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A Low-Rank CNN Architecture for Real-Time Semantic Segmentation in Visual SLAM Applications 一种用于视觉SLAM应用中实时语义分割的低秩CNN架构
Pub Date : 2022-03-12 DOI: 10.1109/OJCAS.2022.3174632
Laura Falaschetti;Lorenzo Manoni;Claudio Turchetti
Real-time semantic segmentation on embedded devices has recently enjoyed significant gain in popularity, due to the increasing interest in smart vehicles and smart robots. In particular, with the emergence of autonomous driving, low latency and computation-intensive operations lead to new challenges for vehicles and robots, such as excessive computing power and energy consumption. The aim of this paper is to address semantic segmentation, one of the most critical tasks for the perception of the environment, and its implementation in a low power core, by preserving the required performance of accuracy and low complexity. To reach this goal a low-rank convolutional neural network (CNN) architecture for real-time semantic segmentation is proposed. The main contributions of this paper are: i) a tensor decomposition technique has been applied to the kernel of a generic convolutional layer, ii) three versions of an optimized architecture, that combines UNet and ResNet models, have been derived to explore the trade-off between model complexity and accuracy, iii) the low-rank CNN architectures have been implemented in a Raspberry Pi 4 and NVIDIA Jetson Nano 2 GB embedded platforms, as severe benchmarks to meet the low-power, low-cost requirements, and in the high-cost GPU NVIDIA Tesla P100 PCIe 16 GB to meet the best performance.
由于对智能车辆和智能机器人的兴趣日益浓厚,嵌入式设备上的实时语义分割最近得到了显著的普及。特别是,随着自动驾驶的出现,低延迟和计算密集型操作给车辆和机器人带来了新的挑战,例如过度的计算能力和能耗。本文的目的是解决语义分割,这是感知环境的最关键任务之一,并通过保持所需的准确性和低复杂性的性能,在低功耗核心中实现。为了实现这一目标,提出了一种用于实时语义分割的低秩卷积神经网络(CNN)架构。本文的主要贡献有:i)将张量分解技术应用于通用卷积层的内核;ii)导出了三个版本的优化架构,结合UNet和ResNet模型,以探索模型复杂性和准确性之间的权衡;iii)低秩CNN架构已在Raspberry Pi 4和NVIDIA Jetson Nano 2gb嵌入式平台上实现,作为满足低功耗,低成本要求的严格基准。而在高成本的GPU NVIDIA Tesla P100 PCIe 16gb满足最佳性能。
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引用次数: 3
IEEE Circuits and Systems Society 电路与系统学会
Pub Date : 2022-03-12 DOI: 10.1109/OJCAS.2022.3146994
Prospective authors are requested to submit new, unpublished manuscripts for inclusion in the upcoming event described in this call for papers.
未来的作者被要求提交新的,未发表的手稿,包括在即将到来的事件中描述的这篇论文。
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引用次数: 0
A Stable Digital Impedance Circuit Design Method for Resistive Source Impedances 电阻源阻抗的稳定数字阻抗电路设计方法
Pub Date : 2022-03-12 DOI: 10.1109/OJCAS.2022.3174694
Christopher G. Daniel;Thomas P. Weldon
The recent discovery that the input impedance of digital impedance circuits is dependent on the external source impedance requires the development of new design procedures to address the significant complexity of this discovery. These circuits are of particular utility for the implementation of difficult non-Foster impedances such as negative capacitance. Therefore, a new digital impedance circuit design procedure is presented where stable digital filter coefficients are computed to provide desired digital impedance values at two chosen frequencies, given that a stable solution exists. The new design procedure explicitly addresses the aforementioned dependence on the external source impedance for digital impedance circuits with resistive sources. Lastly, simulation results from a negative capacitance design example are compared to the new theory to confirm the efficacy of the new design procedure.
最近发现数字阻抗电路的输入阻抗依赖于外部源阻抗,这需要开发新的设计程序来解决这一发现的显著复杂性。这些电路特别适用于实现困难的非福斯特阻抗,如负电容。因此,提出了一种新的数字阻抗电路设计方法,在给定稳定解的情况下,计算稳定的数字滤波器系数以在两个选定的频率下提供所需的数字阻抗值。新的设计程序明确地解决了上述对带有电阻源的数字阻抗电路对外部源阻抗的依赖。最后,将一个负电容设计实例的仿真结果与新理论进行了比较,验证了新设计方法的有效性。
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引用次数: 0
Design and Implementation of an On-Demand Maximum-Likelihood Sequence Estimation (MLSE) 按需最大似然序列估计(MLSE)的设计与实现
Pub Date : 2022-03-11 DOI: 10.1109/OJCAS.2022.3173686
Mohammad Emami Meybodi;Hector Gomez;Yu-Chun Lu;Hossein Shakiba;Ali Sheikholeslami
This paper proposes a novel design for Maximum Likelihood Sequence Estimation (MLSE) used in ultra-high-speed wireline communication. We take advantage of the propagated errors caused by Decision-Feedback Equalizer (DFE) to activate and guide the MLSE, thereby reducing its complexity. The design is customized for a 4-PAM, 1 + D signaling system, and synthesized in 16nm FinFET TSMC Technology. For comparison purposes, a conventional MLSE is also synthesized in the same technology. The synthesis report confirms that the proposed design consumes 1/10 of the power and occupies 1/15 of the area required by the conventional MLSE while having a comparable bit error rate.
提出了一种超高速有线通信中最大似然序列估计(MLSE)的新设计。我们利用决策反馈均衡器(DFE)引起的传播误差来激活和引导MLSE,从而降低其复杂性。该设计是为4-PAM, 1 + D信号系统定制的,并在16nm FinFET TSMC技术中合成。为便于比较,本文还采用相同的技术合成了一种传统的MLSE。综合报告证实,所提出的设计功耗为传统MLSE的1/10,占地面积为传统MLSE的1/15,同时具有相当的误码率。
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引用次数: 3
Stability Boundaries of Wide-Input-Range COT Buck Converters With Ripple Compensation 带纹波补偿的宽输入范围COT降压变换器的稳定性边界
Pub Date : 2022-02-28 DOI: 10.1109/OJCAS.2022.3152671
Federico Bizzarri;Paolo Nora;Angelo Brambilla
In this paper, we focus on instability issues of a wide-input-range Constant ON-Time buck converter. A transconductance stage in the control path that implements ripple compensation characterizes the architecture of this switching circuit. On the whole, decision rules, that heavily influence stability, govern the dynamical evolution of the converter. We show the onset of sub-harmonic oscillations and pulse-bursting caused by the presence of hysteresis in the regulation comparator. Operational boundaries are provided both in analytical and numerical form. They easily support the designer in choosing the converter parameter values. Theoretical results are verified against SIMetrix/SIMPLIS and MPLAB® Mindi™ simulations for a case study involving a commercial adjustable-frequency, synchronous buck regulator featuring an adaptive ON-time control architecture. A good agreement is obtained, as shown.
本文主要研究宽输入范围恒通时降压变换器的不稳定性问题。控制路径中实现纹波补偿的跨导级是该开关电路结构的特点。总体而言,决策规则控制着变换器的动态演化,而决策规则对变换器的稳定性影响很大。我们展示了由于在调节比较器中存在迟滞而引起的次谐波振荡和脉冲爆裂的发作。操作边界以解析和数值形式提供。它们方便地支持设计人员选择转换器的参数值。理论结果通过simmetrix /SIMPLIS和MPLAB®Mindi™模拟进行验证,该案例研究涉及具有自适应准时控制架构的商用可调频率同步降压调节器。得到了很好的一致性,如图所示。
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引用次数: 0
Optimization of Quantized Analog Signal Processing Using Genetic Algorithms and μ-Law 利用遗传算法和μ-律优化量化模拟信号处理
Pub Date : 2022-02-25 DOI: 10.1109/OJCAS.2022.3154062
Qingnan Yu;Tony Chan Carusone;Antonio Liscidini
Digital mismatch calibration for quantized analog (QA) signal processing is proposed for the first time. Since the proposed calibration mechanism does not require uniform QA slicer levels, non-uniform quantization can be applied to improve the system performance. We propose two methods utilizing the genetic algorithm and $mu $ -law to find non-uniform slicer levels offering superior performance compared to uniform levels. Simulations show that for a QA amplifier consisting of 32 slices, the signal-to-noise-and-distortion ratio (SNDR) under a multitone input can be doubled by adjusting only the quantization levels while maintaining the same structure and same power, compared to uniform quantization levels that provide 54 dB of SNDR.
首次提出了量化模拟(QA)信号处理的数字失配校准。由于所提出的校准机制不需要统一的QA切片机水平,因此可以应用非均匀量化来提高系统性能。我们提出了两种方法,利用遗传算法和$mu $ -law来寻找非均匀切片器水平,与均匀水平相比,提供更好的性能。仿真结果表明,对于由32片组成的QA放大器,在保持相同结构和相同功率的情况下,仅调整量化电平可使多音输入下的信噪比(SNDR)提高一倍,而均匀量化电平可提供54 dB的SNDR。
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引用次数: 2
A Natively Fixed-Point Run-Time Reconfigurable FIR Filter Design Method for FPGA Hardware 一种FPGA硬件的本地定点运行时可重构FIR滤波器设计方法
Pub Date : 2022-02-17 DOI: 10.1109/OJCAS.2022.3152399
Josh Goldsmith;Louise H. Crockett;Robert W. Stewart
We present a natively fixed-point filter design method that targets FPGA-based Reconfigurable Finite Impulse Response (RFIR) filters for Software Defined Radio applications. The Filter Designer is capable of reconfiguring cut-off frequencies on-the-fly at run-time; with other parameters, such as filter length and window type, configurable at compile-time. The ability to compute filter coefficients directly on FPGAs is compelling, as much lower latencies can be achieved when compared to RFIRs programmed with embedded processors. In this work we discuss several filter design techniques from the literature and investigate their suitability for implementation on FPGAs. A hybrid method combining window and frequency sampling methods is developed and implemented on a Xilinx Zynq-7000 SoC. We explore the limitations of designing filters in fixed-point arithmetic and consider the effects filter length and wordlength have on filter quality. Results show that the proposed algorithm generates good-quality filters that display stopband attenuation up to 88dB, transition bandwidths less than 1% of the sample rate, and low resource utilisation. Most notably, we found that our method is up to three orders of magnitude faster than an equivalent software implementation, with execution times as low as 2.52 $mu text{s}$ , enabling radio applications in which latency is a principal constraint.
针对软件无线电应用中基于fpga的可重构有限脉冲响应(RFIR)滤波器,提出了一种原生定点滤波器设计方法。滤波器设计器能够在运行时动态地重新配置截止频率;使用其他参数,如过滤器长度和窗口类型,在编译时可配置。直接在fpga上计算滤波器系数的能力是引人注目的,因为与用嵌入式处理器编程的rfirst相比,可以实现更低的延迟。在这项工作中,我们从文献中讨论了几种滤波器设计技术,并研究了它们在fpga上实现的适用性。在Xilinx Zynq-7000 SoC上开发并实现了一种结合窗口和频率采样方法的混合方法。我们探讨了在不动点算法中设计滤波器的局限性,并考虑了滤波器长度和字长对滤波器质量的影响。结果表明,该算法产生的滤波器质量良好,阻带衰减高达88dB,过渡带宽小于采样率的1%,资源利用率低。最值得注意的是,我们发现我们的方法比等效的软件实现快三个数量级,执行时间低至2.52 $mu text{s}$,使延迟成为主要约束的无线电应用成为可能。
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引用次数: 6
Editorial: Where Are We Now and Where Do We Go From Here 社论:我们现在在哪里,我们从哪里去
Pub Date : 2022-01-19 DOI: 10.1109/OJCAS.2022.3142456
Gabriele Manganaro
Happy 2022 and welcome to the third volume of the IEEE Open Journal of Circuits and Systems (OJ-CAS).
2022年快乐,欢迎来到IEEE电路与系统开放期刊(OJ-CAS)第三卷。
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引用次数: 0
A Vision System With 1-inch 17-Mpixel 1000-fps Block-Controlled Coded-Exposure Stacked-CMOS Image Sensor for Computational Imaging and Adaptive Dynamic Range Control 1英寸17万像素1000 fps块控制编码曝光堆叠cmos图像传感器的视觉系统,用于计算成像和自适应动态范围控制
Pub Date : 2022-01-01 DOI: 10.1109/OJCAS.2022.3213062
Tomoki Hirata;Hironobu Murata;Taku Arii;Hideaki Matsuda;Hajime Yonemochi;Yojiro Tezuka;Shiro Tsunai
This study introduces a vision system that can acquire images at high speeds and high resolutions. Image sensors are used not only in digital still cameras but also in various applications that require capturing wide luminance differences beyond human perception. For example, fast, high-resolution object recognition, and motion tracking in automatic driving systems are essential, particularly in dark tunnels or the mid-summer sunshine. However, the resolution, frame rate, pixel size, and dynamic range should be traded off to achieve a high performance in capturing moving objects with a high contrast. We have developed a high-speed vision system with a readout operation of 1000 fps, resolution of 4K ${times },4text{K}$ , dynamic range of 110 dB, and fine pixels of $2.7~{mu }text{m}$ . These characteristics were achieved using several technologies such as 1) coded exposure (CE), which divides the image plane into smaller blocks and controls the exposure time of each block individually, 2) arrangement of analog-to-digital converters in parallel for each block, and 3) three-dimensional wafer stacking, which enables high-density integration of circuits and pixels. The proposed system can be applied in CE-based computational imaging in addition to high-dynamic-range applications for handling both the dark and bright areas in a scene.
本研究介绍了一种高速、高分辨率图像采集的视觉系统。图像传感器不仅用于数码相机,而且还用于需要捕捉超出人类感知的广泛亮度差异的各种应用。例如,自动驾驶系统中的快速、高分辨率物体识别和运动跟踪至关重要,特别是在黑暗的隧道或仲夏的阳光下。然而,分辨率、帧率、像素大小和动态范围应该权衡,以实现高对比度捕捉运动物体的高性能。我们开发了一个高速视觉系统,其读出操作为1000 fps,分辨率为4K ${times},4text{K}$,动态范围为110 dB,精细像素为$2.7~{mu}text{m}$。这些特性是通过几种技术实现的,如1)编码曝光(CE),它将图像平面划分为更小的块,并单独控制每个块的曝光时间,2)模拟-数字转换器在每个块上并行排列,以及3)三维晶圆堆叠,使电路和像素高密度集成。所提出的系统可以应用于基于ce的计算成像,以及处理场景中的暗区和亮区的高动态范围应用。
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引用次数: 0
A 2D Chaotic Oscillator for Analog IC 用于模拟集成电路的二维混沌振荡器
Pub Date : 2022-01-01 DOI: 10.1109/OJCAS.2022.3216780
Partha Sarathi Paul;Parker Hardy;Maisha Sadia;MD Sakib Hasan
In this paper, we have proposed the design of an analog two-dimensional (2D) discrete-time chaotic oscillator. 2D chaotic systems are studied because of their more complex chaotic behavior compared to one-dimensional (1D) chaotic systems. The already published works on 2D chaotic systems are mainly focused either on the complex analytical combinations of familiar 1D chaotic maps such as Sine map, Logistic map, Tent map, and so on, or off-the-shelf component-based analog circuits. Due to complex hardware requirements, neither of them is feasible for hardware-efficient integrated circuit (IC) implementations. To the best of our knowledge, this proposed work is the first-ever report of an analog 2D discrete-time chaotic oscillator design that is suitable for hardware-constrained IC implementations. The chaotic performance of the proposed design is analyzed with bifurcation plots, the transient response, 2D Lyapunov exponent, and correlation coefficient measurements. It is demonstrated that the proposed design exhibits promising chaotic behavior with low hardware cost. The real-world application of the proposed 2D chaotic oscillator is presented in a random number generator (RNG) design. The applicability of the RNG in cryptography is verified by passing the generated random sequence through four standard statistical tests namely, NIST, FIPS, TestU01, and Diehard.
在本文中,我们提出了一种模拟二维(2D)离散时间混沌振荡器的设计。研究二维混沌系统是因为与一维(1D)混沌系统相比,二维混沌系统具有更复杂的混沌行为。已经发表的关于2D混沌系统的工作主要集中在熟悉的1D混沌映射的复杂分析组合上,如正弦映射、逻辑映射、帐篷映射等,或者是现成的基于组件的模拟电路。由于复杂的硬件要求,它们都不适用于硬件高效集成电路(IC)实现。据我们所知,这项拟议的工作是第一份适用于硬件约束IC实现的模拟2D离散时间混沌振荡器设计报告。通过分岔图、瞬态响应、二维李雅普诺夫指数和相关系数测量,分析了所提出设计的混沌性能。结果表明,该设计具有良好的混沌性能,硬件成本低。介绍了所提出的二维混沌振荡器在随机数发生器(RNG)设计中的实际应用。通过将生成的随机序列通过四个标准统计测试,即NIST、FIPS、TestU01和Diehard,验证了RNG在密码学中的适用性。
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引用次数: 1
期刊
IEEE open journal of circuits and systems
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