A 96-Channel FPGA-based Time-to-Digital Converter

We describe an FPGA-based, 96-channel, time-to-digital converter (TDC) intended for use with the Central Outer Tracker (COT) in the CDF Experiment at the Fermilab Tevatron. The COT system is digitized and read out by 315 TDC cards, each serving 96 wires of the chamber. The TDC is physically configured as a 9U VME card. The functionality is almost entirely programmed in firmware in two Altera Stratix FPGA's. The special capabilities of this device are the availability of 840 MHz LVDS inputs, multiple phase-locked clock modules, and abundant memory. The TDC system operates with an input resolution of 1.2 ns. Each input can accept up to 7 hits per collision. The time-to-digital conversion is done by first sampling each of the 96 inputs in 1.2-ns bins and filling a circular memory; the memory addresses of logical transitions (edges) in the input data are then translated into the time of arrival and width of the COT pulses. Memory pipelines with a depth of 5.5 $\mu$s allow deadtime-less operation in the first-level trigger. The TDC VME interface allows a 64-bit Chain Block Transfer of multiple boards in a crate with transfer-rates up to 47 Mbytes/sec. The TDC also contains a separately-programmed data path that produces prompt trigger data every Tevatron crossing. The full TDC design and multi-card test results are described. The physical simplicity ensures low-maintenance; the functionality being in firmware allows reprogramming for other applications.Comment: 32 pages, 13 figure

Real Time Animation of Virtual Humans: A Trade-off Between Naturalness and Control

Virtual humans are employed in many interactive applications using 3D virtual environments, including (serious) games. The motion of such virtual humans should look realistic (or ‘natural’) and allow interaction with the surroundings and other (virtual) humans. Current animation techniques differ in the trade-off they offer between motion naturalness and the control that can be exerted over the motion. We show mechanisms to parametrize, combine (on different body parts) and concatenate motions generated by different animation techniques. We discuss several aspects of motion naturalness and show how it can be evaluated. We conclude by showing the promise of combinations of different animation paradigms to enhance both naturalness and control

CSGNet: Neural Shape Parser for Constructive Solid Geometry

We present a neural architecture that takes as input a 2D or 3D shape and outputs a program that generates the shape. The instructions in our program are based on constructive solid geometry principles, i.e., a set of boolean operations on shape primitives defined recursively. Bottom-up techniques for this shape parsing task rely on primitive detection and are inherently slow since the search space over possible primitive combinations is large. In contrast, our model uses a recurrent neural network that parses the input shape in a top-down manner, which is significantly faster and yields a compact and easy-to-interpret sequence of modeling instructions. Our model is also more effective as a shape detector compared to existing state-of-the-art detection techniques. We finally demonstrate that our network can be trained on novel datasets without ground-truth program annotations through policy gradient techniques.Comment: Accepted at CVPR-201

Qubit Data Structures for Analyzing Computing Systems

Qubit models and methods for improving the performance of software and hardware for analyzing digital devices through increasing the dimension of the data structures and memory are proposed. The basic concepts, terminology and definitions necessary for the implementation of quantum computing when analyzing virtual computers are introduced. The investigation results concerning design and modeling computer systems in a cyberspace based on the use of two-component structure are presented.Comment: 9 pages,4 figures, Proceeding of the Third International Conference on Data Mining & Knowledge Management Process (CDKP 2014

Simple and Effective Type Check Removal through Lazy Basic Block Versioning

Dynamically typed programming languages such as JavaScript and Python defer type checking to run time. In order to maximize performance, dynamic language VM implementations must attempt to eliminate redundant dynamic type checks. However, type inference analyses are often costly and involve tradeoffs between compilation time and resulting precision. This has lead to the creation of increasingly complex multi-tiered VM architectures. This paper introduces lazy basic block versioning, a simple JIT compilation technique which effectively removes redundant type checks from critical code paths. This novel approach lazily generates type-specialized versions of basic blocks on-the-fly while propagating context-dependent type information. This does not require the use of costly program analyses, is not restricted by the precision limitations of traditional type analyses and avoids the implementation complexity of speculative optimization techniques. We have implemented intraprocedural lazy basic block versioning in a JavaScript JIT compiler. This approach is compared with a classical flow-based type analysis. Lazy basic block versioning performs as well or better on all benchmarks. On average, 71% of type tests are eliminated, yielding speedups of up to 50%. We also show that our implementation generates more efficient machine code than TraceMonkey, a tracing JIT compiler for JavaScript, on several benchmarks. The combination of implementation simplicity, low algorithmic complexity and good run time performance makes basic block versioning attractive for baseline JIT compilers

A path planning and path-following control framework for a general 2-trailer with a car-like tractor

Maneuvering a general 2-trailer with a car-like tractor in backward motion is a task that requires significant skill to master and is unarguably one of the most complicated tasks a truck driver has to perform. This paper presents a path planning and path-following control solution that can be used to automatically plan and execute difficult parking and obstacle avoidance maneuvers by combining backward and forward motion. A lattice-based path planning framework is developed in order to generate kinematically feasible and collision-free paths and a path-following controller is designed to stabilize the lateral and angular path-following error states during path execution. To estimate the vehicle state needed for control, a nonlinear observer is developed which only utilizes information from sensors that are mounted on the car-like tractor, making the system independent of additional trailer sensors. The proposed path planning and path-following control framework is implemented on a full-scale test vehicle and results from simulations and real-world experiments are presented.Comment: Preprin

APEnet+: a 3D toroidal network enabling Petaflops scale Lattice QCD simulations on commodity clusters

Many scientific computations need multi-node parallelism for matching up both space (memory) and time (speed) ever-increasing requirements. The use of GPUs as accelerators introduces yet another level of complexity for the programmer and may potentially result in large overheads due to the complex memory hierarchy. Additionally, top-notch problems may easily employ more than a Petaflops of sustained computing power, requiring thousands of GPUs orchestrated with some parallel programming model. Here we describe APEnet+, the new generation of our interconnect, which scales up to tens of thousands of nodes with linear cost, thus improving the price/performance ratio on large clusters. The project target is the development of the Apelink+ host adapter featuring a low latency, high bandwidth direct network, state-of-the-art wire speeds on the links and a PCIe X8 gen2 host interface. It features hardware support for the RDMA programming model and experimental acceleration of GPU networking. A Linux kernel driver, a set of low-level RDMA APIs and an OpenMPI library driver are available, allowing for painless porting of standard applications. Finally, we give an insight of future work and intended developments