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

Belle II Technical Design Report

The Belle detector at the KEKB electron-positron collider has collected almost 1 billion Y(4S) events in its decade of operation. Super-KEKB, an upgrade of KEKB is under construction, to increase the luminosity by two orders of magnitude during a three-year shutdown, with an ultimate goal of 8E35 /cm^2 /s luminosity. To exploit the increased luminosity, an upgrade of the Belle detector has been proposed. A new international collaboration Belle-II, is being formed. The Technical Design Report presents physics motivation, basic methods of the accelerator upgrade, as well as key improvements of the detector.Comment: Edited by: Z. Dole\v{z}al and S. Un

Energy Optimization in Commercial FPGAs with Voltage, Frequency and Logic Scaling

This paper investigates the energy reductions possible in commercially available FPGAs configured to support voltage, frequency and logic scalability combined with power gating. Voltage and frequency scaling is based on in-situ detectors that allow the device to detect valid working voltage and frequency pairs at run-time while logic scalability is achieved with partial dynamic reconfiguration. The considered devices are FPGA-processor hybrids with independent power domains fabricated in 28 nm process nodes. The test case is based on a number of operational scenarios in which the FPGA side is loaded with a motion estimation core that can be configured with a variable number of execution units. The results demonstrate that voltage scalability reduces power by up to 60 percent compared with nominal voltage operation at the same frequency. The energy analysis show that the most energy efficiency core configuration depends on the performance requirements. A low performance scenario shows that serial computation is more energy efficient than the parallel configuration while the opposite is true when the performance requirements increase. An algorithm is proposed to combine effectively adaptive voltage/logic scaling and power gating in the proposed system and application

Hybrid Computing for Interactive Datacenter Applications

Field-Programmable Gate Arrays (FPGAs) are more energy efficient and cost effective than CPUs for a wide variety of datacenter applications. Yet, for latency-sensitive and bursty workloads, this advantage can be difficult to harness due to high FPGA spin-up costs. We propose that a hybrid FPGA and CPU computing framework can harness the energy efficiency benefits of FPGAs for such workloads at reasonable cost. Our key insight is to use FPGAs for stable-state workload and CPUs for short-term workload bursts. Using this insight, we design Spork, a lightweight hybrid scheduler that can realize these energy efficiency and cost benefits in practice. Depending on the desired objective, Spork can trade off energy efficiency for cost reduction and vice versa. It is parameterized with key differences between FPGAs and CPUs in terms of power draw, performance, cost, and spin-up latency. We vary this parameter space and analyze various application and worker configurations on production and synthetic traces. Our evaluation of cloud workloads shows that energy-optimized Spork is not only more energy efficient but it is also cheaper than homogeneous platforms--for short application requests with tight deadlines, it is 1.53x more energy efficient and 2.14x cheaper than using only FPGAs. Relative to an idealized version of an existing cost-optimized hybrid scheduler, energy-optimized Spork provides 1.2-2.4x higher energy efficiency at comparable cost, while cost-optimized Spork provides 1.1-2x higher energy efficiency at 1.06-1.2x lower cost.Comment: 13 page

The LHCb Upgrade I

The LHCb upgrade represents a major change of the experiment. The detectors have been almost completely renewed to allow running at an instantaneous luminosity five times larger than that of the previous running periods. Readout of all detectors into an all-software trigger is central to the new design, facilitating the reconstruction of events at the maximum LHC interaction rate, and their selection in real time. The experiment's tracking system has been completely upgraded with a new pixel vertex detector, a silicon tracker upstream of the dipole magnet and three scintillating fibre tracking stations downstream of the magnet. The whole photon detection system of the RICH detectors has been renewed and the readout electronics of the calorimeter and muon systems have been fully overhauled. The first stage of the all-software trigger is implemented on a GPU farm. The output of the trigger provides a combination of totally reconstructed physics objects, such as tracks and vertices, ready for final analysis, and of entire events which need further offline reprocessing. This scheme required a complete revision of the computing model and rewriting of the experiment's software

The LHCb Upgrade I

The LHCb upgrade represents a major change of the experiment. The detectors have been almost completely renewed to allow running at an instantaneous luminosity five times larger than that of the previous running periods. Readout of all detectors into an all-software trigger is central to the new design, facilitating the reconstruction of events at the maximum LHC interaction rate, and their selection in real time. The experiment's tracking system has been completely upgraded with a new pixel vertex detector, a silicon tracker upstream of the dipole magnet and three scintillating fibre tracking stations downstream of the magnet. The whole photon detection system of the RICH detectors has been renewed and the readout electronics of the calorimeter and muon systems have been fully overhauled. The first stage of the all-software trigger is implemented on a GPU farm. The output of the trigger provides a combination of totally reconstructed physics objects, such as tracks and vertices, ready for final analysis, and of entire events which need further offline reprocessing. This scheme required a complete revision of the computing model and rewriting of the experiment's software

The LHCb Upgrade I

The LHCb upgrade represents a major change of the experiment. The detectors have been almost completely renewed to allow running at an instantaneous luminosity five times larger than that of the previous running periods. Readout of all detectors into an all-software trigger is central to the new design, facilitating the reconstruction of events at the maximum LHC interaction rate, and their selection in real time. The experiment's tracking system has been completely upgraded with a new pixel vertex detector, a silicon tracker upstream of the dipole magnet and three scintillating fibre tracking stations downstream of the magnet. The whole photon detection system of the RICH detectors has been renewed and the readout electronics of the calorimeter and muon systems have been fully overhauled. The first stage of the all-software trigger is implemented on a GPU farm. The output of the trigger provides a combination of totally reconstructed physics objects, such as tracks and vertices, ready for final analysis, and of entire events which need further offline reprocessing. This scheme required a complete revision of the computing model and rewriting of the experiment's software

The Magnetic Electron Ion Spectrometer (MagEIS) Instruments Aboard the Radiation Belt Storm Probes (RBSP) Spacecraft

This paper describes the Magnetic Electron Ion Spectrometer (MagEIS) instruments aboard the RBSP spacecraft from an instrumentation and engineering point of view. There are four magnetic spectrometers aboard each of the two spacecraft, one low-energy unit (20–240 keV), two medium-energy units (80–1200 keV), and a high-energy unit (800–4800 keV). The high unit also contains a proton telescope (55 keV–20 MeV). The magnetic spectrometers focus electrons within a selected energy pass band upon a focal plane of several silicon detectors where pulse-height analysis is used to determine if the energy of the incident electron is appropriate for the electron momentum selected by the magnet. Thus each event is a two-parameter analysis, an approach leading to a greatly reduced background. The physics of these instruments are described in detail followed by the engineering implementation. The data outputs are described, and examples of the calibration results and early flight data presented

Replacing full custom DAQ test system by COTS DAQ components on example of ATLAS SCT readout

A test system developed for ABCN-25 for ATLAS Inner Detector Upgrade is presented. The system is based on commercial off the shelf DAQ components by National Instruments and foreseen to aid in chip characterization and hybrid/module development complementing full custom VME based setups. The key differences from the point of software development are presented, together with guidelines for developing high performance LabVIEW code. Some real-world benchmarks will also be presented together with chip test results. The presented tests show good agreement of test results between the test setups used in different sites, as well as agreement with design specifications of the chip