Rapid prototyping framework for visual control of autonomous micro aerial vehicles

Rapid prototyping environments can speed up the research of visual control algorithms. We have designed and implemented a software framework for fast prototyping of visual control algorithms for Micro Aerial Vehicles (MAV). We have applied a combination of a proxy-based network communication architecture and a custom Application Programming Interface. This allows multiple experimental configurations, like drone swarms or distributed processing of a drone's video stream. Currently, the framework supports a low-cost MAV: the Parrot AR.Drone. Real tests have been performed on this platform and the results show comparatively low figures of the extra communication delay introduced by the framework, while adding new functionalities and flexibility to the selected drone. This implementation is open-source and can be downloaded from www.vision4uav.com/?q=VC4MAV-FW

Packet Reordering in Network Processors

Network processors today consist of multiple parallel processors (micro engines) with support for multiple threads to exploit packet level parallelism inherent in network workloads. With such concurrency, packet ordering at the output of the network processor cannot be guaranteed. This paper studies the effect of concurrency in network processors on packet ordering. We use a validated Petri net model of a commercial network processor, Intel IXP 2400, to determine the extent of packet reordering for IPv4 forwarding application. Our study indicates that in addition to the parallel processing in the network processor, the allocation scheme for the transmit buffer also adversely impacts packet ordering. In particular, our results reveal that these packet reordering results in a packet retransmission rate of up to 61%. We explore different transmit buffer allocation schemes namely, contiguous, strided, local, and global which reduces the packet retransmission to 24%. We propose an alternative scheme, packet sort, which guarantees complete packet ordering while achieving a throughput of 2.5 Gbps. Further, packet sort outperforms the in-built packet ordering schemes in the IXP processor by up to 35%.

Integrated parallelization of computations and visualization for large-scale applications

Critical applications like cyclone tracking and earthquake modeling require simultaneous high-performance simulations and online visualization for timely analysis. Faster simulations and simultaneous visualization enable scientists provide real-time guidance to decision makers. In this work, we have developed an integrated user-driven and automated steering framework that simultaneously performs numerical simulations and efficient online remote visualization of critical weather applications in resource-constrained environments. It considers application dynamics like the criticality of the application and resource dynamics like the storage space, network bandwidth and available number of processors to adapt various application and resource parameters like simulation resolution, simulation rate and the frequency of visualization. We formulate the problem of finding an optimal set of simulation parameters as a linear programming problem. This leads to 30% higher simulation rate and 25-50% lesser storage consumption than a naive greedy approach. The framework also provides the user control over various application parameters like region of interest and simulation resolution. We have also devised an adaptive algorithm to reduce the lag between the simulation and visualization times. Using experiments with different network bandwidths, we find that our adaptive algorithm is able to reduce lag as well as visualize the most representative frames.

message from the workshop chairs the first international workshop on program debugging in china (iwpdc 2010)

National Laboratory for Parallel and Distributed Processing; The University of Hong Kong

Design and analysis of matching circuit architectures for a closest match lookup

This paper investigates the implementation of a number of circuits used to perform a high speed closest value match lookup. The design is targeted particularly for use in a search trie, as used in various networking lookup applications, but can be applied to many other areas where such a match is required. A range of different designs have been considered and implemented on FPGA. A detailed description of the architectures investigated is followed by an analysis of the synthesis results. © 2006 IEEE.

Deployment on GPUs of an application in computational atomic physics

This paper describes the deployment on GPUs of PROP, a program of the 2DRMP suite which models electron collisions with H-like atoms and ions. Because performance on GPUs is better in single precision than in double precision, the numerical stability of the PROP program in single precision has been studied. The numerical quality of PROP results computed in single precision and their impact on the next program of the 2DRMP suite has been analyzed. Successive versions of the PROP program on GPUs have been developed in order to improve its performance. Particular attention has been paid to the optimization of data transfers and of linear algebra operations. Performance obtained on several architectures (including NVIDIA Fermi) are presented.