2,584 research outputs found
Technological survey of tellurium and its compounds
Review includes data on the chemical and physical properties of tellurium, its oxides, and fluorides, pertinent to the process problem of handling fission product tellurium in fluoride form. The technology of tellurium handling in nonaqueous processing of nuclear fuels is also reviewed
FINN: A Framework for Fast, Scalable Binarized Neural Network Inference
Research has shown that convolutional neural networks contain significant
redundancy, and high classification accuracy can be obtained even when weights
and activations are reduced from floating point to binary values. In this
paper, we present FINN, a framework for building fast and flexible FPGA
accelerators using a flexible heterogeneous streaming architecture. By
utilizing a novel set of optimizations that enable efficient mapping of
binarized neural networks to hardware, we implement fully connected,
convolutional and pooling layers, with per-layer compute resources being
tailored to user-provided throughput requirements. On a ZC706 embedded FPGA
platform drawing less than 25 W total system power, we demonstrate up to 12.3
million image classifications per second with 0.31 {\mu}s latency on the MNIST
dataset with 95.8% accuracy, and 21906 image classifications per second with
283 {\mu}s latency on the CIFAR-10 and SVHN datasets with respectively 80.1%
and 94.9% accuracy. To the best of our knowledge, ours are the fastest
classification rates reported to date on these benchmarks.Comment: To appear in the 25th International Symposium on Field-Programmable
Gate Arrays, February 201
Control design for an overactuated wheeled mobile robot
In order to simulate road vehicles in a hardware-in-the-loop test setup, TNO has developed a wheeled mobile robot with independently driven and steered wheels. This robot is overactuated, i.e. the number of actuators exceeds the number of spatial degrees of freedom to be controlled. A position controller based on feedback linearization is presented. This controller takes the overactuatedness into account by using the so-called multicycle approach, which essentially regards the robot as a combination of independent unicycles. As a result, the robot is position controlled while the redundant actuators are used to compensate for weight transfer during acceleration and cornering
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