2,636 research outputs found
DeepPicar: A Low-cost Deep Neural Network-based Autonomous Car
We present DeepPicar, a low-cost deep neural network based autonomous car
platform. DeepPicar is a small scale replication of a real self-driving car
called DAVE-2 by NVIDIA. DAVE-2 uses a deep convolutional neural network (CNN),
which takes images from a front-facing camera as input and produces car
steering angles as output. DeepPicar uses the same network architecture---9
layers, 27 million connections and 250K parameters---and can drive itself in
real-time using a web camera and a Raspberry Pi 3 quad-core platform. Using
DeepPicar, we analyze the Pi 3's computing capabilities to support end-to-end
deep learning based real-time control of autonomous vehicles. We also
systematically compare other contemporary embedded computing platforms using
the DeepPicar's CNN-based real-time control workload. We find that all tested
platforms, including the Pi 3, are capable of supporting the CNN-based
real-time control, from 20 Hz up to 100 Hz, depending on hardware platform.
However, we find that shared resource contention remains an important issue
that must be considered in applying CNN models on shared memory based embedded
computing platforms; we observe up to 11.6X execution time increase in the CNN
based control loop due to shared resource contention. To protect the CNN
workload, we also evaluate state-of-the-art cache partitioning and memory
bandwidth throttling techniques on the Pi 3. We find that cache partitioning is
ineffective, while memory bandwidth throttling is an effective solution.Comment: To be published as a conference paper at RTCSA 201
Theory of Drop Formation
We consider the motion of an axisymmetric column of Navier-Stokes fluid with
a free surface. Due to surface tension, the thickness of the fluid neck goes to
zero in finite time. After the singularity, the fluid consists of two halves,
which constitute a unique continuation of the Navier-Stokes equation through
the singular point. We calculate the asymptotic solutions of the Navier-Stokes
equation, both before and after the singularity. The solutions have scaling
form, characterized by universal exponents as well as universal scaling
functions, which we compute without adjustable parameters
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Adaptive laboratory evolution of Salmonella enterica in acid stress
Adaptive laboratory evolution (ALE) studies play a crucial role in understanding the adaptation and evolution of different bacterial species. In this study, we have investigated the adaptation and evolution of Salmonella enterica serovar Enteritidis to acetic acid using ALE
Long-Term Potentiation: One Kind or Many?
Do neurobiologists aim to discover natural kinds? I address this question in this chapter via a critical analysis of classification practices operative across the 43-year history of research on long-term potentiation (LTP). I argue that this 43-year history supports the idea that the structure of scientific practice surrounding LTP research has remained an obstacle to the discovery of natural kinds
Structural analysis demonstration of constitutive and life models
The overall objective of this program is to demonstrate the applicability of NASA-developed advanced constitutive and life damage models for calculating cyclic structural response and crack initiation in selected components of reusable space propulsion systems. The computer model resulting from this program will enable the user to produce an accurate life prediction of hot gas path, life limiting components of propulsion systems such as the space shuttle main engine (SSME). Previously developed computer models addressing constitutive modeling and life damage will be combined in an advanced finite element analysis to generate a sophisticated baseline life prediction program. A material data base will be established for the constitutive and life models parametrically involving temperature, strain range, strain rate, mean strain/stress, and dwell time. The verified computer program will be used to accomplish the life predictions of three SSME critical components as evidence of the model functionality
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