A SIMD-efficient 14 instruction shader program for high-throughput microtriangle rasterization

This paper shows that breaking the barrier of 1 triangle/clock rasterization rate for microtriangles in modern GPU architectures in an efficient way is possible. The fixed throughput of the special purpose culling and triangle setup stages of the classic pipeline limits the GPU scalability to rasterize many triangles in parallel when these cover very few pixels. In contrast, the shader core counts and increasing GFLOPs in modern GPUs clearly suggests parallelizing this computation entirely across multiple shader threads, making use of the powerful wide-ALU instructions. In this paper, we present a very efficient SIMD-like rasterization code targeted at very small triangles that scales very well with the number of shader cores and has higher performance than traditional edge equation based algorithms. We have extended the ATTILA GPU shader ISA (del Barrioet al. in IEEE International Symposium on Performance Analysis of Systems and Software, pp. 231–241, 2006) with two fixed point instructions to meet the rasterization precision requirement. This paper also introduces a novel subpixel Bounding Box size optimization that adjusts the bounds much more finely, which is critical for small triangles, and doubles the 2×2-pixel stamp test efficiency. The proposed shader rasterization program can run on top of the original pixel shader program in such a way that selected fragments are rasterized, attribute interpolated and pixel shaded in the same pass. Our results show that our technique yields better performance than a classic rasterizer at 8 or more shader cores, with speedups as high as 4× for 16 shader cores.     

Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining

Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions.     

Modeling Massive RFID Data Sets: A Gateway-Based Movement Graph Approach

Massive Radio Frequency Identification (RFID) data sets are expected to become commonplace in supply chain management systems. Warehousing and mining this data is an essential problem with great potential benefits for inventory management, object tracking, and product procurement processes. Since RFID tags can be used to identify each individual item, enormous amounts of location-tracking data are generated. With such data, object movements can be modeled by movement graphs, where nodes correspond to locations and edges record the history of item transitions between locations. In this study, we develop a movement graph model as a compact representation of RFID data sets. Since spatiotemporal as well as item information can be associated with the objects in such a model, the movement graph can be huge, complex, and multidimensional in nature. We show that such a graph can be better organized around gateway nodes, which serve as bridges connecting different regions of the movement graph. A graph-based object movement cube can be constructed by merging and collapsing nodes and edges according to an application-oriented topological structure. Moreover, we propose an efficient cubing algorithm that performs simultaneous aggregation of both spatiotemporal and item dimensions on a partitioned movement graph, guided by such a topological structure.     

Real-time massive convolution for audio applications on GPU

Massive convolution is the basic operation in multichannel acoustic signal processing. This field has experienced a major development in recent years. One reason for this has been the increase in the number of sound sources used in playback applications available to users. Another reason is the growing need to incorporate new effects and to improve the hearing experience. Massive convolution requires high computing capacity. GPUs offer the possibility of parallelizing these operations. This allows us to obtain the processing result in much shorter time and to free up CPU resources. One important aspect lies in the possibility of overlapping the transfer of data from CPU to GPU and vice versa with the computation, in order to carry out real-time applications. Thus, a synthesis of 3D sound scenes could be achieved with only a peer-to-peer music streaming environment using a simple GPU in your computer, while the CPU in the computer is being used for other tasks. Nowadays, these effects are obtained in theaters or funfairs at a very high cost, requiring a large quantity of resources. Thus, our work focuses on two mains points: to describe an efficient massive convolution implementation and to incorporate this task to real-time multichannel-sound applications.     

Home-based communication system for older adults and their remote family

As in many Latin–American countries, in Mexico many older adults live alone as a result of the migration of one or more of their relatives, mostly to the USA. Thus, not only do they live alone, but they might seldom see these relatives for long periods, even though they often depend on them financially. With the goal of designing appropriate communication technology for seniors and their relatives experiencing this situation, we conducted interviews and evaluated scenarios and prototypes to reveal the practical ways they maintain emotional ties despite the distance. Based on those findings, we envisioned a communication system through which seniors and their relatives can maintain close social ties by sharing information, personal reminiscences and stories. We found that older adults perceived the system as a richer, natural form of communication with their relatives that could facilitate their integration into the networks that currently connect members of their families.     

Xtensa: a configurable and extensible processor

System designers can optimize Xtensa for their embedded application by sizing and selecting features and adding new instructions. Xtensa provides an integrated solution that allows easy customization of both hardware and software. This process is simple, fast, and robust     

Reduction mammaplasty improves symptoms of macromastia

The condition macromastia has not been defined and characterized precisely by the medical community. Whether the patient with hypertrophic breasts is a candidate for or can be helped by reduction mammaplasty is unclear to both the medical and the lay community. A prospective study of 39 women undergoing reduction mammaplasty surgery was initiated to answer these questions. Patients rated the severity of their somatic pain symptoms and discomfort before reduction mammaplasty and again after complete recovery. The severity of their symptoms and complaints was numerically graded and analyzed. These data were compared with similar data obtained from 40 "small-breasted" women of similar age. Headache, neck pain, back pain, shoulder pain, and bra strap groove pain were present in 60 to 92 percent of patients, and 97 percent of patients had at least three of these pain symptoms preoperatively. All the patients had reduction of their pain symptomatology postoperative, and 25 percent of the study patients had total elimination of pain symptoms by reduction mammaplasty. The postoperative incidence and severity of pain symptoms and discomfort complaints were statistically equivalent to or less than the levels in the control group.