodes, being one of the lowest in the literature. In addition, it is proposed an architecture suitable for High-Performance Computing which includes performing scalable, parallel, and distributed processing. For an 8 FPGAs platform, the architecture provides 35.6GB/s off-chip memory throughput, 128Gbps network aggregate bandwidth, and 8.9GFLOPS computing power. A large and dense matrix-vector solver is partitioned and implemented across the cluster. We achieved competitive performance and computational efficiency as a result of the low communication overhead among the distributed processing elements. This work contributes to support new researches on the intense parallel computing fields, and enables large System-on-Chip partitioning and scaling on FPGA-based clusters

Image Processing Using FPGAs

This book presents a selection of papers representing current research on using field programmable gate arrays (FPGAs) for realising image processing algorithms. These papers are reprints of papers selected for a Special Issue of the Journal of Imaging on image processing using FPGAs. A diverse range of topics is covered, including parallel soft processors, memory management, image filters, segmentation, clustering, image analysis, and image compression. Applications include traffic sign recognition for autonomous driving, cell detection for histopathology, and video compression. Collectively, they represent the current state-of-the-art on image processing using FPGAs

Libra: Achieving Efficient Instruction- and Data- Parallel Execution for Mobile Applications.

Mobile computing as exemplified by the smart phone has become an integral part of our daily lives. The next generation of these devices will be driven by providing richer user experiences and compelling capabilities: higher definition multimedia, 3D graphics, augmented reality, and voice interfaces. To meet these goals, the core computing capabilities of the smart phone must be scaled. But, the energy budgets are increasing at a much lower rate, thus fundamental improvements in computing efficiency must be garnered. To meet this challenge, computer architects employ hardware accelerators in the form of SIMD and VLIW. Single-instruction multiple-data (SIMD) accelerators provide high degrees of scalability for applications rich in data-level parallelism (DLP). Very long instruction word (VLIW) accelerators provide moderate scalability for applications with high degrees of instruction-level parallelism (ILP). Unfortunately, applications are not so nicely partitioned into two groups: many applications have some DLP, but also contain significant fractions of code with low trip count loops, complex control/data dependences, or non-uniform execution behavior for which no DLP exists. Therefore, a more adaptive accelerator is required to be able to deploy resources as needed: exploit DLP on SIMD when it’s available, but fall back to ILP on the same hardware when necessary. In this thesis, we first focus on various compiler solutions that solve inefficiency problem in both VLIW and SIMD accelerators. For SIMD accelerators, a new vectorization pass, called SIMD Defragmenter, is introduced to uncover hidden DLP using subgraph identification in SIMD accelerators. CGRA express effectively accelerates sequential code regions using a bypass network in VLIW accelerators, and Resource Recycling leverages stream-graph modulo scheduling technique for scheduling of multiple code regions in multi-core accelerators. Second, we propose the new scalable multicore accelerator referred to as Libra for mobile systems, which can support execution of code regions having both DLP and ILP, as well as hybrid combinations of the two. We believe that as industry requires higher performance, the proposed flexible accelerator and compiler support will put more resources to work in order to meet the performance and power efficiency requirements.PHDElectrical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/99840/1/yjunpark_1.pd

Tuning the Computational Effort: An Adaptive Accuracy-aware Approach Across System Layers

This thesis introduces a novel methodology to realize accuracy-aware systems, which will help designers integrate accuracy awareness into their systems. It proposes an adaptive accuracy-aware approach across system layers that addresses current challenges in that domain, combining and tuning accuracy-aware methods on different system layers. To widen the scope of accuracy-aware computing including approximate computing for other domains, this thesis presents innovative accuracy-aware methods and techniques for different system layers. The required tuning of the accuracy-aware methods is integrated into a configuration layer that tunes the available knobs of the accuracy-aware methods integrated into a system

Perception-motivated parallel algorithms for haptics

Negli ultimi anni l\u2019utilizzo di dispositivi aptici, atti cio\ue8 a riprodurre l\u2019interazione fisica con l\u2019ambiente remoto o virtuale, si sta diffondendo in vari ambiti della robotica e dell\u2019informatica, dai videogiochi alla chirurgia robotizzata eseguita in teleoperazione, dai cellulari alla riabilitazione. In questo lavoro di tesi abbiamo voluto considerare nuovi punti di vista sull\u2019argomento, allo scopo di comprendere meglio come riportare l\u2019essere umano, che \ue8 l\u2019unico fruitore del ritorno di forza, tattile e di telepresenza, al centro della ricerca sui dispositivi aptici. Allo scopo ci siamo focalizzati su due aspetti: una manipolazione del segnale di forza mutuata dalla percezione umana e l\u2019utilizzo di architetture multicore per l\u2019implementazione di algoritmi aptici e robotici. Con l\u2019aiuto di un setup sperimentale creato ad hoc e attraverso l\u2019utilizzo di un joystick con ritorno di forza a 6 gradi di libert\ue0, abbiamo progettato degli esperimenti psicofisici atti all\u2019identificazione di soglie differenziali di forze/coppie nel sistema mano-braccio. Sulla base dei risultati ottenuti abbiamo determinato una serie di funzioni di scalatura del segnale di forza, una per ogni grado di libert\ue0, che permettono di aumentare l\u2019abilit\ue0 umana nel discriminare stimoli differenti. L\u2019utilizzo di tali funzioni, ad esempio in teleoperazione, richiede la possibilit\ue0 di variare il segnale di feedback e il controllo del dispositivo sia in relazione al lavoro da svolgere, sia alle peculiari capacit\ue0 dell\u2019utilizzatore. La gestione del dispositivo deve quindi essere in grado di soddisfare due obbiettivi tendenzialmente in contrasto, e cio\ue8 il raggiungimento di alte prestazioni in termini di velocit\ue0, stabilit\ue0 e precisione, abbinato alla flessibilit\ue0 tipica del software. Una soluzione consiste nell\u2019affidare il controllo del dispositivo ai nuovi sistemi multicore che si stanno sempre pi\uf9 prepotentemente affacciando sul panorama informatico. Per far ci\uf2 una serie di algoritmi consolidati deve essere portata su sistemi paralleli. In questo lavoro abbiamo dimostrato che \ue8 possibile convertire facilmente vecchi algoritmi gi\ue0 implementati in hardware, e quindi intrinsecamente paralleli. Un punto da definire rimane per\uf2 quanto costa portare degli algoritmi solitamente descritti in VLSI e schemi in un linguaggio di programmazione ad alto livello. Focalizzando la nostra attenzione su un problema specifico, la pseudoinversione di matrici che \ue8 presente in molti algoritmi di dinamica e cinematica, abbiamo mostrato che un\u2019attenta progettazione e decomposizione del problema permette una mappatura diretta sulle unit\ue0 di calcolo disponibili. In aggiunta, l\u2019uso di parallelismo a livello di dati su macchine SIMD permette di ottenere buone prestazioni utilizzando semplici operazioni vettoriali come addizioni e shift. Dato che di solito tali istruzioni fanno parte delle implementazioni hardware la migrazione del codice risulta agevole. Abbiamo testato il nostro approccio su una Sony PlayStation 3 equipaggiata con un processore IBM Cell Broadband Engine.In the last years the use of haptic feedback has been used in several applications, from mobile phones to rehabilitation, from video games to robotic aided surgery. The haptic devices, that are the interfaces that create the stimulation and reproduce the physical interaction with virtual or remote environments, have been studied, analyzed and developed in many ways. Every innovation in the mechanics, electronics and technical design of the device it is valuable, however it is important to maintain the focus of the haptic interaction on the human being, who is the only user of force feedback. In this thesis we worked on two main topics that are relevant to this aim: a perception based force signal manipulation and the use of modern multicore architectures for the implementation of the haptic controller. With the help of a specific experimental setup and using a 6 dof haptic device we designed a psychophysical experiment aimed at identifying of the force/torque differential thresholds applied to the hand-arm system. On the basis of the results obtained we determined a set of task dependent scaling functions, one for each degree of freedom of the three-dimensional space, that can be used to enhance the human abilities in discriminating different stimuli. The perception based manipulation of the force feedback requires a fast, stable and configurable controller of the haptic interface. Thus a solution is to use new available multicore architectures for the implementation of the controller, but many consolidated algorithms have to be ported to these parallel systems. Focusing on specific problem, i.e. the matrix pseudoinversion, that is part of the robotics dynamic and kinematic computation, we showed that it is possible to migrate code that was already implemented in hardware, and in particular old algorithms that were inherently parallel and thus not competitive on sequential processors. The main question that still lies open is how much effort is required in order to write these algorithms, usually described in VLSI or schematics, in a modern programming language. We show that a careful task decomposition and design permit a mapping of the code on the available cores. In addition, the use of data parallelism on SIMD machines can give good performance when simple vector instructions such as add and shift operations are used. Since these instructions are present also in hardware implementations the migration can be easily performed. We tested our approach on a Sony PlayStation 3 game console equipped with IBM Cell Broadband Engine processor

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications

INTER-ENG 2020

These proceedings contain research papers that were accepted for presentation at the 14th International Conference Inter-Eng 2020 ,Interdisciplinarity in Engineering, which was held on 8–9 October 2020, in Târgu Mureș, Romania. It is a leading international professional and scientific forum for engineers and scientists to present research works, contributions, and recent developments, as well as current practices in engineering, which is falling into a tradition of important scientific events occurring at Faculty of Engineering and Information Technology in the George Emil Palade University of Medicine, Pharmacy Science, and Technology of Târgu Mures, Romania. The Inter-Eng conference started from the observation that in the 21st century, the era of high technology, without new approaches in research, we cannot speak of a harmonious society. The theme of the conference, proposing a new approach related to Industry 4.0, was the development of a new generation of smart factories based on the manufacturing and assembly process digitalization, related to advanced manufacturing technology, lean manufacturing, sustainable manufacturing, additive manufacturing, and manufacturing tools and equipment. The conference slogan was “Europe’s future is digital: a broad vision of the Industry 4.0 concept beyond direct manufacturing in the company”

PROCEEDINGS 5th PLATE Conference

The 5th international PLATE conference (Product Lifetimes and the Environment) addressed product lifetimes in the context of sustainability. The PLATE conference, which has been running since 2015, has successfully been able to establish a solid network of researchers around its core theme. The topic has come to the forefront of current (political, scientific & societal) debates due to its interconnectedness with a number of recent prominent movements, such as the circular economy, eco-design and collaborative consumption. For the 2023 edition of the conference, we encouraged researchers to propose how to extend, widen or critically re-construct thematic sessions for the PLATE conference, and the paper call was constructed based on these proposals. In this 5th PLATE conference, we had 171 paper presentations and 238 participants from 14 different countries. Beside of paper sessions we organized workshops and REPAIR exhibitions