José Cano 0001

dblp:74/5888 · also José Cano Reyes · DBLP profile ↗
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26ranked-venue papers
5as first author
15since 2021 · last 2025
0000-0002-2243-389XORCID · verified

Domains — the database's venue-derived domains; a paper can count in several

Systems, architecture and hardware · 14 · 4 first-author · 7 since 2021Software engineering, systems software and programming languages · 7 · 5 since 2021Artificial intelligence and machine learning · 3 · 2 first-author · 1 since 2021Computer networks · 2 · 1 first-author · 1 since 2021Security and privacy · 1 · 1 since 2021
YearPublicationVenuePosition
2025 FetaFix: Automatic Fault Localization and Repair of Deep Learning Model Conversions
abstract
Converting deep learning models between frameworks is a common step to maximize model compatibility across devices and leverage optimization features that may be exclusively provided in one deep learning framework. However, this conversion process may be riddled with bugs, making the converted models either undeployable or problematic, considerably degrading their prediction correctness.
Nikolaos Louloudakis, Perry Gibson, José Cano 0001, Ajitha Rajan
EASE3
2025 Accelerating Transposed Convolutions on FPGA-Based Edge Devices
abstract
Transposed Convolutions (TCONV) enable the upscaling mechanism within generative Artificial Intelligence (AI) models. However, the predominant Input-Oriented Mapping (IOM) method for implementing TCONV has complex output mapping, overlapping sums, and ineffectual computations. These inefficiencies further exacerbate the performance bottleneck of TCONV and generative models on resource-constrained edge devices. To address this problem, in this paper we propose MM2IM, a hardware-software co-designed accelerator that combines Matrix Multiplication (MatMul) with col2IM to process TCONV layers on resource-constrained edge devices efficiently. Using the SECDA-TFLite design toolkit, we implement MM2IM and evaluate its performance across 261 TCONV problem configurations, achieving an average speedup of$1.9 \times$against a dualthread ARM Neon optimized CPU baseline. We then evaluate the performance of MM2IM on a range of TCONV layers from well-known generative models achieving up to$4.2 \times$speedup, and compare it against similar resource-constrained TCONV accelerators, outperforming them by at least$2 \times$GOPs/DSP. Finally, we evaluate MM2IM on the DCGAN and pix2pix GAN models, achieving up to$3 \times$speedup and$2.4 \times$energy reduction against the CPU baseline.
Jude Haris, José Cano 0001
FPL2
2025 QuFi: Adaptive Tiled Gustavson Output Reuse for Edge Sparse DNN Accelerators
abstract
In recent years, a myriad of Deep Neural Network (DNN) accelerator architectures have been proposed targeting efficient Sparse Matrix-Sparse Matrix Multiplication (SpMSpM) for the edge. Most focus on the dataflow, i.e., the order in which processing elements perform multiply-accumulate operations, while overlooking the influence of memory structures. For Gustavson-based dataflows, which have been proven to be the most efficient for the mid-sparsity scenarios exhibited by sparse DNN workloads, we find that the memory structure's organization storing partial results significantly affects performance. Different DNN models, even layers within the same model, impose diverse requirements on this structure. Rigid designs, commonly assumed so far, often cause frequent merging operations that degrade performance. In this work, we advocate for the necessity of providing adaptability at this memory structure and propose QuFi, a configurable merging memory structure designed for easy integration into any Gustavson-based accelerator and tailored to edge devices. Implemented as a collection of queues across multiple memory banks, QuFi supports reconfigurability through queue fusion and dynamic clustering while providing high bandwidth. Through a detailed evaluation that considers its inclusion into a state-of-the-art accelerator design for the edge, we show that QuFi provides an average speedup of$1.64 \times$, up to 73 % reduction in off-chip memory traffic, and leads to total accelerator area savings of 17 %.
Adrián Navarro, José Cano 0001, José L. Abellán, Manuel E. Acacio
ICCD2
2025 FedRand: A Federated Random Forest Learning Technique for Anomaly Detection in IoT Networks
abstract
Federated Learning (FL) is an emerging distributed machine learning (ML) technique distinguished by non-independent and identically distributed (Non-IID) data, statistical heterogeneity, and an expected large number of participating clients to collaboratively train a shared model without fusing the training data into one centralized server. State-of-the-art FL research focuses on gradient-based models, which is not suitable for ML-based intrusion detection systems that utilize tree-based learning methods such as Random Forest. Adapting a typical gradient-based FL method to a tree-based training technique is non-trivial, as ensembling trees and aggregating decision trees from different random forests across clients can be computationally, spatially, and temporally intensive. To overcome these challenges, this paper proposes FedRand, a novel adaptive Federated Random Forest Aggregation Learning Technique for Anomaly Detection in Internet of Things (IoT) networks. This paper thoroughly examines a suite of novel tree selection and aggregation strategies within a federated learning framework, ensuring robust model accuracy, accelerated aggregation, and global model convergence. We believe that this work opens up a promising solution for federated tree-based learning techniques.
Omodolapo Babalola, José Cano 0001, Somrudee Deepaisarn, Nguyen Binh Truong
TrustCom2
2025 DLAS: A Conceptual Model for Across-Stack Deep Learning Acceleration
abstract
Deep Neural Networks (DNNs) are very computationally demanding, which presents a significant barrier to their deployment, especially on resource-constrained devices. Significant work from both the machine learning and computing systems communities has attempted to accelerate DNNs. However, the number of techniques available and the required domain knowledge for their exploration continue to grow, making design space exploration (DSE) increasingly difficult. To unify the perspectives from these two communities, this article introduces the Deep Learning Acceleration Stack (DLAS), a conceptual model for DNN deployment and acceleration. We adopt a six-layer representation that organizes and illustrates the key areas for DNN acceleration, from machine learning to software and computer architecture. We argue that the DLAS model balances simplicity and expressiveness, assisting practitioners from various domains in tackling co-design acceleration challenges. We demonstrate the interdependence of the DLAS layers, and thus the need for co-design, through an across-stack perturbation study, using a modified tensor compiler to generate experiments for combinations of a few parameters across the DLAS layers. Our perturbation study assesses the impact on inference time and accuracy when varying DLAS parameters across two datasets, seven popular DNN architectures, four compression techniques, three algorithmic primitives (with sparse and dense variants), untuned and auto-scheduled code generation, and four hardware platforms. The study observes significant changes in the relative performance of design choices with the introduction of new DLAS parameters (e.g., the fastest algorithmic primitive varies with the level of quantization). Given the strong evidence for the need for co-design, and the high costs of DSE, DLAS offers a valuable conceptual model for better exploring advanced co-designed accelerated deep learning solutions.
Perry Gibson, José Cano 0001, Elliot Crowley, Amos J. Storkey, Michael F. P. O'Boyle
ACM Trans. Archit. Code Optim.2
2024 AXI4MLIR: User-Driven Automatic Host Code Generation for Custom AXI-Based Accelerators
abstract
This paper addresses the need for automatic and efficient generation of host driver code for arbitrary custom AXI-based accelerators targeting linear algebra algorithms, an important workload in various applications, including machine learning and scientific computing. While existing tools have focused on automating accelerator prototyping, little attention has been paid to the host-accelerator interaction. This paper introduces AXI4MLIR, an extension of the MLIR compiler framework designed to facilitate the automated generation of host-accelerator driver code. With new MLIR attributes and transformations, AXI4MLIR empowers users to specify accelerator features (including their instructions) and communication patterns and exploit the host memory hierarchy. We demonstrate AXI4MLIR's versatility across different types of accelerators and problems, showcasing significant CPU cache reference reductions (up to 56%) and up to a 1.65× speedup compared to manually optimized driver code implementations. AXI4MLIR implementation is open-source and available at: https:/7github.com/AXI4MLIR/axi4mlir.
Nicolas Bohm Agostini, Jude Haris, Perry Gibson, Malith Jayaweera, Norman Rubin, Antonino Tumeo, José L. Abellán, José Cano 0001, David R. Kaeli
CGO8
2024 A survey on Ethereum pseudonymity: Techniques, challenges, and future directions
abstract
Blockchain technology has emerged as a transformative force in various sectors, including finance, healthcare, supply chains, and intellectual property management. Beyond Bitcoin’s role as a decentralized payment system, Ethereum represents a notable application of blockchain, featuring Smart Contract functionality that enables the development and execution of decentralized applications (DApps). A key feature of Ethereum , and public blockchains in general, is pseudonymity, typically achieved by using public keys as pseudonyms for users. Despite implementing several privacy-preserving techniques, the public recording of user activities on the blockchain allows various deanonymization methods that can profile users, reveal sensitive information , and potentially re-identify them. Most blockchains, such as Bitcoin , Litecoin , and Cardano, employ the Unspent Transaction Output (UTXO) model for accounting, which focuses on individual transactions and is susceptible to various deanonymization techniques. In contrast, Ethereum uses an account-based transaction model, integrating the concepts of accounts and wallets at the protocol level. This makes most UTXO-based deanonymization techniques ineffective for Ethereum. However, alternative methods with the potential to deanonymize Ethereum users have been proposed and developed. Privacy preservation techniques have been used to counteract deanonymization attempts; however, the challenges related to these techniques, their effectiveness and efficiency, and the trade-off between usability and protection levels remain areas for further exploration. This survey presents a comprehensive analysis of state-of-the-art privacy preservation along with deanonymization techniques in the blockchain and Ethereum ecosystems. This survey examines the intrinsic mechanisms supporting pseudonymity in Ethereum, providing a detailed assessment of the advantages and disadvantages of privacy preservation techniques, and suggests potential countermeasures against those deanonymization methods. It also discusses the implications arising from the intersection of DApps and data protection legislation , which is vital for ensuring the coexistence and advancement of groundbreaking blockchain capabilities and protecting user data.
Shivani Jamwal, José Cano 0001, Gyu Myoung Lee, Nguyen Hoang Tran, Nguyen Binh Truong
J. Netw. Comput. Appl.2
2023 DeltaNN: Assessing the Impact of Computational Environment Parameters on the Performance of Image Recognition Models
abstract
Image recognition tasks typically use deep learning and require enormous processing power, thus relying on hardware accelerators like GPUs and TPUs for fast, timely processing. Failure in real-time image recognition tasks can occur due to sub-optimal mapping on hardware accelerators during model deployment, which may lead to timing uncertainty and erroneous behavior. Mapping on hardware accelerators is done using multiple software components like deep learning frameworks, compilers, and device libraries, that we refer to as the computational environment. Owing to the increased use of image recognition tasks in safety-critical applications like autonomous driving and medical imaging, it is imperative to assess their robustness to changes in the computational environment, as the impact of parameters like deep learning frameworks, compiler optimizations, and hardware devices on model performance and correctness is not yet well understood.In this paper we present a differential testing framework, DeltaNN, that allows us to assess the impact of different computational environment parameters on the performance of image recognition models during deployment, post training. DeltaNN generates different implementations of a given image recognition model for variations in environment parameters, namely, deep learning frameworks, compiler optimizations and hardware devices and analyzes differences in model performance as a result. Using DeltaNN, we conduct an empirical study of robustness analysis of three popular image recognition models using the ImageNet dataset. We report the impact in terms of misclassifications and inference time differences across different settings. In total, we observed up to 72% output label differences across deep learning frameworks, and up to 81% unexpected performance degradation in terms of inference time, when applying compiler optimizations.
Nikolaos Louloudakis, Perry Gibson, José Cano 0001, Ajitha Rajan
ICSME3
2023 Improving Robustness Against Adversarial Attacks with Deeply Quantized Neural Networks
abstract
Reducing the memory footprint of Machine Learning (ML) models, particularly Deep Neural Networks (DNNs), is essential to enable their deployment into resource-constrained tiny devices. However, a disadvantage of DNN models is their vulnerability to adversarial attacks, as they can be fooled by adding slight perturbations to the inputs. Therefore, the challenge is how to create accurate, robust, and tiny DNN models deployable on resource-constrained embedded devices. This paper reports the results of devising a tiny DNN model, robust to adversarial black and white box attacks, trained with an automatic quantization-aware training framework, i.e. QKeras, with deep quantization loss accounted in the learning loop, thereby making the designed DNNs more accurate for deployment on tiny devices. We investigated how QKeras and an adversarial robustness technique, Jacobian Regularization (JR), can provide a co-optimization strategy by exploiting the DNN topology and the per layer JR approach to produce robust yet tiny deeply quantized DNN models. As a result, a new DNN model implementing this co-optimization strategy was conceived, developed and tested on three datasets containing both images and audio inputs, as well as compared its performance with existing benchmarks against various white-box and black-box attacks. Experimental results demonstrated that on average our proposed DNN model resulted in 8.3% and 79.5% higher accuracy than MLCommons/Tiny benchmarks in the presence of white-box and black-box attacks on the CIFAR-10 image dataset and a subset of the Google Speech Commands audio dataset respectively. It was also 6.5% more accurate in the presence of black-box attacks on the SVHN image dataset.
Ferheen Ayaz, Idris Zakariyya, José Cano 0001, Sye Loong Keoh, Jeremy Singer, Danilo Pau, Mounia Kharbouche-Harrari
IJCNN3
2023 Fault Localization for Buggy Deep Learning Framework Conversions in Image Recognition
abstract
When deploying Deep Neural Networks (DNNs), developers often convert models from one deep learning framework to another (e.g., TensorFlow to PyTorch). However, this process is error-prone and can impact target model accuracy. To identify the extent of such impact, we perform and briefly present a differential analysis against three DNNs widely used for image recognition (MobileNetV2, ResNet101, and InceptionV3)converted across four well-known deep learning frameworks (PyTorch, Keras, TensorFlow (TF), and TFLite), which revealed numerous model crashes and output label discrepancies of up to 72%. To mitigate such errors, we present a novel approach towards fault localization and repair of buggy deep learning framework conversions, focusing on pre-trained image recognition models. Our technique consists of four stages of analysis: 1) conversion tools, 2) model parameters, 3) model hyperparameters, and 4) graph representation. In addition, we propose various strategies towards fault repair of the faults detected. We implement our technique on top of the Apache TVM deep learning compiler, and we test it by conducting a preliminary fault localization analysis for the conversion of InceptionV3 from TF to TFLite. Our approach detected a fault in a common DNN converter tool, which introduced precision errors in weights, reducing model accuracy. After our fault localization, we repaired the issue, reducing our conversion error to zero.
Nikolaos Louloudakis, Perry Gibson, José Cano 0001, Ajitha Rajan
ASE3
2023 SECDA-TFLite: A toolkit for efficient development of FPGA-based DNN accelerators for edge inference
abstract
In this paper we propose SECDA-TFLite, a new open source toolkit for developing DNN hardware accelerators integrated within the TFLite framework. The toolkit leverages the principles of SECDA , a hardware/software co-design methodology, to reduce the design time of optimized DNN inference accelerators on edge devices with FPGAs . With SECDA-TFLite, we reduce the initial setup costs associated with integrating a new accelerator design within a target DNN framework, allowing developers to focus on the design. SECDA-TFLite also includes modules for cost-effective SystemC simulation, profiling, and AXI-based data communication. As a case study , we use SECDA-TFLite to develop and evaluate three accelerator designs across seven common CNN models and two BERT-based models against an ARM A9 CPU-only baseline, achieving an average performance speedup across models of up to 3.4× for the CNN models and of up to 2.5× for the BERT-based models. Our code is available at https://github.com/gicLAB/SECDA-TFLite .
Jude Haris, Perry Gibson, José Cano 0001, Nicolas Bohm Agostini, David R. Kaeli
J. Parallel Distributed Comput.3
2022 Transfer-Tuning: Reusing Auto-Schedules for Efficient Tensor Program Code Generation
abstract
Auto-scheduling for tensor programs is a process where a search algorithm automatically explores candidate schedules (program transformations) for a given program on a target hardware platform to improve its performance. However this can be a very time consuming process depending on the complexity of the tensor program and the capacity of the target device, with often many thousands of program variants being explored. To address this, in this paper we introduce the idea of transfer-tuning, a novel approach to identify and reuse auto-schedules between tensor programs. We demonstrate this concept using Deep Neural Networks (DNNs), taking sets of auto-schedules from pre-tuned DNNs and using them to reduce the inference time of a new DNN. We compare transfer-tuning against the state-of-the-art Ansor auto-scheduler, defining the maximum possible speedup for a given DNN model as what Ansor achieves using its recommended full tuning time. On a server-class CPU and across 11 widely used DNN models, we observe that transfertuning achieves up to 88.41% (49.13% on average) of this maximum speedup, while Ansor requires 6.5× more search time on average to match it. We also evaluate transfer-tuning on a constrained edge CPU and observe that the differences in search time are exacerbated, with Ansor requiring 10.8× more time on average to match transfer-tuning's speedup, which further demonstrates its value. Our code is available at https://github.com/gicLAB/transfer-tuning.
Perry Gibson, José Cano 0001
PACT2
2022 Bifrost: End-to-End Evaluation and optimization of Reconfigurable DNN Accelerators
abstract
Reconfigurable accelerators for deep neural networks (DNNs) promise to improve performance such as inference latency. STONNE is the first cycle-accurate simulator for reconfigurable DNN inference accelerators which allows for the exploration of accelerator designs and configuration space. However, preparing models for evaluation and exploring configuration space in STONNE is a manual developer-time-consuming process, which is a barrier for research. This paper introduces Bifrost, an end-to-end framework for the evaluation and optimization of reconfigurable DNN inference accelerators. Bifrost operates as a frontend for STONNE and leverages the TVM deep learning compiler stack to parse models and automate offloading of accelerated computations. We discuss Bifrost’s advantages over STONNE and other tools, and evaluate the MAERI and SIGMA architectures using Bifrost. Additionally, Bifrost introduces a module leveraging AutoTVM to efficiently explore accelerator designs and datatlow mapping space to optimize performance. This is demonstrated by tuning the MAERI architecture and generating efficient datatlow mappings for AlexNet, obtaining an average speedup of $50\times$ for the convolutional layers and $11\times$ for the fully connected layers. Our code is available at www.github.com/gicLAB/bifrost.
Axel Stjerngren, Perry Gibson, José Cano 0001
ISPASS3
2021 SECDA: Efficient Hardware/Software Co-Design of FPGA-based DNN Accelerators for Edge Inference
abstract
Edge computing devices inherently face tight resource constraints, which is especially apparent when deploying Deep Neural Networks (DNN) with high memory and compute demands. FPGAs are commonly available in edge devices. Since these reconfigurable circuits can achieve higher throughput and lower power consumption than general purpose processors, they are especially well-suited for DNN acceleration. However, existing solutions for designing FPGA-based DNN accelerators for edge devices come with high development overheads, given the cost of repeated FPGA synthesis passes, reimplementation in a Hardware Description Language (HDL) of the simulated design, and accelerator system integration. In this paper we propose SECDA, a new hardware/software co-design methodology to reduce design time of optimized DNN inference accelerators on edge devices with FPGAs. SECDA combines cost-effective SystemC simulation with hardware execution, streamlining design space exploration and the development process via reduced design evaluation time. As a case study, we use SECDA to efficiently develop two different DNN accelerator designs on a PYNQ-Z1 board, a platform that includes an edge FPGA. We quickly and iteratively explore the system's hardware/software stack, while identifying and mitigating performance bottlenecks. We evaluate the two accelerator designs with four common DNN models, achieving an average performance speedup across models of up to 3.5× with a 2.9× reduction in energy consumption over CPU-only inference. Our code is available at https://github.com/gicLAB/SECDA
Jude Haris, Perry Gibson, José Cano 0001, Nicolas Bohm Agostini, David R. Kaeli
SBAC-PAD3
2021 Spartan: A Sparsity-Adaptive Framework to Accelerate Deep Neural Network Training on GPUs
abstract
Deep Neural Networks (DNNs) have emerged as an important class of machine learning algorithms, providing accurate solutions to a broad range of applications. Sparsity in activation maps in DNN training presents an opportunity to reduce computations. However, exploiting activation sparsity presents two major challenges: i) profiling activation sparsity during training comes with significant overhead due to computing the degree of sparsity and the data movement; ii) the dynamic nature of activation maps requires dynamic dense-to-sparse conversion during training, leading to significant overhead. In this article, we present Spartan, a lightweight hardware/software framework to accelerate DNN training on a GPU. Spartan provides a cost-effective and programmer-transparent microarchitectural solution to exploit activation sparsity detected during training. Spartan provides an efficient sparsity monitor, a tile-based sparse GEMM algorithm, and a novel compaction engine designed for GPU workloads. Spartan can reduce sparsity profiling overhead by 52.5× on average. For the most compute-intensive layers, i.e., convolutional layers, we can speedup AlexNet by 3.4×, VGGNet-16 by 2.14×, and ResNet-18 by 2.02×, when training on the ImageNet dataset.
Shi Dong 0002, Yifan Sun 0002, Nicolas Bohm Agostini, Elmira Karimi, Daniel Lowell, José Cano 0001, José L. Abellán, David R. Kaeli
IEEE Trans. Parallel Distributed Syst.7
2020 Optimizing Grouped Convolutions on Edge Devices
abstract
When deploying a deep neural network on con-strained hardware, it is possible to replace the network’s standard convolutions with grouped convolutions. This allows for substantial memory savings with minimal loss of accuracy. However, current implementations of grouped convolutions in modern deep learning frameworks are far from performing optimally in terms of speed. In this paper we propose Grouped Spatial Pack Convolutions (GSPC), a new implementation of grouped convolutions that outperforms existing solutions. We implement GSPC in TVM, which provides state-of-the-art performance on edge devices. We analyze a set of networks utilizing different types of grouped convolutions and evaluate their performance in terms of inference time on several edge devices. We observe that our new implementation scales well with the number of groups and provides the best inference times in all settings, improving the existing implementations of grouped convolutions in TVM, PyTorch and TensorFlow Lite by $3.4\times, 8\times$ and $ 4\times$ on average respectively. Code is available at https://github.com/gecLAB/tvm-GSPC/
Perry Gibson, José Cano 0001, Jack Turner, Elliot Crowley, Michael F. P. O'Boyle, Amos J. Storkey
ASAP2
2020 Orpheus: A New Deep Learning Framework for Easy Deployment and Evaluation of Edge Inference
abstract
Optimising deep learning inference across edge devices and optimisation targets such as inference time, memory footprint and power consumption is a key challenge due to the ubiquity of neural networks. Today, production deep learning frameworks provide useful abstractions to aid machine learning engineers and systems researchers. However, in exchange they can suffer from compatibility challenges (especially on constrained platforms), inaccessible code complexity, or design choices that otherwise limit research from a systems perspective. This paper presents Orpheus, a new deep learning framework for easy prototyping, deployment and evaluation of inference optimisations. Orpheus features a small codebase, minimal dependencies, and a simple process for integrating other third party systems. We present some preliminary evaluation results.
Perry Gibson, José Cano 0001
ISPASS2
2020 Design Space Exploration of Accelerators and End-to-End DNN Evaluation with TFLITE-SOC
abstract
Recently there has been a rapidly growing demand for faster machine learning (ML) processing in data centers and migration of ML inference applications to edge devices. These developments have prompted both industry and academia to explore custom accelerators to optimize ML executions for performance and power. However, identifying which accelerator is best equipped for performing a particular ML task is challenging, especially given the growing range of ML tasks, the number of target environments, and the limited number of integrated modeling tools. To tackle this issue, it is of paramount importance to provide the computer architecture research community with a common framework capable of performing a comprehensive, uniform, and fair comparison across different accelerator designs targeting a particular ML task. To this aim, we propose a new framework named TFLITE-SOC (System On Chip) that integrates a lightweight system modeling library (SystemC) for fast design space exploration of custom ML accelerators into the build/execution environment of Tensorflow Lite (TFLite), a highly popular ML framework for ML inference. Using this approach, we are able to model and evaluate new accelerators developed in SystemC by leveraging the language's hierarchical design capabilities, resulting in faster design prototyping. Furthermore, any accelerator designed using TFLITE-SOC can be benchmarked for inference with any DNN model compatible with TFLite, which enables end-to-end DNN processing and detailed (i.e., per DNN layer) performance analysis. In addition to providing rapid prototyping, integrated benchmarking, and a range of platform configurations, TFLITE-SOC offers comprehensive performance analysis of accelerator occupancy and execution time breakdown as well as a rich set of modules that can be used by new accelerators to implement scaling up studies and optimized memory transfer protocols. We present our framework and demonstrate its utility by considering the design space of a TPU-like systolic array and describing possible directions for optimization. Using a compression technique, we implement an optimization targeting reducing the memory traffic between DRAM and on-device buffers. Compared to the baseline accelerator, our optimized design shows up to 1.26× speedup on accelerated operations and up to 1.19× speedup on end-to-end DNN execution.
Nicolas Bohm Agostini, Shi Dong 0002, Elmira Karimi, Marti Torrents Lapuerta, José Cano 0001, José L. Abellán, David R. Kaeli
SBAC-PAD5
2018 Automatic Parameter Tuning of Motion Planning Algorithms
abstract
Motion planning algorithms attempt to find a good compromise between planning time and quality of solution. Due to their heuristic nature, they are typically configured with several parameters. In this paper we demonstrate that, in many scenarios, the widely used default parameter values are not ideal. However, finding the best parameters to optimise some metric(s) is not trivial because the size of the parameter space can be large. We evaluate and compare the efficiency of four different methods (i.e. random sampling, AUC-Bandit, random forest, and bayesian optimisation) to tune the parameters of two motion planning algorithms, BKPIECE and RRT-connect. We present a table-top-reaching scenario where the seven degrees-of-freedom KUKA LWR robotic arm has to move from an initial to a goal pose in the presence of several objects in the environment. We show that the best methods for BKPIECE (AUC-Bandit) and RRT-Connect (random forest) improve the performance by 4.5x and 1.26x on average respectively. Then, we generate a set of random scenarios of increasing complexity, and we observe that optimal parameters found in simple environments perform well in more complex scenarios. Finally, we find that the time required to evaluate parameter configurations can be reduced by more than 2/3 with low error. Overall, our results demonstrate that for a variety of motion planning problems it is possible to find solutions that significantly improve the performance over default configurations while requiring very reasonable computation times.
José Cano 0001, Bruno Bodin, Vijay Nagarajan, Michael F. P. O'Boyle
IROS1
2017 HW/SW co-designed processors: Challenges, design choices and a simulation infrastructure for evaluation
abstract
Improving single thread performance is a key challenge in modern microprocessors especially because the traditional approach of increasing clock frequency and deep pipelining cannot be pushed further due to power constraints. Therefore, researchers have been looking at unconventional architectures to boost single thread performance without running into the power wall. HW/SW co-designed processors like Nvidia Denver, are emerging as a promising alternative. However, HW/SW co-designed processors need to address some key challenges such as startup delay, providing high performance with simple hardware, translation/optimization overhead, etc. before they can become mainstream. A fundamental requirement for evaluating different design choices and trade-offs to meet these challenges is to have a simulation infrastructure. Unfortunately, there is no such infrastructure available today. Building the aforementioned infrastructure itself poses significant challenges as it encompasses the complexities of not only an architectural framework but also of a compilation one. This paper identifies the key challenges that HW/SW codesigned processors face and the basic requirements for a simulation infrastructure targeting these architectures. Furthermore, the paper presents DARCO, a simulation infrastructure to enable research in this domain.
Rakesh Kumar 0003, José Cano 0001, Aleksandar Brankovic, Demos Pavlou, Kyriakos Stavrou, Enric Gibert, Alejandro Martínez, Antonio Gonzalez
ISPASS2
2016 Automatic configuration of ROS applications for near-optimal performance
abstract
The performance of a ROS application is a function of the individual performance of its constituent nodes. Since ROS nodes are typically configurable (parameterised), the specific parameter values adopted will determine the level of performance generated. In addition, ROS applications may be distributed across multiple computation devices, thus providing different options for node allocation. We address two configuration problems that the typical ROS user is confronted with: i) Determining parameter values and node allocations for maximising performance; ii) Determining node allocations for minimising hardware resources that can guarantee the desired performance. We formalise these problems with a mathematical model, a constrained form of a multiple-choice multiple knapsack problem. We propose a greedy algorithm for optimising each problem, using linear regression for predicting the performance of an individual ROS node over a continuum set of parameter combinations. We evaluate the algorithms through simulation and we validate them in a real ROS scenario, showing that the expected performance levels only deviate from the real measurements by an average of 2.5%.
José Cano 0001, Alejandro Bordallo, Vijay Nagarajan, Subramanian Ramamoorthy, Sethu Vijayakumar
IROS1
2014 Efficient Routing in Heterogeneous SoC Designs with Small Implementation Overhead
abstract
In application-specific SoCs, the irregularity of the topology ends up in a complex and customized implementation of the routing algorithm, usually relying on routing tables implemented with memory structures at source end nodes. As system size increases, the routing tables also increase in size with nonnegligible impact on power, area, and latency overheads. In this paper, we present a routing implementation for application-specific SoCs able to implement in an efficient manner (with no routing tables and using a small logic block in every switch) a deadlock-free routing algorithm in these irregular networks. The mechanism relies on a tool that maps the initial irregular topology of the SoC system into a logical regular structure where the mechanism can be applied. We provide details for both the mapping tool and the proposed routing mechanism. Evaluation results show the effectiveness of the mapping tool as well as the low area and timing requirements of the mechanism. With the mapping tool and the routing mechanism, complex irregular SoC topologies can now be supported without the need for routing tables.
José Cano 0001, José Flich, Antoni Roca 0001, José Duato, Marcello Coppola, Riccardo Locatelli
IEEE Trans. Computers1
2012 Transient and Permanent Error Control for High-End Multiprocessor Systems-on-Chip
abstract
High-end MPSoC systems with built-in high-radix topologies achieve good performance because of the improved connectivity and the reduced network diameter. In high-end MPSoC systems, fault tolerance support is becoming a compulsory feature. In this work, we propose a combined method to address permanent and transient link and router failures in those systems. The LBDRhr mechanism is proposed to tolerate permanent link failures in some popular high-radix topologies. The increased router complexity may lead to more transient router errors than routers using simple XY routing algorithm. We exploit the inherent information redundancy (IIR) in LBDRhr logic to manage transient errors in the network routers. Thorough analyses are provided to discover the appropriate internal nodes and the forbidden signal patterns for transient error detection. Simulation results show that LBDRhr logic can tolerate all of the permanent failure combinations of long-range links and 80% of links failures at short-range links. Case studies show that the error detection method based on the new IIR extraction method reduces the power consumption and the residual error rate by 33% and up to two orders of magnitude, respectively, compared to triple modular redundancy. The impact of network topologies on the efficiency of the detection mechanism has been examined in this work, as well.
Qiaoyan Yu, José Cano 0001, José Flich, Paul Ampadu
NOCS2
2011 Efficient routing implementation in complex systems-on-chip
abstract
In application-specific SoCs, the irregularity of the topology ends up in a complex implementation of the routing algorithm, usually relying on routing tables implemented with memory structures. As system size increases, the routing table increases in size with non-negligible impact on power, area and latency overheads. In this paper we present a routing implementation for application-specific SoCs able to implement in an efficient manner (without requiring routing tables and using a small logic block in every switch) a routing algorithm in these irregular networks. The mechanism relies on a tool that maps the initial irregular topology of the SoC system into a logical regular structure where the mechanism can be applied. We provide details on the mapping tool as well the proposed routing mechanism. Evaluation results show the effectiveness of the mapping tool as well as the low area and timing requirements of the mechanism. With the mapping tool and the routing mechanism complex irregular SoC topologies can now be supported without the use of routing tables.
José Cano 0001, José Flich, José Duato, Marcello Coppola, Riccardo Locatelli
NOCS1
2011 Spidergon STNoC design flow
abstract
In this demonstration we present an enhanced version of the usual Spidergon STNoC design flow. In addition, we show the automatic generation of a simulation platform that can be used to perform early architecture exploration.
Florentine Dubois, José Cano 0001, Marcello Coppola, José Flich, Frédéric Pétrot
NOCS2
2005 On the Design of Spontaneous Networks Using a P2P Approach and Bluetooth
abstract
In this paper, we address the design of spontaneous networks using a peer to peer (P2P) and Bluetooth technology. A spontaneous network is a small infrastructureless network formed when a group of people come together to participate in some collaborative activity. In this work, we develop a base library and application work ground for easy spontaneous networks development. Based on it, we present an experimental application that provides spontaneous networks with context and transparent services to interchange resources between peers. We describe the overall network architecture and present details of the implementation steps taken to create our P2P and Bluetooth based application. Finally we run some experiments in a small testbed to evaluate the performance and system behaviour. We present our findings in term of the duration of the inquiry procedure and throughput performance with respect to distance and node speed.
José Cano 0001, Juan-Carlos Cano, Pietro Manzoni, David Ferrández-Bell
ISCC1