The pipeline stall in distributed-controlled coarse-grained reconfigurable arrays is a major source stumbling performance. This work presents a Triggered-Issue and Triggered-Execution (TITE) paradigm motivated from th...
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ISBN:
(纸本)9781450349277
The pipeline stall in distributed-controlled coarse-grained reconfigurable arrays is a major source stumbling performance. This work presents a Triggered-Issue and Triggered-Execution (TITE) paradigm motivated from the Triggered Instruction Architecture (TIA) which converts control and data dependencies into predicate dependencies as triggers for spatial parallelism. TITE separately triggers the issuing and execution of instructions to further relax the predicate dependencies in TIA. Triggered dual instructions and tag forwarding are proposed to minimize pipeline stalls of both intra and inter-processing elements. Experiments show that TITE improves performance, energy efficiency, and area efficiency by 21%, 17%, and 12%, respectively, compared with TIA.
When multiple robots cooperate to carry out some tasks, the movement synchronization of the formation is essential. However, due to the uncertainty of the complicated environment, it is inevitable that certain robot f...
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ISBN:
(纸本)9783319480367;9783319480350
When multiple robots cooperate to carry out some tasks, the movement synchronization of the formation is essential. However, due to the uncertainty of the complicated environment, it is inevitable that certain robot fails. Therefore, it's worth to figure out some ways to minimize the damage caused by failed robot. In this paper, a distributed self-healing algorithm for multi-robot network global optimal movement synchronization is presented. The proposed algorithm can transform any robot's failure into the failure of the robot which has the least degree so that can minimize the influence on movement synchronization. In addition, gradient is involved in the algorithm to make repairing path shortest under the condition of maintaining global optimal movement synchronization. In the whole process of the self-healing, all robots only communicate with their own neighbors, so the robots are distributedcontrolled. Finally, the effectiveness of the proposed algorithm is validated by simulation experiments.
This paper describes an architecture for a multiagent robotic system that consists of a number of identical units. The homogeneous units are mechanically connected to construct a mobile platform named a "multiage...
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This paper describes an architecture for a multiagent robotic system that consists of a number of identical units. The homogeneous units are mechanically connected to construct a mobile platform named a "multiagent transportation (MAT) system." Every unit has its local controller that communicates only with its adjacent units. This basic configuration of supervisorless structure affirmatively confines the dependence of each unit to a local area, and therefore any unit can be removed from or added into any part of a MAT system regardless of the timing and without disturbing the performance of the whole system. This flexibility of configuration significantly contributes to easy maintenance of units, such as battery charging or hot-replacing for faulty units. Utilizing this flexibility, MAT systems are able to adapt to a variety of tasks including transportation application and to target objects of various shapes and range of mass. These characteristics of MAT systems are the strong advantages for mobile robots, especially for ones activated in distant places, e.g., robotic planetary explorers. A proposed example unit of a MAT system shown in this paper employs a parallel link manipulator as its leg, and the digital-actuation (D-actuation) concept is applied for the local unit controller to actuate the leg. Together with the basic design of the example units, the controlling framework is described with simulation results to show the feasibility of the whole mobile system architecture. DOI: 10.1061/(ASCE)AS.1943-5525.0000066. (C) 2011 American Society of Civil Engineers.
This paper provides an architectural study of optical multiple-ring trunk-transmission networks using high-speed Time Division Multiplexing (TDM). and proposes two algorithms for distributedcontrol environments. We p...
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This paper provides an architectural study of optical multiple-ring trunk-transmission networks using high-speed Time Division Multiplexing (TDM). and proposes two algorithms for distributedcontrol environments. We propose a path-setup algorithm that uses Token protocol over Section Overhead (SOH) bytes. by which network-nodes communicate with each other to reserve bandwidth. A classified path restoration algorithm is also proposed that offers 3 path classes in terms of restoration performance. Class A paths. the most reliable. never lose any bit even against unpredictable disasters. They are realized by path-duplication at the source node, route diversity, and hitless switching at the destination node. Class B paths are restored by re-routing, where the original path-setup algorithm is reused. Class C paths are the most economical because a failed path is restored by maintenance action.
Thanks to the recent advances in control of structures by distributed piezoelectric elements, the concept of independent control and sensing of the structural modes has reemerged in the published literature. In partic...
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ISBN:
(纸本)0819420905
Thanks to the recent advances in control of structures by distributed piezoelectric elements, the concept of independent control and sensing of the structural modes has reemerged in the published literature. In particular, to this end, piezoelectric orthogonal actuators and sensors have been introduced. On the other hand, Independent Modal-Space control (IMSC) of distributed-parameter-system (DPS) is a well-known approach advocated by the author and his associates throughout the past two decades. In the 1980's it has been shown by its proponents that the IMSC method ultimately represents a globally optimal distributed-control and distributed-sensing approach to structural control. Piezoelectric elements are not exception to the general theoretical concepts of distributed-control and sensing of DPS's via the IMSC method. By a constructive theoretical approach, it is shown in this paper that the recent results characterized by the phrases `independent modal control' and `orthogonal actuators and sensors' constitute precise piezoelectric realizations of the IMSC method of the author and his past associates, almost two decades after its introduction.
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