Open Access. Powered by Scholars. Published by Universities.®
- Discipline
Articles 1 - 2 of 2
Full-Text Articles in Engineering
Greentpu: Predictive Design Paradigm For Improving Timing Error Resilience Of A Near-Threshold Tensor Processing Unit, Pramesh Pandey, Prabal Basu, Koushik Chakraborty, Sanghamitra Roy
Greentpu: Predictive Design Paradigm For Improving Timing Error Resilience Of A Near-Threshold Tensor Processing Unit, Pramesh Pandey, Prabal Basu, Koushik Chakraborty, Sanghamitra Roy
Electrical and Computer Engineering Faculty Publications
The emergence of hardware accelerators has brought about several orders of magnitude improvement in the speed of the deep neural-network (DNN) inference. Among such DNN accelerators, the Google tensor processing unit (TPU) has transpired to be the best-in-class, offering more than 15\times speedup over the contemporary GPUs. However, the rapid growth in several DNN workloads conspires to escalate the energy consumptions of the TPU-based data-centers. In order to restrict the energy consumption of TPUs, we propose GreenTPU - a low-power near-threshold (NTC) TPU design paradigm. To ensure a high inference accuracy at a low-voltage operation, GreenTPU identifies the patterns in …
The Application Of Neural Networks To Optimal Robot Trajectory Planning, Daniel J. Simon
The Application Of Neural Networks To Optimal Robot Trajectory Planning, Daniel J. Simon
Electrical and Computer Engineering Faculty Publications
Interpolation of minimum jerk robot joint trajectories through an arbitrary number of knots is realized using a hardwired neural network. Minimum jerk joint trajectories are desirable for their similarity to human joint movements and their amenability to accurate tracking. The resultant trajectories are numerical rather than analytic functions of time. This application formulates the interpolation problem as a constrained quadratic minimization problem over a continuous joint angle domain and a discrete time domain. Time is discretized according to the robot controller rate. The neuron outputs define the joint angles (one neuron for each discrete value of time) and the Lagrange …