1. Informationsteknologi 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

2. Informationsteknologi 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)

3. Informationsteknologi 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

4. Informationsteknologi 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

5. Informationsteknologi 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)

6. Informationsteknologi Institutionen för informationsteknologi | www.it.uu.se Bearings-only tracking

7. Informationsteknologi Institutionen för informationsteknologi | www.it.uu.se Speedup Particle filters

8. Informationsteknologi Institutionen för informationsteknologi | www.it.uu.se Speedup Kalman filter GradKalkyl

9. Informationsteknologi 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.