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Hardware Acceleration for SLAM in Mobile Systems

Journal of computer Science & technology 2023年第6期38卷 1300-1322页

作者：樊哲郝一帆支天郭崎杜子东 State Key Laboratory of Processors Institute of Computing TechnologyChinese Academy of SciencesBeijing 100190China School of Computer Science and Technology University of Chinese Academy of SciencesBeijing 100049China Cambricon Technologies Beijing 100191China

The emerging mobile robot industry has spurred a flurry of interest in solving the simultaneous localization and mapping(SLAM)***,existing SLAM platforms have difficulty in meeting the real-time and low-pow-er requirements imposed by mobile *** specialized hardware is promising with regard to achieving high per-formance and lowering the power,designing an efficient accelerator for SLAM is severely hindered by a wide variety of SLAM *** on our detailed analysis of representative SLAM algorithms,we observe that SLAM algorithms advance two challenges for designing efficient hardware accelerators:the large number of computational primitives and ir-regular control *** address these two challenges,we propose a hardware accelerator that features composable com-putation units classified as the matrix,vector,scalar,and control *** addition,we design a hierarchical instruction set for coping with a broad range of SLAM algorithms with irregular control *** results show that,com-pared against an Intel x86 processor,on average,our accelerator with the area of 7.41 mm^(2) achieves 10.52x and 112.62x better performance and energy savings,respectively,across different *** against a more energy-efficient ARM Cortex processor,our accelerator still achieves 33.03x and 62.64x better performance and energy savings,respec-tively.

关键词： hardware accelerator instruction set mobile system simultaneous localization and mapping(SLAM)algorithm

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A Sharding Scheme Based on Graph Partitioning Algorithm for Public Blockchain

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computer Modeling in Engineering & Sciences 2024年第6期139卷 3311-3327页

作者： Shujiang Xu Ziye Wang Lianhai Wang Miodrag J.Mihaljevi′c Shuhui Zhang Wei Shao Qizheng Wang Key Laboratory of Computing Power Network and Information Security Ministry of EducationShandong Computer Science CenterQilu University of Technology(Shandong Academy of Sciences)Jinan250014China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer ScienceJinan250014China Mathematical Institute The Serbian Academy of Sciences and ArtsBelgrade11000Serbia

Blockchain technology,with its attributes of decentralization,immutability,and traceability,has emerged as a powerful catalyst for enhancing traditional industries in terms of optimizing business ***,transaction performance and scalability has become the main challenges hindering the widespread adoption of *** to its inability to meet the demands of high-frequency trading,blockchain cannot be adopted in many *** improve the transaction capacity,researchers have proposed some on-chain scaling technologies,including lightning networks,directed acyclic graph technology,state channels,and shardingmechanisms,inwhich sharding emerges as a potential scaling ***,excessive cross-shard transactions and uneven shard workloads prevent the sharding mechanism from achieving the expected *** paper proposes a graphbased sharding scheme for public blockchain to efficiently balance the transaction *** crossshard transactions and evening-out workloads among shards,the scheme reduces transaction confirmation latency and enhances the transaction capacity of the ***,the scheme can achieve a high-frequency transaction as well as a better blockchain *** results show that the scheme effectively reduces the cross-shard transaction ratio to a range of 35%-56%and significantly decreases the transaction confirmation latency to 6 s in a blockchain with no more than 25 shards.

关键词： Blockchain sharding graph partitioning algorithm

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A survey for light field super-resolution

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High-Confidence computing 2024年第1期4卷 118-129页

作者： Mingyuan Zhao Hao Sheng Da Yang Sizhe Wang Ruixuan Cong Zhenglong Cui Rongshan Chen Tun Wang Shuai Wang Yang Huang Jiahao Shen State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijing 100191China Key Laboratory of Data Science and Intelligent Computing International Innovation InstituteBeihang UniversityHangzhou 311115China State Key Laboratory of Software Development Environment School of Computer Science and EngineeringBeihang UniversityBeijing 100191China

Compared to 2D imaging data,the 4D light field(LF)data retains richer scene’s structure information,which can significantly improve the computer’s perception capability,including depth estimation,semantic segmentation,and LF ***,there is a contradiction between spatial and angular resolution during the LF image acquisition *** overcome the above problem,researchers have gradually focused on the light field super-resolution(LFSR).In the traditional solutions,researchers achieved the LFSR based on various optimization frameworks,such as Bayesian and Gaussian *** learning-based methods are more popular than conventional methods because they have better performance and more robust generalization *** this paper,the present approach can mainly divided into conventional methods and deep learning-based *** discuss these two branches in light field spatial super-resolution(LFSSR),light field angular super-resolution(LFASR),and light field spatial and angular super-resolution(LFSASR),***,this paper also introduces the primary public datasets and analyzes the performance of the prevalent approaches on these ***,we discuss the potential innovations of the LFSR to propose the progress of our research field.

关键词： Light field super-resolution Convolutional neural network Transformer Sub-aperture image Epipolar-plane image

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Accelerating Data Transfer in Dataflow architectures Through a Look-Ahead Acknowledgment Mechanism

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Journal of computer Science & technology 2022年第4期37卷 942-959页

作者： Yu-Jing Feng De-Jian Li Xu Tan Xiao-Chun Ye Dong-Rui Fan Wen-Ming Li Da Wang Hao Zhang Zhi-Min Tang State Key Laboratory of Computer Architecture Institute of Computing TechnologyChinese Academy of SciencesBeijing 100190China Beijing Smartchip Microelectronics Technology Company Limited Beijing 100000China School of Computer and Control Engineering University of Chinese Academy of SciencesBeijing 100190China

The dataflow architecture,which is characterized by a lack of a redundant unified control logic,has been shown to have an advantage over the control-flow architecture as it improves the computational performance and power efficiency,especially of applications used in high-performance computing(HPC).Importantly,the high computational efficiency of systems using the dataflow architecture is achieved by allowing program kernels to be activated in a simultaneous ***,a proper acknowledgment mechanism is required to distinguish the data that logically belongs to different *** solutions include the tagged-token matching mechanism in which the data is sent before acknowledgments are received but retried after rejection,or a handshake mechanism in which the data is only sent after acknowledgments are ***,these mechanisms are characterized by both inefficient data transfer and increased area *** performance of the dataflow architecture depends on the efficiency of data *** order to optimize the efficiency of data transfer in existing dataflow architectures with a minimal increase in area and power cost,we propose a Look-Ahead Acknowledgment(LAA)*** accelerates the execution flow by speculatively acknowledging ahead without *** simulation analysis based on a handshake mechanism shows that our LAA increases the average utilization of computational units by 23.9%,with a reduction in the average execution time by 17.4%and an increase in the average power efficiency of dataflow processors by 22.4%.Crucially,our novel approach results in a relatively small increase in the area and power consumption of the on-chip logic of less than 0.9%.In conclusion,the evaluation results suggest that Look-Ahead Acknowledgment is an effective improvement for data transfer in existing dataflow architectures.

关键词： dataflow model control-flow model high-performance computing application data transfer power efficiency

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Credit assignment for trained neural networks based on Koopman operator theory

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Frontiers of computer Science 2024年第1期18卷 251-253页

作者： Zhen LIANG Changyuan ZHAO Wanwei LIU Bai XUE Wenjing YANG Zhengbin PANG Institute for Quantum Information&State Key Laboratory of High Performance Computing National University of Defense TechnologyChangsha 410000China Institute of Software Chinese Academy of SciencesBeijing 100190China College of Computer Science and Technology National University of Defense TechnologyChangsha 410000China

1 Introduction Artificial neural networks(ANNs,also NNs)have recently emerged as leading candidate models for deep learning,popularly used in various areas[1–3].Behind the enormous success,ANNs are generally with complicated structures,there being an intricate data flow through multiple linear or nonlinear components between the input layer and the output ***,it is pressing to evaluate how much a specific component contributes to the final output,termed the Credit Assignment Problem(CAP)[4]in this paper.

关键词： layer assignment operator

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An Eye-Gaze Tracking Method Based on a 3D Ocular Surface Fitting Model 4th

An Eye-Gaze Tracking Method Based on a 3D Ocular Surface Fit...

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4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Ling, Zhang Zongxin, Ma MingYu, Yan Wenchao, Jiang Muhammad Computer Faculty Guangdong University of Technology Guangzhou China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing China University of Management and Technology Lahore54770 Pakistan

ISBN: (纸本)9783031200984

Nowadays gaze tracking systems have several common drawbacks: low suitability, high complexity and low accuracy. To solve these problems, this paper presents a novel gaze tracking method, which improves the performance of gaze tracking system in two aspects. A 3D ocular quadratic surface model is constructed with eyeball’s point cloud data, which are collected by a pair of binocular cameras in a free space, allowing head movement and without any wearable devices. Geometrical features of ocular surface, including principal direction, Gaussian curvature and radius are exploited to calculate ocular optical axis direction and person-specific parameters, and then to estimate ocular visual axis direction, i.e. gaze direction without any personal calibration procedures. For this purpose, two person-specific parameters, the radius of cornea curvature and the distance between the center of cornea curvature and the pupil on the ocular model, are inputted into a GRNN network to estimate the value of kappa angle, which is an angle between ocular optical axis and visual axis and has important effect on estimation accuracy of the ocular visual axis direction by the ocular optical axis direction. Compared with the pupil center cornea reflection method, the following experimental results show that the method presented in this paper is effective and accurate in kappa angle estimating and gaze tracking. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Eye tracking

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Inductive Link Prediction in N-ary Knowledge Graphs 31

Inductive Link Prediction in N-ary Knowledge Graphs

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31st International Conference on Computational Linguistics, COLING 2025

作者： Wei, Jiyao Guan, Saiping Jin, Xiaolong Guo, Jiafeng Cheng, Xueqi School of Computer Science and Technology University of Chinese Academy of Sciences Key Laboratory of Network Data Science and Technology Institute of Computing Technology Chinese Academy of Sciences China

ISBN: (纸本)9798891761964

N-ary Knowledge Graphs (NKGs), where a fact can involve more than two entities, have gained increasing attention. Link Prediction in NKGs (LPN) aims to predict missing elements in facts to facilitate the completion of NKGs. Current LPN methods implicitly operate under a closed-world assumption, meaning that the sets of entities and roles are fixed. These methods focus on predicting missing elements within facts composed of entities and roles seen during training. However, in reality, new facts involving unseen entities and roles frequently emerge, requiring completing these facts. Thus, this paper proposes a new task, Inductive Link Prediction in NKGs (ILPN), which aims to predict missing elements in facts involving unseen entities and roles in emerging NKGs. To address this task, we propose a Meta-learning-based Nary knowledge Inductive Reasoner (MetaNIR), which employs a graph neural network with meta-learning mechanisms to embed unseen entities and roles adaptively. The obtained embeddings are used to predict missing elements in facts involving unseen elements. Since no existing dataset supports this task, three datasets are constructed to evaluate the effectiveness of MetaNIR. Extensive experimental results demonstrate that MetaNIR consistently outperforms representative models across all datasets. © 2025 Association for Computational Linguistics.

关键词： Knowledge graph

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Large Language Model-Based Event Relation Extraction with Rationales 31

Large Language Model-Based Event Relation Extraction with Ra...

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31st International Conference on Computational Linguistics, COLING 2025

作者： Hu, Zhilei Li, Zixuan Jin, Xiaolong Bai, Long Guo, Jiafeng Cheng, Xueqi CAS Key Laboratory of Network Data Science and Technology Institute of Computing Technology Chinese Academy of SciencesSchool of Computer Science and Technology University of Chinese Academy of Sciences

ISBN: (纸本)9798891761964

Event Relation Extraction (ERE) aims to extract various types of relations between different events within texts. Although Large Language Models (LLMs) have demonstrated impressive capabilities in many natural language processing tasks, existing ERE methods based on LLMs still face three key challenges: (1) Time Inefficiency: The existing pairwise method of combining events and determining their relations is time-consuming for LLMs. (2) Low Coverage: When dealing with numerous events in a document, the limited generation length of fine-tuned LLMs restricts the coverage of their extraction results. (3) Lack of Rationale: Essential rationales concerning the results that could enhance the reasoning ability of the model are overlooked. To address these challenges, we propose LLMERE, an LLM-based approach with rationales for the ERE task. LLMERE transforms ERE into a question-and-answer task that may have multiple answers. By extracting all events related to a specified event at once, LLMERE reduces time complexity from O(n2) to O(n), compared to the pairwise method. Subsequently, LLMERE enhances the coverage of extraction results by employing a partitioning strategy that highlights only a portion of the events in the document at a time. In addition to the extracted results, LLMERE is also required to generate corresponding rationales/reasons behind them, in terms of event coreference information or transitive chains of event relations. Experimental results on three widely used datasets show that LLMERE achieves significant improvements over baseline methods. © 2025 Association for Computational Linguistics.

关键词： Computational linguistics

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NfvInsight:A Framework for Automatically Deploying and Benchmarking VNF Chains

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Journal of computer Science & technology 2022年第3期37卷 680-698页

作者： Tian-Ni Xu Hai-Feng Sun Di Zhang Xiao-Ming Zhou Xiu-Feng Sui Sa Wang Qun Huang Yun-Gang Bao State Key Laboratory of Computer Architecture Institute of Computing TechnologyChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China Peng Cheng Laboratory Shenzhen 518055China Department of Computer Science and Technology Peking UniversityBeijing 100871China

With the advent of virtualization techniques and software-defined networking(SDN),network function virtualization(NFV)shifts network functions(NFs)from hardware implementations to software appliances,between which exists a performance *** to narrow the gap is an essential issue of current NFV ***,the cumbersomeness of deployment,the water pipe effect of virtual network function(VNF)chains,and the complexity of the system software stack together make it tough to figure out the cause of low performance in the NFV *** pinpoint the NFV system performance,we propose NfvInsight,a framework for automatic deployment and benchmarking VNF *** framework tackles the challenges in NFV performance *** framework components include chain graph generation,automatic deployment,and fine granularity *** design and implementation of each component have their *** the best of our knowledge,we make the first attempt to collect rules forming a knowledge base for generating reasonable chain *** deploys the generated chain graphs automatically,which frees the network operators from executing at least 391 lines of bash commands for a single *** diagnose the performance bottleneck,NfvInsight collects metrics from multiple layers of the software ***,we collect the network stack latency distribution ingeniously,introducing only less than 2.2%*** showcase the convenience and usability of NfvInsight in finding bottlenecks for both VNF chains and the underlying *** our framework,we find several design flaws of the network stack,which are unsuitable for packet forwarding inside one single server under the NFV *** optimization for these flaws gains at most 3x performance improvement.

关键词： network function virtualization(NFV) service chain performance bottleneck network stack latency

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Improving the spectral purity of single photons by a single-interferometer-coupled microring

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Chinese Physics B 2022年第3期31卷 311-315页

作者： Yang Wang Pingyu Zhu Shichuan Xue Yingwen Liu Junjie Wu Xuejun Yang Ping Xu Institute for Quantum Information & State Key Laboratory of High Performance Computing College of Computer Science and TechnologyNational University of Defense TechnologyChangsha 410013China

We experimentally engineer a high-spectral-purity single-photon source using a single-interferometer-coupled silicon microring. By the reconfiguration of the interferometer, different coupling conditions can be obtained, corresponding to different quality factors for the pump and signal/idler. The ratio between the quality factor of the pump and signal/idler ranges from 0.29 to 2.57. By constructing the signal–idler joint spectral intensity, we intuitively demonstrate the spectral correlation of the signal and idler. As the ratio between the quality factor of the pump and signal/idler increases, the spectral correlation of the signal and idler decreases, i.e., the spectral purity of the signal/idler photons increases. Furthermore,time-integrated second-order correlation of the signal photons is measured, giving a value up to 94.95 ± 3.46%. Such high-spectral-purity photons will improve the visibility of quantum interference and facilitate the development of on-chip quantum information processing.

关键词： spectral-purity microring asymmetric Mach–Zehnder interferometer

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