scholarly journals Parallel matrix multiplication circuits for use in Kalman filtering

2019 ◽  
Vol 32 (4) ◽  
pp. 479-501
Author(s):  
Rafal Długosz ◽  
Katarzyna Kubiak ◽  
Tomasz Talaśka ◽  
Inga Zbierska-Piątek
Keyword(s):  
Kalman Filtering ◽  
Matrix Multiplication ◽  
Autonomous Driving ◽  
Data Rate ◽  
Active Safety ◽  
Practical Applications ◽  
Additional Problem ◽  
Measurement Results ◽  
Cmos Implementation ◽  
Numerous Time

In this work we propose several ways of the CMOS implementation of a circuit for the multiplication of matrices. We mainly focus on parallel and asynchronous solutions, however serial and mixed approaches are also discussed for the comparison. Practical applications are the motivation behind our investigations. They include fast Kalman filtering commonly used in automotive active safety functions, for example. In such filters, numerous time-consuming operations on matrices are performed. An additional problem is the growing amount of data to be processed. It results from the growing number of sensors in the vehicle as fully autonomous driving is developed. Software solutions may prove themselves to be insuffucient in the nearest future. That is why hardware coprocessors are in the area of our interests as they could take over some of the most time-consuming operations. The paper presents possible solutions, tailored to specific problems (sizes of multiplied matrices, number of bits in signals, etc.). The estimates of the performance made on the basis of selected simulation and measurement results show that multiplication of 3?3 matrices with data rate of 20 100 MSps is achievable in the CMOS 130 nm technology.

scholarly journals The Concept of Geodetic Analyses of the Measurement Results Obtained by Hydrostatic Leveling

Geosciences ◽  
2019 ◽  
Vol 9 (10) ◽  
pp. 406
Author(s):  
Kamiński ◽  
Makowska
Keyword(s):  
Structural Health Monitoring ◽  
Kalman Filtering ◽  
Health Monitoring ◽  
Systematic Errors ◽  
Monitoring Systems ◽  
Measurement Results ◽  
Vertical Displacements ◽  
Complete Computation ◽  
Computation Scheme ◽  
Health Monitoring Systems

The article discusses the issue of hydrostatic leveling. Its application is presented in structural health monitoring systems in order to determine vertical displacements of controlled points. Moreover, the article includes a complete computation scheme that utilizes the estimation from observation differences, allowing the elimination of the influence of individual sensors’ systematic errors. The authors suggest two concepts of processing the measurement results depending on the sensors’ connection method. Additionally, the second concept is extended by the elements allowing the prediction of the displacements by means of Kalman filtering.

scholarly journals Fast Drivable Areas Estimation with Multi-Task Learning for Real-Time Autonomous Driving Assistant

2021 ◽  
Vol 11 (22) ◽  
pp. 10713
Author(s):  
Dong-Gyu Lee
Keyword(s):  
Real Time ◽  
Computational Efficiency ◽  
Autonomous Driving ◽  
Learning Approaches ◽  
Practical Applications ◽  
Task Learning ◽  
Lane Line ◽  
High Level ◽  
Time Autonomous

Autonomous driving is a safety-critical application that requires a high-level understanding of computer vision with real-time inference. In this study, we focus on the computational efficiency of an important factor by improving the running time and performing multiple tasks simultaneously for practical applications. We propose a fast and accurate multi-task learning-based architecture for joint segmentation of drivable area, lane line, and classification of the scene. An encoder-decoder architecture efficiently handles input frames through shared representation. A comprehensive understanding of the driving environment is improved by generalization and regularization from different tasks. The proposed method learns end-to-end through multi-task learning on a very challenging Berkeley Deep Drive dataset and shows its robustness for three tasks in autonomous driving. Experimental results show that the proposed method outperforms other multi-task learning approaches in both speed and accuracy. The computational efficiency of the method was over 93.81 fps at inference, enabling execution in real-time.

scholarly journals An Accelerator Architecture of Changeable-Dimension Matrix Computing Method for SVM

Electronics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 143 ◽  
Author(s):  
Ruidong Wu ◽  
Bing Liu ◽  
Ping Fu ◽  
Junbao Li ◽  
Shou Feng
Keyword(s):  
Machine Learning ◽  
Learning Algorithms ◽  
Matrix Multiplication ◽  
Critical Time ◽  
Machine Learning Algorithms ◽  
Support Vector ◽  
Practical Applications ◽  
The Matrix ◽  
Field Programmable ◽  
Computing Method

Matrix multiplication is a critical time-consuming processing step in many machine learning applications. Due to the diversity of practical applications, the matrix dimensions are generally not fixed. However, most matrix calculation methods, based on field programmable gate array (FPGA) currently use fixed matrix dimensions, which limit the flexibility of machine learning algorithms in a FPGA. The bottleneck lies in the limited FPGA resources. Therefore, this paper proposes an accelerator architecture for matrix computing method with changeable dimensions. Multi-matrix synchronous calculation concept allows matrix data to be processed continuously, which improves the parallel computing characteristics of FPGA and optimizes the computational efficiency. This paper tests matrix multiplication using support vector machine (SVM) algorithm to verify the performance of proposed architecture on the ZYNQ platform. The experimental results show that, compared to the software processing method, the proposed architecture increases the performance by 21.18 times with 9947 dimensions. The dimension is changeable with a maximum value of 2,097,151, without changing hardware design. This method is also applicable to matrix multiplication processing with other machine learning algorithms.

Toward Next Active Safety Technology of Intelligent Vehicle

2015 ◽  
Vol 27 (6) ◽  
pp. 610-616 ◽  
Author(s):  
Hidehisa Yoshida ◽  
◽  
Manabu Omae ◽  
Takahiro Wada ◽  
◽  
...  
Keyword(s):  
Public Transportation ◽  
Cooperative Control ◽  
Traffic Accident ◽  
Warning System ◽  
Autonomous Driving ◽  
The Elderly ◽  
Accident Prevention ◽  
Intelligent Vehicle ◽  
Active Safety ◽  
Cruise Control

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/02.jpg"" width=""300"" /> Intelligent vehicle technologies</div>Autonomous driving has attracted attention in recent years from the viewpoint of energy consumption and traffic accident prevention; hence, its introduction has been desired. In Japan, various accident prevention safety technologies were developed for cooperative control between the driver and the vehicle system. For example, “adaptive cruise control system” and “lane departure warning system” were developed in the 1990s and “lane keeping assist system” and “braking control device for reducing collision damage” in the early stages of the 2000s. Later in Europe, autonomous driving systems were actively studied, and an automated braking system to avoid collisions was introduced in the market in the second half of the 2000s. Studies and development have been promoted for the practical use of active safety technologies based on autonomous driving technologies. Autonomous driving technologies could be applied to various cases, such as convoy travelling to compensate for the insufficient number of professional drivers or to improve their work environment, last-one-mile travelling from a public transportation station to home for the elderly, people who have children and people who need assistance, dead-man system for sudden illness of the driver, and automated parking for assisting the driver who is not good at it, or for the parking space to be effectively used. In this paper, an overview of the transition and history of vehicular technologies for safety and reliability is given. In particular, active safety technologies for traffic accident prevention and the necessary related technology trend are reviewed, and future problems are pointed out.

10Gb/s RS-BCH Concatenated Encoder with Pipelined Strategies for Fiber Communication

2012 ◽  
Vol 429 ◽  
pp. 154-158
Author(s):  
Zheng Song ◽  
Qing Sheng Hu
Keyword(s):  
Data Rate ◽  
High Data Rate ◽  
Fiber Communication ◽  
High Data ◽  
Measurement Results ◽  
Working Frequency

This paper presents a 10Gb/s concatenated encoder compatible with the protocol of G.975. To achieve the high data rate, 8 RS encoders work based on the pipelined pattern. After the interleaving realized with 8 RAM blocks, the output of RS encoders are sent to 64 BCH encoders which work parallel. This concatenated encoder has been implemented in Xilinx Vertex5 FPGA, and the measurement results show that the data rate of 10Gb/b can be realized under the working frequency of 156MHz. About 9711 registers, 6984 LUTs and 40 Block-RAMs are utilized for the whole encoder.

A Simple Ultra-Wideband Magneto-Electric Dipole Antenna With High Gain

Frequenz ◽  
2017 ◽  
Vol 72 (1-2) ◽  
Author(s):  
Chen-yang Shuai ◽  
Guang-ming Wang
Keyword(s):  
Electric Dipole ◽  
Simple Structure ◽  
High Gain ◽  
Dipole Antenna ◽  
Ultra Wideband ◽  
Main Beam ◽  
Impedance Bandwidth ◽  
Practical Applications ◽  
Measurement Results ◽  
Feeding Structure

AbstractA simple ultra-wideband magneto-electric dipole antenna utilizing a differential-fed structure is designed. The antenna mainly comprises three parts, including a novel circular horned reflector, two vertical semicircular shorted patches as a magnetic dipole, and a horizontal U-shaped semicircular electric dipole. A differential feeding structure working as a perfect balun excites the designed antenna. The results of simulation have a good match with the ones of measurement. Results indicate that the designed antenna achieves a wide frequency bandwidth of 107 % which is 3.19~10.61 GHz, when VSWR is below 2. Via introducing the circular horned reflector, the designed antenna attains a steady and high gain of 12±1.5dBi. Moreover, settled broadside direction main beam, high front-to-back ratio, low cross polarization, and the symmetrical and relatively stable radiation patterns in the E-and H-plane are gotten in the impedance bandwidth range. In the practical applications, the proposed antenna that is dc grounded and has a simple structure satisfies the requirement of many outdoor antennas.

scholarly journals Design, Simulation, and Performance Analysis of an INS/GPS System using Parallel Kalman Filters Structure

2011 ◽  
Vol 1 (2) ◽  
Author(s):  
Tran Duc-Tan ◽  
Paul Fortier ◽  
Huu-Tue Huynh
Keyword(s):  
Performance Analysis ◽  
Kalman Filtering ◽  
Inertial Navigation System ◽  
Moving Objects ◽  
Practical Applications ◽  
System A ◽  
Mems Technology ◽  
Filtering Technique ◽  
And Performance ◽  
Gps System

Thanks to the strong growth of MEMS technology, the Inertial Navigation System (INS) is widely applied to navigation and guidance of moving objects. However, there exist errors in the inertial sensor’s signals that cause unacceptable drifts. To minimize these effects on the INS system, a GPS is usually employed simultaneously with an INS in order to increase the dimension of the system; the desired parameters are estimated by Kalman filtering technique applied to the enlarged system. In this paper, we present the design, simulation and performance analysis of an INS/GPS system using two parallel Kaman filters in order to increase the accuracy of the parameter estimation process. The results show that this system could be efficiently brought to practical applications.

scholarly journals A Structure for Accurately Determining the Mass and Center of Gravity of Rigid Bodies

2019 ◽  
Vol 9 (12) ◽  
pp. 2532 ◽  
Author(s):  
Meibao Wang ◽  
Xiaolin Zhang ◽  
Wenyan Tang ◽  
Jun Wang
Keyword(s):  
Rigid Bodies ◽  
Center Of Gravity ◽  
Mobile Platform ◽  
Practical Applications ◽  
Transformation Matrices ◽  
Novel Structure ◽  
Measurement Results ◽  
Load Cells ◽  
Structure Simulation ◽  
Weighing Method

Measuring the mass and Center of Gravity (CG) of rigid bodies with a multi-point weighing method is widely used nowadays. Traditional methods usually include two parts with a certain location, i.e., a fixed platform and a mobile platform. In this paper, a novel structure is proposed to adjust the mobile platform for eliminating side forces which may load on the load cells. In addition, closed-form equations are formulated to evaluate the performance of the structure, and transformation matrices are used to estimate the characteristics of the structure. Simulation results demonstrate that repeatability of the proposed structure is higher than the traditional one and there are no side forces. Moreover, the measurement results show that the relative error of mass was within 0.05%, and the error of CG was within ±0.3 mm. The structure presented in this paper provides a foundation for practical applications.

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