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RSQP: Problem-specific Architectural Customization for Accelerated Convex Quadratic Optimization 23

RSQP: Problem-specific Architectural Customization for Accel...

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50th Annual international symposium on Computer Architecture (ISCA)

作者： Wang, Maolin McInerney, Ian Stellato, Bartolomeo Boyd, Stephen So, Hayden Kwok-Hay AI Chip Ctr Emerging Smart Syst Hong Kong Peoples R China Univ Manchester Manchester Lancs England Princeton Univ Princeton NJ 08544 USA Stanford Univ Stanford CA 94305 USA Univ Hong Kong Hong Kong Peoples R China

ISBN: (纸本)9798400700958

Convex optimization is at the heart of many performance-critical applications across a wide range of domains. Although many high-performance hardware accelerators have been developed for specific optimization problems in the past, designing such accelerator is a challenging task and the resulting computing architecture is often so specific to the targeted application that they can hardly be reused even in a related application within the same domain. To accelerate general-purpose optimization solvers that must operate on diverse user input during run time, an ideal hardware solver should be able to adapt to the provided optimization problem dynamically while achieving high performance and power-efficiency. In this work, a hardware-accelerated general-purpose quadratic program solver, called RSQP, with reconfigurable functional units and data path that facilitate problem-specific customization is presented. RSQP uses a string-based encoding to describe the problem structure with fine granularity. Based on this encoding, functional units and datapath customized to the sparsity pattern of the problem are created by solving a dictionary-based lossless string compression problem and a mixed integer linear program respectively. RSQP has been integrated to accelerate the general-purpose quadratic programming solver OSQP and has been tested using an extensive benchmark with 120 optimization problems from 6 application domains. Through architectural customization, RSQP achieves up to 7x performance improvement over its baseline generic design. Furthermore, when compared with a CPU and a GPU-accelerated implementation, RSQP achieves up to 31.2x and 6.9x end-to-end speedup on these benchmark programs, respectively. Finally, the FPGA accelerator operates at up to 6.6x lower dynamic power consumption and up to 22.7x higher power efficiency over the GPU implementation, making it an attractive solution for power-conscious datacenter applications.

关键词： convex optimization FPGA quadratic programming domain-specific architectures reconfigurable computing

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User-Centric Beam Selection and Precoding Design for Coordinated Multiple-Satellite systems 35

User-Centric Beam Selection and Precoding Design for Coordin...

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35th IEEE international symposium on Personal, Indoor and Mobile Radio Communications, PIMRC 2024

作者： Ha, Vu Nguyen Nguyen, Duy H. N. Duncan, Juan C.-M. Gonzalez-Rios, Jorge L. Peralvo, Juan A. Vasquez Eappen, Geoffrey Garces-Socarras, Luis M. Palisetty, Rakesh Chatzinotas, Symeon Ottersten, Bjorn Luxembourg San Diego State University Department of Electrical and Computer Engineering San DiegoCA92182 United States Shiv Nadar Institution of Eminence Delhi NCR Greater Noida201314 India

ISBN: (纸本)9798350362244

This paper introduces a joint optimization framework for user-centric beam selection and linear precoding (LP) design in a coordinated multiple-satellite (CoMSat) system, employing a Digital-Fourier-Transform-based (DFT) beamforming (BF) technique. Regarding serving users at their target SINRs and minimizing the total transmit power, the scheme aims to efficiently determine satellites for users to associate with and activate the best cluster of beams together with optimizing LP for every satellite-to-user transmission. These technical objectives are first framed as a complex mixed-integer programming (MIP) challenge. To tackle this, we reformulate it into a joint cluster association and LP design problem. Then, by theoretically analyzing the duality relationship between downlink and uplink transmissions, we develop an efficient iterative method to identify the optimal solution. Additionally, a simpler duality approach for rapid beam selection and LP design is presented for comparison purposes. Simulation results underscore the effectiveness of our proposed schemes across various settings. © 2024 IEEE.

关键词： Integer programming

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Computational Exploitation of Low-Dimensional Nonlinearities in Hamilton-Jacobi PDEs 26

Computational Exploitation of Low-Dimensional Nonlinearities...

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26th international symposium on Mathematical Theory of Networks and systems (MTNS)

作者： McEneaney, William M. Dower, Peter M. Zheng, Yifei Univ Calif San Diego Dept Mech & Aero Engn La Jolla CA 92093 USA Univ Melbourne Dept Elec & Elect Engn Melbourne Vic 3010 Australia

A finite-horizon nonlinear optimal control problem is considered. Stat-quad duality is used to generate an equivalent problem with linear dynamics and running cost that is quadratic in state with an additional term that is nonlinear in newly introduced control state variables. The new problem form is used to obtain a representation of the value function in terms of staticization over a set of quadratic functions, where the coefficients of the quadratic functions consist of the solutions to certain ODEs. A novel numerical method is indicated for solution of the resulting staticization problem;the method leverages the low dimensionality of nonlinearity. An example is included. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： optimal control Hamilton-Jacobi equations dynamic programming viscosity solutions staticization numerical methods

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Mode Switching Optimal Control for Mobile Dual-Manipulator Collaborative Robots Based on Dynamic Neural Network 7

Mode Switching Optimal Control for Mobile Dual-Manipulator C...

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7th international symposium on Autonomous systems, ISAS 2024

作者： Wang, Jie Jiang, Yiming Tang, Wenjie Zhong, Hang Zhang, Hui Hunan University School of Robotics Changsha China

ISBN: (纸本)9798350363173

In recent years, the new generation of robots, represented by dual-manipulator collaborative robots, has gained significant attention and research from numerous scholars. However, among numerous repetitive motion schemes for mobile robotic manipulators, the issue of task execution by the mobile robotic manipulator during repetitive motion has not been addressed. Especially in engineering applications, the application scenarios of a robot performing multi-step processes are very common. In this paper, mode switching control scheme of mobile dual-manipulator cooperative robots (MDMCR) is proposed based on dynamic neural network (DNN) to study motion control firstly. Then, the collaborative index of dual-arm robots is introduced, dividing the working modes of mobile manipulators into tracking and collaborative transport modes. The novelty of the proposed method is emphasised to ensure the safety, reliability, and stability of the mobile chassis motion control, while simultaneously achieving collaborative control between the robotic manipulators. This further enriches the theoretical framework of cooperative control for MDMCR. © 2024 IEEE.

关键词： Quadratic programming

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Influence of Reflected Light in Illumination-Light VN-CodeSK Based Positioning systems 17

Influence of Reflected Light in Illumination-Light VN-CodeSK...

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17th international symposium on Information Theory and its Applications (ISITA)

作者： Ochiai, Yuta Ogawa, Daisuke Kozawa, Yusuke Habuchi, Hiromasa Ibaraki Univ Coll Engn Grad Sch Sci & Engn Hitachi Ibaraki Japan Ibaraki Univ Fac Engn Hitachi Ibaraki Japan

ISBN: (纸本)9784885523410

This paper evaluates the effect of reflected light on position error performance when measuring position in the Visible Light Communication (VLC) using the Variable N-parallel Code Shift Keying (VN-CodeSK) system. In particular, the trilateration method and optical fingerprinting method are discussed as positioning systems. Performance results are obtained by computer simulation on a well-known indoor room model. Consequently, it is shown that the trilateration method degrades more sensitively to reflected light than the optical fingerprinting method. The optical fingerprinting method is found to improve accuracy in some cases due to reflected light. In this room model, it is found that the effect of reflected light becomes smaller when the distance from wall is greater than 4[cm].

关键词： Parallel programming

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Efficient Multi-Processor Scheduling in Increasingly Realistic Models (Brief Summary)

Efficient Multi-Processor Scheduling in Increasingly Realist...

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1st international Conference on Smart Energy systems and Artificial Intelligence (SESAI)

作者： Papp, Pal Andras Anegg, Georg Karanasiou, Aikaterini Yzelman, Albert-Jan N. Huawei Zurich Res Ctr Comp Syst Lab Zurich Switzerland

ISBN: (纸本)9798350364613;9798350364606

We study the problem of efficiently scheduling a computational DAG on multiple processors. While previous works have mostly studied this problem in rather simple models, we instead consider the well-established BSP model, and extend it with non-uniform memory access (NUMA) effects. This results in a notably more realistic model that captures communication costs, synchronization costs, and the hierarchical structure of modern computing architectures. We develop a range of algorithms to minimize the scheduling cost in this more complex setting: several initialization heuristics, a hill-climbing local search, and different approaches to solve the problem as an Integer Linear Program (ILP). We analyze our scheduling algorithms on a diverse set of real-world computational DAGs to show that they outperforms both academic and practical baselines: without NUMA effects, our scheduler finds solutions of 44% - 51% smaller cost on average, and with NUMA effects, it achieves up to a factor 3x improvement. Finally, we develop a multilevel scheduling algorithm for the special case when the problem is dominated by very high communication costs.

关键词： DAG scheduling BSP model Integer Linear programming Multilevel scheduling

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2022 Joint 12th international Conference on Soft Computing and Intelligent systems and 23rd international symposium on Advanced Intelligent systems, SCIS and ISIS 2022

2022 Joint 12th International Conference on Soft Computing a...

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Joint 12th international Conference on Soft Computing and Intelligent systems and 23rd international symposium on Advanced Intelligent systems, SCIS and ISIS 2022

ISBN: (纸本)9781665499248

The proceedings contain 223 papers. The topics discussed include: autonomous navigation of a mobile robot on robot operating system using graphical user interface;proposal for a method of controlling heart rate during step exercise;consistent conjectural variations equilibrium in a semimixed oligopoly with discontinuous demand;application of open data and integer linear programming to real-time generation of one-stroke traveling route for collecting and distributing for food loss reduction;consistent conjectural variations equilibrium in a semimixed oligopoly with discontinuous demand;application of open data and integer linear programming to real-time generation of one-stroke traveling route for collecting and distributing for food loss reduction;interdisciplinarity inference using a cross encoder between research projects;the relationship between spatial continuity and sense of ownership on rubber hand illusion in virtual reality;and analysis of workload by instructions and fixed-point observation photographs.

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Experimental Demonstration of Single-Level and Multi-Level-Cell RRAM-Based In-Memory-Computing with up to 16 Parallel Operations

Experimental Demonstration of Single-Level and Multi-Level-C...

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IEEE international Reliability Physics symposium (IRPS)

作者： Esmanhotto, E. Hirtzlin, T. Castellani, N. Martin, S. Andrieu, F. Nodin, J. F. Vianello, E. Giraud, B. Querlioz, D. Portal, J-M. Univ Grenoble Alpes CEA Leti Grenoble France Univ Grenoble Alpes CEA List Grenoble France Univ Paris Saclay CNRS C2N Palaiseau France Aix Marseille Univ IM2NP Marseille France

ISBN: (纸本)9781665479509

关键词： Microprocessors Computer architecture programming Current distribution Reliability Adders Standards

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Answer Set Automata: A Learnable Pattern Specification Framework for Complex Event Recognition 30

Answer Set Automata: A Learnable Pattern Specification Frame...

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30th international symposium on Temporal Representation and Reasoning, TIME 2023

作者： Katzouris, Nikos Paliouras, Georgios Institute of Informatics National Center for Scientific Research "Demokritos" Athens Greece

ISBN: (纸本)9783959772983

Complex Event Recognition (CER) systems detect event occurrences in streaming input using predefined event patterns. Techniques that learn event patterns from data are highly desirable in CER. Since such patterns are typically represented by symbolic automata, we propose a family of such automata where the transition-enabling conditions are defined by Answer Set programming (ASP) rules, and which, thanks to the strong connections of ASP to symbolic learning, are learnable from data. We present such a learning approach in ASP, capable of jointly learning the structure of an automaton and its transition guards’ definitions from building-block predicates, and a scalable, incremental version thereof that progressively revises models learnt from mini-batches using Monte Carlo Tree Search. We evaluate our approach on three CER datasets and empirically demonstrate its efficacy. 2012 ACM Subject Classification Computing methodologies → Logic programming and answer set programming © Nikos Katzouris and Georgios Paliouras

关键词： Logic programming

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Hybrid Quadratic programming - Pullback Bundle Dynamical systems Control 1

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18th international symposium of Robotics Research (ISRR)

作者： Fichera, Bernardo Billard, Aude Ecole Polytech Fed Lausanne Lausanne Switzerland

ISBN: (数字)9783031255557

ISBN: (纸本)9783031255571;9783031255557;9783031255540

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handle arbitrary geometry curved spaces, namely manifolds, beyond the standard flat Euclidean space. Despite the many different ways proposed to handle DS on manifolds, it is still unclear how to apply such structures on real robotic systems. In this preliminary study, we propose a way to combine modern optimal control techniques with a geometry-based formulation of DS. The advantage of such approach is two fold. First, it yields a torque-based control for compliant and adaptive motions;second, it generates dynamical systems consistent with the controlled system's dynamics. The salient point of the approach is that the complexity of designing a proper constrained-based optimal control problem, to ensure that dynamics move on a manifold while avoiding obstacles or self-collisions, is "outsourced" to the geometric DS. Constraints are implicitly embedded into the structure of the space in which the DS evolves. The optimal control, on the other hand, provides a torque-based control interface, and ensures dynamical consistency of the generated output. The whole can be achieved with minimal computational overhead since most of the computational complexity is delegated to the closed-form geometric DS.

关键词： Dynamical system Differential geometry Quadratic programming

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