The document discusses a system-on-chip (SoC) and programmable retina that aims to mimic the functions of the human retina in a single integrated circuit. The SoC retina combines image sensing and processing to acquire and analyze images in real-time with low power consumption. It consists of a CMOS sensor, cellular processor, and digital processing units. The SoC retina can perform tasks like target tracking, image recognition and industrial machine vision with applications in areas like retinal prosthesis and autonomous systems.
System on Chip (SoC) for mobile phonesJeffrey Funk
These slides use concepts (e.g., scaling) from my (Jeff Funk) course entitled analyzing hi-tech opportunities to look at how reductions in the feature sizes for integrated circuits (ICs) are enabling increases in the functionality of IC chips and thus the placements of larger systems on them. In turn, these increases in functionality of ICs are enabling increases in the functionality of mobile phones while at the same time creating new challenges for IC and mobile phone suppliers.
System on Chip (SoC) for mobile phonesJeffrey Funk
These slides use concepts (e.g., scaling) from my (Jeff Funk) course entitled analyzing hi-tech opportunities to look at how reductions in the feature sizes for integrated circuits (ICs) are enabling increases in the functionality of IC chips and thus the placements of larger systems on them. In turn, these increases in functionality of ICs are enabling increases in the functionality of mobile phones while at the same time creating new challenges for IC and mobile phone suppliers.
This lesson on System-on-Chip was given for the course "Advanced Platform Architectures and Mapping Methods for Embedded Applications" at the KU Leuven and is based on chapter 8 of 'A Practical Introduction to Hardware Software Codesign (Schaumont P.)'
Performance and Flexibility for Mmultiple-Processor SoC DesignYalagoud Patil
Concepts, limitations of traditional ASIC design
Extensible processors as an alternative to RTL
Toward multiple-processor SoCs
Processors and disruptive technology
Conclusions
Ayar Labs TeraPHY: A Chiplet Technology for Low-Power, High-Bandwidth In-Pack...inside-BigData.com
Today at Hot Chips 2019, Intel engineers presented technical details on hybrid chip packaging technology, Intel Optane DC persistent memory and chiplet technology for optical I/O.
"To get to a future state of ‘AI everywhere,’ we’ll need to address the crush of data being generated and ensure enterprises are empowered to make efficient use of their data, processing it where it’s collected when it makes sense and making smarter use of their upstream resources," said Naveen Rao, Intel vice president and GM, Artificial Intelligence Products Group. "Data centers and the cloud need to have access to performant and scalable general purpose computing and specialized acceleration for complex AI applications. In this future vision of AI everywhere, a holistic approach is needed—from hardware to software to applications.”
Learn more: https://www.intel.ai/accelerating-for-ai/?elq_cid=1192980
Sign up for our insideHPC Newsletter: http://insidehpc.com/newsletter
For the full video of this presentation, please visit: https://www.edge-ai-vision.com/2023/06/enabling-ultra-low-power-edge-inference-and-on-device-learning-with-akida-a-presentation-from-brainchip/
Nandan Nayampally, Chief Marketing Officer at BrainChip, presents the “Enabling Ultra-low Power Edge Inference and On-device Learning with Akida” tutorial at the May 2023 Embedded Vision Summit.
The AIoT industry is expected to reach $1T by 2030—but that will happen only if edge devices rapidly become more intelligent. In this presentation, Nayampally shows how BrainChip’s Akida IP solution enables improved edge ML accuracy and on-device learning with extreme energy efficiency. Akida is a fully digital, neuromorphic, event-based AI engine that offers unique on-device learning abilities, minimizing the need for cloud retraining.
Nayampally demonstrates Akida’s compelling performance and extreme energy efficiency on complex models and explains how Akida executes spatial-temporal convolutions using innovative handling of 3D and 1D data. He also shows how Akida supports low-power implementations of vision transformers and introduces the Akida developer ecosystem, which enables both AI experts and newcomers to quickly deploy disruptive edge AI applications that weren’t possible before.
This lesson on System-on-Chip was given for the course "Advanced Platform Architectures and Mapping Methods for Embedded Applications" at the KU Leuven and is based on chapter 8 of 'A Practical Introduction to Hardware Software Codesign (Schaumont P.)'
Performance and Flexibility for Mmultiple-Processor SoC DesignYalagoud Patil
Concepts, limitations of traditional ASIC design
Extensible processors as an alternative to RTL
Toward multiple-processor SoCs
Processors and disruptive technology
Conclusions
Ayar Labs TeraPHY: A Chiplet Technology for Low-Power, High-Bandwidth In-Pack...inside-BigData.com
Today at Hot Chips 2019, Intel engineers presented technical details on hybrid chip packaging technology, Intel Optane DC persistent memory and chiplet technology for optical I/O.
"To get to a future state of ‘AI everywhere,’ we’ll need to address the crush of data being generated and ensure enterprises are empowered to make efficient use of their data, processing it where it’s collected when it makes sense and making smarter use of their upstream resources," said Naveen Rao, Intel vice president and GM, Artificial Intelligence Products Group. "Data centers and the cloud need to have access to performant and scalable general purpose computing and specialized acceleration for complex AI applications. In this future vision of AI everywhere, a holistic approach is needed—from hardware to software to applications.”
Learn more: https://www.intel.ai/accelerating-for-ai/?elq_cid=1192980
Sign up for our insideHPC Newsletter: http://insidehpc.com/newsletter
For the full video of this presentation, please visit: https://www.edge-ai-vision.com/2023/06/enabling-ultra-low-power-edge-inference-and-on-device-learning-with-akida-a-presentation-from-brainchip/
Nandan Nayampally, Chief Marketing Officer at BrainChip, presents the “Enabling Ultra-low Power Edge Inference and On-device Learning with Akida” tutorial at the May 2023 Embedded Vision Summit.
The AIoT industry is expected to reach $1T by 2030—but that will happen only if edge devices rapidly become more intelligent. In this presentation, Nayampally shows how BrainChip’s Akida IP solution enables improved edge ML accuracy and on-device learning with extreme energy efficiency. Akida is a fully digital, neuromorphic, event-based AI engine that offers unique on-device learning abilities, minimizing the need for cloud retraining.
Nayampally demonstrates Akida’s compelling performance and extreme energy efficiency on complex models and explains how Akida executes spatial-temporal convolutions using innovative handling of 3D and 1D data. He also shows how Akida supports low-power implementations of vision transformers and introduces the Akida developer ecosystem, which enables both AI experts and newcomers to quickly deploy disruptive edge AI applications that weren’t possible before.
Neuro vision: Prof. Conradt @ Digital Product School of UnternehmerTUMAfsaneh Asaei
These slides are shared on behalf of Prof. Jörg Conradt, director of the Neuroscience System Theory (NST) at the Technical University of Munich (TUM).
https://www.nst.ei.tum.de/team/jorg-conradt/
Traditional “frame-based” cameras offer high-resolution crisp images at the cost of significant amounts of data to be processed for scene understanding. The human eye inspired so-called “event-based vision sensors” which asynchronously respond to local changes in light-intensity, and so offer high speed / low-latency visual perception at drastically reduced amounts of data to be processed. Digital Product School of UnternehmerTUM is delighted that our invited speaker introduced this novel sensing technology and the embedded event-based vision sensors and outlined possible application areas ranging from autonomous robotics to wearable electronics.
MIPI DevCon 2016: MIPI CSI-2 Application for Vision and Sensor Fusion SystemsMIPI Alliance
The expanding demand for imaging- and vision-based systems in mobile, IoT and automotive products is making the need for multi camera and sensor fusion systems look for novel ways to gather and process multiple data streams while still fitting into the mobile interface. The CSI-2 protocol allows camera sensor and processed image data to be combined into a single data stream using interleaving, allowing the application processor to extract the image data using the virtual channel or data type information. In this presentation, Richard Sproul of Cadence Design Systems will highlight some of the key details and requirements for a system with image processing of multi camera/sensor systems.
For the full video of this presentation, please visit:
http://www.embedded-vision.com/platinum-members/qualcomm/embedded-vision-training/videos/pages/may-2016-embedded-vision-summit-mangen
For more information about embedded vision, please visit:
http://www.embedded-vision.com
Michael Mangen, Product Manager for Camera and Computer Vision at Qualcomm, presents the "High-resolution 3D Reconstruction on a Mobile Processor" tutorial at the May 2016 Embedded Vision Summit.
Computer vision has come a long way. Use cases that were previously not possible in mass-market devices are now more accessible thanks to advances in depth sensors and mobile processors. In this presentation, Mangen provides an overview of how we are able to implement high-resolution 3D reconstruction – a capability typically requiring cloud/server processing – on a mobile processor. This is an exciting example of how new sensor technology and advanced mobile processors are bringing computer vision capabilities to broader markets.
Machine Learning with New Hardware ChallegensOscar Law
Describe basic neural network design and focus on Convolutional Neural Network architecture. Explain why CPU and GPU can't fulfill CNN hardware requirement. List out three hardware examples: Nvidia, Microsoft and Google. Finally highlight optimization approach for CNN design.
A Smart Camera Processing Pipeline for Image Applications Utilizing Marching ...sipij
Image processing in machine vision is a challenging task because often real-time requirements have to be met in these systems. To accelerate the processing tasks in machine vision and to reduce data transfer latencies, new architectures for embedded systems in intelligent cameras are required. Furthermore, innovative processing approaches are necessary to realize these architectures efficiently. Marching Pixels are such a processing scheme, based on Organic Computing principles, and can be applied for example to determine object centroids in binary or gray-scale images. In this paper, we present a processing pipeline for smart camera systems utilizing such Marching Pixel algorithms. It consists of a buffering template for image pre-processing tasks in a FPGA to enhance captured images and an ASIC for the efficient realization of Marching Pixel approaches. The ASIC achieves a speedup of eight for the realization of Marching Pixel algorithms, compared to a common medium performance DSP platform.
Development of wearable object detection system & blind stick for visuall...Arkadev Kundu
It is a wearable device. It has a camera, and it detects all living and non living object. This module detects moving object also. It is made with raspberry pi 3, and a camera. One headphone connect with raspberry pi. When this module detects items, it gave a sound output through headphone. Hence the blind man know that item, which is in-front of him or her. We made it in very low budget, and it is very helpful for visually challenged people. And the Blind stick help him to detect obstacles.
IoT Tech Expo 2023_Micha vor dem Berge presentationVEDLIoT Project
VEDLIoT Next Generation AIoT Applications. Micha vor dem Berge. VEDLIoT Conference Track co-located with IoT Tech Expo, Amsterdam, Netherlands, September 2023
Klony Lieberman (Sixdof Space): Ultra Fast 6DOF TrackingAugmentedWorldExpo
A talk from the Develop Track at AWE USA 2018 - the World's #1 XR Conference & Expo in Santa Clara, California May 30- June 1, 2018.
Klony Lieberman (Sixdof Space): Ultra Fast 6DOF Tracking
We present a prototype inside-out optical 6DOF tracking system using an optical image compression technology that greatly enhances the response time of the optical tracking while simultaneously reducing the overall computational requirements by an order of magnitude.
http://AugmentedWorldExpo.com
A short talk about Indonesia.
Useful for Indonesian students to introduce their countries to foreigners. :)
Also, some travel itineraries suggestions to explore the heritages and precious gems in Indonesia.
Key Trends Shaping the Future of Infrastructure.pdfCheryl Hung
Keynote at DIGIT West Expo, Glasgow on 29 May 2024.
Cheryl Hung, ochery.com
Sr Director, Infrastructure Ecosystem, Arm.
The key trends across hardware, cloud and open-source; exploring how these areas are likely to mature and develop over the short and long-term, and then considering how organisations can position themselves to adapt and thrive.
Dev Dives: Train smarter, not harder – active learning and UiPath LLMs for do...UiPathCommunity
💥 Speed, accuracy, and scaling – discover the superpowers of GenAI in action with UiPath Document Understanding and Communications Mining™:
See how to accelerate model training and optimize model performance with active learning
Learn about the latest enhancements to out-of-the-box document processing – with little to no training required
Get an exclusive demo of the new family of UiPath LLMs – GenAI models specialized for processing different types of documents and messages
This is a hands-on session specifically designed for automation developers and AI enthusiasts seeking to enhance their knowledge in leveraging the latest intelligent document processing capabilities offered by UiPath.
Speakers:
👨🏫 Andras Palfi, Senior Product Manager, UiPath
👩🏫 Lenka Dulovicova, Product Program Manager, UiPath
Kubernetes & AI - Beauty and the Beast !?! @KCD Istanbul 2024Tobias Schneck
As AI technology is pushing into IT I was wondering myself, as an “infrastructure container kubernetes guy”, how get this fancy AI technology get managed from an infrastructure operational view? Is it possible to apply our lovely cloud native principals as well? What benefit’s both technologies could bring to each other?
Let me take this questions and provide you a short journey through existing deployment models and use cases for AI software. On practical examples, we discuss what cloud/on-premise strategy we may need for applying it to our own infrastructure to get it to work from an enterprise perspective. I want to give an overview about infrastructure requirements and technologies, what could be beneficial or limiting your AI use cases in an enterprise environment. An interactive Demo will give you some insides, what approaches I got already working for real.
UiPath Test Automation using UiPath Test Suite series, part 3DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 3. In this session, we will cover desktop automation along with UI automation.
Topics covered:
UI automation Introduction,
UI automation Sample
Desktop automation flow
Pradeep Chinnala, Senior Consultant Automation Developer @WonderBotz and UiPath MVP
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
Accelerate your Kubernetes clusters with Varnish CachingThijs Feryn
A presentation about the usage and availability of Varnish on Kubernetes. This talk explores the capabilities of Varnish caching and shows how to use the Varnish Helm chart to deploy it to Kubernetes.
This presentation was delivered at K8SUG Singapore. See https://feryn.eu/presentations/accelerate-your-kubernetes-clusters-with-varnish-caching-k8sug-singapore-28-2024 for more details.
Essentials of Automations: Optimizing FME Workflows with ParametersSafe Software
Are you looking to streamline your workflows and boost your projects’ efficiency? Do you find yourself searching for ways to add flexibility and control over your FME workflows? If so, you’re in the right place.
Join us for an insightful dive into the world of FME parameters, a critical element in optimizing workflow efficiency. This webinar marks the beginning of our three-part “Essentials of Automation” series. This first webinar is designed to equip you with the knowledge and skills to utilize parameters effectively: enhancing the flexibility, maintainability, and user control of your FME projects.
Here’s what you’ll gain:
- Essentials of FME Parameters: Understand the pivotal role of parameters, including Reader/Writer, Transformer, User, and FME Flow categories. Discover how they are the key to unlocking automation and optimization within your workflows.
- Practical Applications in FME Form: Delve into key user parameter types including choice, connections, and file URLs. Allow users to control how a workflow runs, making your workflows more reusable. Learn to import values and deliver the best user experience for your workflows while enhancing accuracy.
- Optimization Strategies in FME Flow: Explore the creation and strategic deployment of parameters in FME Flow, including the use of deployment and geometry parameters, to maximize workflow efficiency.
- Pro Tips for Success: Gain insights on parameterizing connections and leveraging new features like Conditional Visibility for clarity and simplicity.
We’ll wrap up with a glimpse into future webinars, followed by a Q&A session to address your specific questions surrounding this topic.
Don’t miss this opportunity to elevate your FME expertise and drive your projects to new heights of efficiency.
Software Delivery At the Speed of AI: Inflectra Invests In AI-Powered QualityInflectra
In this insightful webinar, Inflectra explores how artificial intelligence (AI) is transforming software development and testing. Discover how AI-powered tools are revolutionizing every stage of the software development lifecycle (SDLC), from design and prototyping to testing, deployment, and monitoring.
Learn about:
• The Future of Testing: How AI is shifting testing towards verification, analysis, and higher-level skills, while reducing repetitive tasks.
• Test Automation: How AI-powered test case generation, optimization, and self-healing tests are making testing more efficient and effective.
• Visual Testing: Explore the emerging capabilities of AI in visual testing and how it's set to revolutionize UI verification.
• Inflectra's AI Solutions: See demonstrations of Inflectra's cutting-edge AI tools like the ChatGPT plugin and Azure Open AI platform, designed to streamline your testing process.
Whether you're a developer, tester, or QA professional, this webinar will give you valuable insights into how AI is shaping the future of software delivery.
Elevating Tactical DDD Patterns Through Object CalisthenicsDorra BARTAGUIZ
After immersing yourself in the blue book and its red counterpart, attending DDD-focused conferences, and applying tactical patterns, you're left with a crucial question: How do I ensure my design is effective? Tactical patterns within Domain-Driven Design (DDD) serve as guiding principles for creating clear and manageable domain models. However, achieving success with these patterns requires additional guidance. Interestingly, we've observed that a set of constraints initially designed for training purposes remarkably aligns with effective pattern implementation, offering a more ‘mechanical’ approach. Let's explore together how Object Calisthenics can elevate the design of your tactical DDD patterns, offering concrete help for those venturing into DDD for the first time!
Generating a custom Ruby SDK for your web service or Rails API using Smithyg2nightmarescribd
Have you ever wanted a Ruby client API to communicate with your web service? Smithy is a protocol-agnostic language for defining services and SDKs. Smithy Ruby is an implementation of Smithy that generates a Ruby SDK using a Smithy model. In this talk, we will explore Smithy and Smithy Ruby to learn how to generate custom feature-rich SDKs that can communicate with any web service, such as a Rails JSON API.
Neuro-symbolic is not enough, we need neuro-*semantic*Frank van Harmelen
Neuro-symbolic (NeSy) AI is on the rise. However, simply machine learning on just any symbolic structure is not sufficient to really harvest the gains of NeSy. These will only be gained when the symbolic structures have an actual semantics. I give an operational definition of semantics as “predictable inference”.
All of this illustrated with link prediction over knowledge graphs, but the argument is general.
Securing your Kubernetes cluster_ a step-by-step guide to success !KatiaHIMEUR1
Today, after several years of existence, an extremely active community and an ultra-dynamic ecosystem, Kubernetes has established itself as the de facto standard in container orchestration. Thanks to a wide range of managed services, it has never been so easy to set up a ready-to-use Kubernetes cluster.
However, this ease of use means that the subject of security in Kubernetes is often left for later, or even neglected. This exposes companies to significant risks.
In this talk, I'll show you step-by-step how to secure your Kubernetes cluster for greater peace of mind and reliability.
2. Outline
1. Human Retina
2. What is SoC and Programmable Retina?
3. SoC and Programmable Retina Architecture
4. SoC and Programmable Retina System
5. Applications
6. Conclusion
6. How to implement this
excellent functions of
human retina in a
single chip?
7. SoC and Programmable Retina
Task: Image acquisition and low-to-medium-level
image processing
Main Challenge: Other
Integrate Sensor and Processing
Challenges:
Real time
different from conventional approach
highly parallel processing
(separated CCD + Processing Units)
Programmable
functional flexibility
Fast, low cost and lower power
9. Retina Chip- Basic Architecture
1 PE (Processing Element) + 1 photo-detector= 1
pixel
Mimic Human
Retina?
Photo detector ~ Photo-receptor
(in human retina)
• Doorway to SoC chip
• Large dynamic range
CMOS technology ~ Synapses (in
human retina) Photo- Block diagram of
detecto the retina chip
• High connectivity r
• Ease integration with PE on the
same chip
11. SoC & Programmable Retina
System
The circuit: combining image acquisition
and processing function, consists of:
CMOS sensor
Cellular SIMD (Single Instruction
Multiple Data) machine
Digital processor
(very small)
12. SoC & Programmable Retina
System
• Four components of Retina
Circuit:
– Phototransduction
obtain analog value of the image
– Analog Processing
spatio-temporal filtering
– A/D Coding
• NISP (Near Image Sensor
Processing)
• Digitize the analog value through
multiple thresholding
– Digital Processing
• The SIMD machine, made of digital
processor meshes
• Process Boolean planes (binary
image) data
19. Conclusion
Power Consumption, Size, Cost, Real-time
efficiency are main issues in this field
SOC programmable retina integrate parallel
processing with sensing
reduce size and cost
Low power dissipation
Autonomous decision making from real-time analysis
Promising application in various areas
20. References
Paillet, D.Mercier, T.M.Bernard and E. Senn, "Low power
issues in a Programmable Artificial Retina", Proc. IEEE
Workshop on Low. Power Design, pp.153-161, 1999.
Lin Q, Miau.W,, et al. A 1,000 Frames/s Programmable Vision
Chip with Variable Resolution and Row-Pixel-Mixed Parallel
Image Processors. 2009. ISSN 1424-8220
Elouardi A, Bouaziz S, Dupret A, Klein J O and Reynaud R.
2004. On chip vision system architecture using a CMOS
retina Proceeding.
A. Manzanera. Morpholigical Segmentation on the
Programmable Retina: Towards Mixed
Synchronous/Asynchrounous Algorithms. in ACM ISMM
Conference.
K Kyuma, Y.Nitta, Artifical Retina Chips for Image Processing.
1997. Artif Life Robotis 1: 79 – 87.
Editor's Notes
The main part of our eye is Retina, which is located here..If we look at the structure closely, inside the retina, we can find 126 million photoreceptors: consists of Rod and Cones cells.Photoreceptors plays an important part, since its task is to converts light that enters our eye into neural electrical signals – and bring it to optic nerve transport to the visual cortex of the brain to be interpreted.
We can see in this picture that the people is ….So, photoreceptors in retina is very..very.. crucialTherefore, we should come up with the solution to help this people by implementing a complete vision system in a single chip…
In the latest development, retina prosthesis is implanted to the retina. With this device, the light information can be converted to electrical signal and trigger the ganglion cells to bring the pulse to the brain. Then, the patients learn how to interpret these visual patterns. This is only an example of the retina chip application. Nowadays, the Retina SoC is widely used in industrial sector, such as vehicles, robotics, etc.
now we understood that the task of the System on chip retina is for image….Thus, the main challenge of SoC Retina is to integrate in the same circuit the acquisition photo-sensors and some processing elements. Also, the process must be in highly parallel to achieve real-time image processing.Programmable means, the chip can perform various vision function
As we know, Retina chip only does the Low and Medium Image processing..Here is some results of those process from inside the retina..First, Grayscale Morphology.. To smooth this letter ‘A’ and fix some disconnect in the image, using opening and closing operation. Which only takes 80.2 micro seconds.Next, the Binary Morphology.. Which is performed by the Processing Element array in pixel-parellel, with thining operation until it results the ‘skeleton’ of this letter.After that, the chip can perform 1,000 frame per second target tracking.. The skeleton of the object is used for calculation the coordinates. So from these 3 samples, the chip can track the moving targets and provide its centroid coordinates.Indeed, these kind of process may be useful in robotic vision application.
This is one example of the basic diagram block of the retina chipOne pixel contains of one processing element with one photodetector inside of it.… doorway: since its function is to convert the light into electrical signals.Photo detector ~ like photo receptor in retinaThese circuit is fabricated using CMOS technologyCommonly, the SoC Retina is fabricated using CMOS technologySince it can mime the synapses for having the high connectivity .Low cost and high resolution
How does this retina chip work?The image is focused on the chip through the lens. The chip consists of array of pixel. In a single pixel, photodetectors detect the sensitivity. Then there it performs a readout mechanism to be processed by the processor circuit, to perform a low-level image processing. Then, it outputs processed images.
There are various application of SoC programmable retina. 1. It can be used in retinal prosthesis to help certain blind people to partially regain their vision, especially for those people who lose their vision in accident rather than those born blind. (visual implant 2006)2. It can also be used in the Intelligent security and surveillance systems. It can track target in high speed. 3. Besides, it is used in industrial machine vision and robotics for rapid inspection of a product.
A visual prosthesis is an artificial organ to restore the sight of blind patients with electrical stimulation to the visual nervous system. The video shows the image which the patient perceived while observing his hand with visual prosthesis . This visual prosthesis consists of an extra-ocular and an intra-ocular device which contains various technologies such as image capture and processing, wireless data & power transmissionon a singleIC. According to the visual information captured by a video camera in the extra-ocular device, the information is coded, then sent to the intra-ocular device through an infrared (IR) communication unit. After the intra-ocular device receives the IR data, it generates adequate electric pulses for stimulating the retina. (2004)
Another interesting application of the SoC programmable retina is in the intelligent car system. The artificial retina cards are placed in front of the car integrating in the complicated system of a intelligent car. With its fast response, it could prevent collision by sensing approaching car and obstacles.
Another application of SoC Programmable Retina is human/multimedia interface, such as interactive game. As an artificial retina module and the game screenis placed in front of a player. Artificial retina module detects body movement from the player & translate them into the character’s action on the screen instead of getting user input from conventional joystick or keyboard. The required time for image detection, recognition and feedback to the game character is less than 16 msec. (1997)Algorithm based on optical flow model.