A parallel implementation of a multisensor feature-based range-estimation method

There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer

Design exploration and performance strategies towards power-efficient FPGA-based achitectures for sound source localization

Many applications rely on MEMS microphone arrays for locating sound sources prior to their execution. Those applications not only are executed under real-time constraints but also are often embedded on low-power devices. These environments become challenging when increasing the number of microphones or requiring dynamic responses. Field-Programmable Gate Arrays (FPGAs) are usually chosen due to their flexibility and computational power. This work intends to guide the design of reconfigurable acoustic beamforming architectures, which are not only able to accurately determine the sound Direction-Of-Arrival (DoA) but also capable to satisfy the most demanding applications in terms of power efficiency. Design considerations of the required operations performing the sound location are discussed and analysed in order to facilitate the elaboration of reconfigurable acoustic beamforming architectures. Performance strategies are proposed and evaluated based on the characteristics of the presented architecture. This power-efficient architecture is compared to a different architecture prioritizing performance in order to reveal the unavoidable design trade-offs

Exploiting partial reconfiguration through PCIe for a microphone array network emulator

The current Microelectromechanical Systems (MEMS) technology enables the deployment of relatively low-cost wireless sensor networks composed of MEMS microphone arrays for accurate sound source localization. However, the evaluation and the selection of the most accurate and power-efficient network’s topology are not trivial when considering dynamic MEMS microphone arrays. Although software simulators are usually considered, they consist of high-computational intensive tasks, which require hours to days to be completed. In this paper, we present an FPGA-based platform to emulate a network of microphone arrays. Our platform provides a controlled simulated acoustic environment, able to evaluate the impact of different network configurations such as the number of microphones per array, the network’s topology, or the used detection method. Data fusion techniques, combining the data collected by each node, are used in this platform. The platform is designed to exploit the FPGA’s partial reconfiguration feature to increase the flexibility of the network emulator as well as to increase performance thanks to the use of the PCI-express high-bandwidth interface. On the one hand, the network emulator presents a higher flexibility by partially reconfiguring the nodes’ architecture in runtime. On the other hand, a set of strategies and heuristics to properly use partial reconfiguration allows the acceleration of the emulation by exploiting the execution parallelism. Several experiments are presented to demonstrate some of the capabilities of our platform and the benefits of using partial reconfiguration

Automatic synthesis and optimization of chip multiprocessors

The microprocessor technology has experienced an enormous growth during the last decades. Rapid downscale of the CMOS technology has led to higher operating frequencies and performance densities, facing the fundamental issue of power dissipation. Chip Multiprocessors (CMPs) have become the latest paradigm to improve the power-performance efficiency of computing systems by exploiting the parallelism inherent in applications. Industrial and prototype implementations have already demonstrated the benefits achieved by CMPs with hundreds of cores.CMP architects are challenged to take many complex design decisions. Only a few of them are:- What should be the ratio between the core and cache areas on a chip?- Which core architectures to select?- How many cache levels should the memory subsystem have?- Which interconnect topologies provide efficient on-chip communication?These and many other aspects create a complex multidimensional space for architectural exploration. Design Automation tools become essential to make the architectural exploration feasible under the hard time-to-market constraints. The exploration methods have to be efficient and scalable to handle future generation on-chip architectures with hundreds or thousands of cores.Furthermore, once a CMP has been fabricated, the need for efficient deployment of the many-core processor arises. Intelligent techniques for task mapping and scheduling onto CMPs are necessary to guarantee the full usage of the benefits brought by the many-core technology. These techniques have to consider the peculiarities of the modern architectures, such as availability of enhanced power saving techniques and presence of complex memory hierarchies.This thesis has several objectives. The first objective is to elaborate the methods for efficient analytical modeling and architectural design space exploration of CMPs. The efficiency is achieved by using analytical models instead of simulation, and replacing the exhaustive exploration with an intelligent search strategy. Additionally, these methods incorporate high-level models for physical planning. The related contributions are described in Chapters 3, 4 and 5 of the document.The second objective of this work is to propose a scalable task mapping algorithm onto general-purpose CMPs with power management techniques, for efficient deployment of many-core systems. This contribution is explained in Chapter 6 of this document.Finally, the third objective of this thesis is to address the issues of the on-chip interconnect design and exploration, by developing a model for simultaneous topology customization and deadlock-free routing in Networks-on-Chip. The developed methodology can be applied to various classes of the on-chip systems, ranging from general-purpose chip multiprocessors to application-specific solutions. Chapter 7 describes the proposed model.The presented methods have been thoroughly tested experimentally and the results are described in this dissertation. At the end of the document several possible directions for the future research are proposed

Modeling high-performance wormhole NoCs for critical real-time embedded systems

Manycore chips are a promising computing platform to cope with the increasing performance needs of critical real-time embedded systems (CRTES). However, manycores adoption by CRTES industry requires understanding task's timing behavior when their requests use manycore's network-on-chip (NoC) to access hardware shared resources. This paper analyzes the contention in wormhole-based NoC (wNoC) designs - widely implemented in the high-performance domain - for which we introduce a new metric: worst-contention delay (WCD) that captures wNoC impact on worst-case execution time (WCET) in a tighter manner than the existing metric, worst-case traversal time (WCTT). Moreover, we provide an analytical model of the WCD that requests can suffer in a wNoC and we validate it against wNoC designs resembling those in the Tilera-Gx36 and the Intel-SCC 48-core processors. Building on top of our WCD analytical model, we analyze the impact on WCD that different design parameters such as the number of virtual channels, and we make a set of recommendations on what wNoC setups to use in the context of CRTES.Peer ReviewedPostprint (author's final draft

Scheduling with Bus Access Optimization for Distributed Embedded Systems

In this paper, we concentrate on aspects related to the synthesis of distributed embedded systems consisting of programmable processors and application-specific hardware components. The approach is based on an abstract graph representation that captures, at process level, both dataflow and the flow of control. Our goal is to derive a worst case delay by which the system completes execution, such that this delay is as small as possible; to generate a logically and temporally deterministic schedule; and to optimize parameters of the communication protocol such that this delay is guaranteed. We have further investigated the impact of particular communication infrastructures and protocols on the overall performance and, specially, how the requirements of such an infrastructure have to be considered for process and communication scheduling. Not only do particularities of the underlying architecture have to be considered during scheduling but also the parameters of the communication protocol should be adapted to fit the particular embedded application. The optimization algorithm, which implies both process scheduling and optimization of the parameters related to the communication protocol, generates an efficient bus access scheme as well as the schedule tables for activation of processes and communications

Modeling and visualizing networked multi-core embedded software energy consumption

In this report we present a network-level multi-core energy model and a software development process workflow that allows software developers to estimate the energy consumption of multi-core embedded programs. This work focuses on a high performance, cache-less and timing predictable embedded processor architecture, XS1. Prior modelling work is improved to increase accuracy, then extended to be parametric with respect to voltage and frequency scaling (VFS) and then integrated into a larger scale model of a network of interconnected cores. The modelling is supported by enhancements to an open source instruction set simulator to provide the first network timing aware simulations of the target architecture. Simulation based modelling techniques are combined with methods of results presentation to demonstrate how such work can be integrated into a software developer's workflow, enabling the developer to make informed, energy aware coding decisions. A set of single-, multi-threaded and multi-core benchmarks are used to exercise and evaluate the models and provide use case examples for how results can be presented and interpreted. The models all yield accuracy within an average +/-5 % error margin