Informationsteknologi Institutionen för informationsteknologi | Model-based estimation and control...
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Transcript of Informationsteknologi Institutionen för informationsteknologi | Model-based estimation and control...
Info
rmati
onst
ekn
olo
gi
Institutionen för informationsteknologi | www.it.uu.se
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
Info
rmati
onst
ekn
olo
gi
Institutionen för informationsteknologi | www.it.uu.se
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)
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rmati
onst
ekn
olo
gi
Institutionen för informationsteknologi | www.it.uu.se
Targeted algorithms
Computationally intensive and distributed real-time algorithms:
Estimation Kalman filter Particle filter
Control Model-predictive control Multivariable control
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rmati
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ekn
olo
gi
Institutionen för informationsteknologi | www.it.uu.se
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
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rmati
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ekn
olo
gi
Institutionen för informationsteknologi | www.it.uu.se
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)
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ekn
olo
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Institutionen för informationsteknologi | www.it.uu.se
Bearings-only tracking
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ekn
olo
gi
Institutionen för informationsteknologi | www.it.uu.se
Speedup Particle filters
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ekn
olo
gi
Institutionen för informationsteknologi | www.it.uu.se
Speedup Kalman filter
Grad Kalkyl
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rmati
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ekn
olo
gi
Institutionen för informationsteknologi | www.it.uu.se
Anomaly detection
Vid röda punkten 43 försvann Arctic Sea från AIS-systemet. Då var klockan 04.20 onsdagen den 24 juli 2009. 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.