Search for: All records

This paper presents two methods, tegrastats GUI version jtop and Nsight Systems, to profile NVIDIA Jetson embedded GPU devices on a model race car which is a great platform for prototyping and field testing autonomous driving algorithms. The two profilers analyze the power consumption, CPU/GPU utilization, and the run time of CUDA C threads of Jetson TX2 in five different working modes. The performance differences among the five modes are demonstrated using three example programs: vector add in C and CUDA C, a simple ROS (Robot Operating System) package of the wall follow algorithm in Python, and a complex ROS package of the particle filter algorithm for SLAM (Simultaneous Localization and Mapping). The results show that the tools are effective means for selecting operating mode of the embedded GPU devices.

 

This article investigates a robust receiver scheme for a single carrier, multiple-input–multiple-output (MIMO) underwater acoustic (UWA) communications, which uses the sparse Bayesian learning algorithm for iterative channel estimation embedded in Turbo equalization (TEQ). We derive a block-wise sparse Bayesian learning framework modeling the spatial correlation of the MIMO UWA channels, where a more robust expectation–maximization algorithm is proposed for updating the joint estimates of channel impulse response, residual noise, and channel covariance matrix. By exploiting the spatially correlated sparsity of MIMO UWA channels and the second-order a priori channel statistics from the training sequence, the proposed Bayesian channel estimator enjoys not only relatively low complexity but also more stable control of the hyperparameters that determine the channel sparsity and recovery accuracy. Moreover, this article proposes a low complexity space-time soft decision feedback equalizer (ST-SDFE) with successive soft interference cancellation. Evaluated by the undersea 2008 Surface Processes and Acoustic Communications Experiment, the improved sparse Bayesian learning channel estimation algorithm outperforms the conventional Bayesian algorithms in terms of the robustness and complexity, while enjoying better estimation accuracy than the orthogonal matching pursuit and the improved proportionate normalized least mean squares algorithms. We have also verified that the proposed ST-SDFE TEQ significantly outperforms the low-complexity minimum mean square error TEQ in terms of the bit error rate and error propagation.