Adaptive Formation Control and Semi-Physical Simulator for Multi-Fixed Wing UAVs

Formation flying is a phenomenon observed very often in the natural world, e.g. birds flying in a flock. The past decade has given a lot of emphasis on the research for the control of autonomous Unmanned Aerial Vehicles (UAVs) of the fixed-wing kind, in an effort to emulate the behavior of natural flocks. Emulating this behavior requires the...

Exploring normalizing flow for anomaly detection

Anomaly detection is a task of interest in many domains. Typical way of tackling this problem is using an unsupervised way. Recently, deep neural network based density estimators such as Normalizing flows have seen a huge interest. The ability of these models to do the exact latent-variable inference and exact log-likelihood calculation with...

Dynamic Hardware Binary Translator for ρ-VEX

The last years, there has been a increasing trend in embedded system and FPGA im-plementations for greater flexibility and also, a rising adaptation of heterogeneous plat-forms. These platforms often include FPGAs and embedded cores side by side.ρ-VEXcore, developed and maintained by the Computer Engineering group of TU Delft, is aVLIW processor...

Multi-GPU Brain: A multi-node implementation for an extended Hodgkin-Huxley simulator

Current brain simulators do no scale linearly to realistic problem sizes (e.g. >100,000 neurons), which makes them impractical for researchers. The goal of the thesis is to explore the use of true multi-GPU acceleration on computationally challenging brain models and to assess the scalability of such models given sufficient access to multi...

Automotive RADAR: Real-time implementation of joint sensing and communication waveform on a microcontroller

The automotive radars are significantly drifting towards the 77GHz electromagnetic spectrum band, and by 2020, they will no longer operate in the 24GHz band as per the regulations given by the European Telecommunications Standards Institute (ETSI) and Federal Communications Commission (FCC) in Europe and the U.S. With the communication systems...

Kernel isolation of a Capability-based security Operating System

Providing more confidentiality by extending a capability-based OS trough a hardware enforced isolation between the memory of the kernel and other memory. By employing memory tagging and hardware based Inter Process Communication (IPC) this defense gives an overhead of 26 percent.

Dynamically Reconfigurable Fault-Tolerant Design of r-VEX Softcore Processor

Over the past many years, technology scaling has resulted in a continuous reduction of lateral and vertical dimensions of transistors. The technology scaling, on the one hand, has led to a commensurate performance gain for very-large-scale integration (VLSI) circuits, but on the other hand, has also made such circuits more vulnerable to ionizing...

Lunar Zebro - Software Design Of The Locomotion Sub-System With The Dezyne Model Driven Development Tool

The TU Delft ZEs-Benige RObot (Zebro) project is presented with the opportunity to bring the Zebro concept to the surface of our moon. To maximise the probability of success, the Locomotion Sub-System (LSS) software of Lunar Zebro is developed using a novel model-driven design tool called Dezyne. Dezyne uses a proprietary language to describe...

Full-Whisker Tracking System: A new algorithm for accurate whisker tracking in untrimmed head-fixed mice.

The movement of whiskers in head-fixed mice is of high interest for neurological research, as it allows scientists to learn more about learning processes during active touch. However, manual tracking of whiskers in thousands of frames is not feasible, and reliable tracking of individual whiskers is not possible with the best current software...

Exploring Convolutional Neural Networks on the ρ-VEX architecture

As machine learning algorithms play an ever increasing role in today's technology, more demands are placed on computational hardware to run these algorithms efficiently. In recent years, Convolutional Neural Networks (CNNs) have become an important part of machine learning applications in areas such as object recognition and detection. In this...

Solving Poisson's equation with dataflow computing

The finite element method (FEM) is an ubiquitous method for the analysis of boundary value problems. Specifically, it can be used to find approximations to solutions of boundary value problems on a specific domain...

Digital Neuron Cells for Highly Parallel Cognitive Systems

The high level of realism of spiking neuron networks and their complexity require a considerable computational resources limiting the size of the realized networks. Consequently, the main challenge in building complex and biologically accurate spiking neuron network is largely set by the high computational and data transfer demands. In this...