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Informationsteknologi Institutionen för informationsteknologi | www.it.uu.se Model-based estimation and control on multicore platforms Motivation: Streamlined.

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Presentation on theme: "Informationsteknologi Institutionen för informationsteknologi | www.it.uu.se Model-based estimation and control on multicore platforms Motivation: Streamlined."— Presentation transcript:

1 Informationsteknologi Institutionen för informationsteknologi | Model-based estimation and control on multicore platforms Motivation: Streamlined real-time control and estimation software written for single core runs slower on multicore Battery-driven embedded control systems need multicore processors for longer battery life and reduced heat production Control and estimation algorithms: Application design must map to the multicore architecture  Parallel  Cache-aware

2 Informationsteknologi Institutionen för informationsteknologi | Work plan Goals:  Re-design of control and estimation algorithms for linear speedup on multicore platforms  Model processor and memory system demand of algorithms for guaranteed real-time performance  Proof of concept in laboratory real-time setups (control) and data from industrial applications (estimation)

3 Informationsteknologi Institutionen för informationsteknologi | Targeted algorithms Computationally intensive and distributed real-time algorithms:  Estimation  Kalman filter  Particle filter  Control  Model-predictive control  Multivariable control

4 Informationsteknologi Institutionen för informationsteknologi | Results so far Effective implementation of the Kalman filter on multicore  The KF is modified to give linear speedup  Application to echo cancellation  Memory bandwidth model Effective implementation of the Particle Filters on multicore  A number of PFs is evaluated with respect to scaling, performance, computational burden  Algorithms with good scaling properties on multicore are found.  Application to bearings-only tracking (SAAB Systems) Feedforward state estimation algorithms are revisited to clarify design issues Laboratory setup for real-time estimation and control on multicore  LEGO-based mobile robotic wireless sensor network  Multicore central node  Both control (of mobile robots) and estimation

5 Informationsteknologi Institutionen för informationsteknologi | Future and ongoing research Estimation  MIMO Kalman filtering (sensor fusion)  Anomaly detection (SAAB Systems)  Change detection by Kalman filter  Change detection by Particle filter  New applications  Road grade estimation (Scania) Control  Parallelization of model-predictive control (parallel optimization)

6 Informationsteknologi Institutionen för informationsteknologi | Bearings-only tracking

7 Informationsteknologi Institutionen för informationsteknologi | Speedup Particle filters

8 Informationsteknologi Institutionen för informationsteknologi | Speedup Kalman filter GradKalkyl

9 Informationsteknologi Institutionen för informationsteknologi | Anomaly detection Vid röda punkten 43 försvann Arctic Sea från AIS-systemet. Då var klockan onsdagen den 24 juli En och en halv timme senare dök det upp igen vid den gröna punkten 44. Sedan drev fartyget långsamt norröver i nästan två timmar innan det fick upp farten och vände söderut igen. Karta: Sjöfartsverket.


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