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Controlled node splitting 6th

引用

Proceedings of the 6th International Conference on Compiler Construction, CC'96

作者： Janssen, Johan Corporaal, Henk Delft University of Technology Department of Electrical Engineering Section Computer Architecture and Digital Systems 2600 GA Delft 5031 Netherlands

ISBN: (纸本)9783540610533

To exploit instruction level parallelism in programs over multiple basic blocks, programs should have reducible control flow graphs. However not all programs satisfy this property. A new method, called Controlled Node Splitting (CNS), for transforming irreducible control flow graphs to reducible control flow graphs is presented. CNS duplicates nodes of the control flow graph to obtain reducible control flow graphs. CNS results in a minimum number of splits and a minimum number of duplicates. Since the computation time to find the optimal split sequence is large, a heuristic has been developed. The results of this heuristic are close to the optimum. Straightforward application of node splitting may result in an average code size increase of 235%. CNS with the heuristic limits the increase to only 3%. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Compilation Control flow graphs Instruction level parallelism Irreducibility Node splitting Reducibility

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Correcting type errors in the curry system 16th

引用

16th Annual Conference on Foundations of Software technology and Theoretical computer Science, 1996

作者： Gandhe, Milind Venkatesh, G. Sanyal, Amitabha Department of Computer Science and Engineering Indian Institute of Technology Bombay400 076 India Silicon Automation Systems 3008 12B Main 8 Cross HAL II Stage Bangalore560008 India

ISBN: (纸本)3540620346

In this paper, we address the problem of suggesting corrections to terms that are ill-typed in the Curry System. For this, we convert the term into a set of constraints over type expressions, and use a method due to Cox [3] to compute the maximal consistent subset of this set. The main result of this paper is an interesting correspondence between the automaton constructed in Cox's method and a graphical representation of the term called sharing graphs, which allows us to read back a term from the maximal consistent subset. We also characterise ill-typed terms using paths in the sharing graph. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Artificial intelligence

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A multiple SIMD approach to radar signal processing

A multiple SIMD approach to radar signal processing

引用

IEEE Region 10 International Conference TENCON

作者： A. Ahlander M. Taveniku B. Svensson Centre for Computer Systems Architecture Halmstad University Sweden Ericsson Microwave Systems AB Molndal Sweden Department of Computer Engineering Chalmers University of Technology Sweden

Next generation radar systems, with phase-controlled array antennas, will have to process data that is many times larger than in current systems. This requires an enormous computing power. Even in a relatively small airborne radar system, with hard size and power consumption constraints, a sustained computing power of 40 GOPS (or 40 GFLOPS, if floating point calculations are used) will be needed to perform only the subset of the calculations known as the space-time adaptive processing (STAP). Consequently, there is a need for new parallel computing modules, as well as new overall system architectures and application development environments. In this paper a modular architecture with highly parallel SIMD-modules is presented as a promising solution, capable of handling STAP. A version of the architecture, equipped with bit-serial floating point processing elements, is described and evaluated. Implementation technology aspects are discussed.

关键词： Radar signal processing Signal processing algorithms computer architecture Radar antennas Concurrent computing Jamming Microwave antenna arrays Phased arrays Energy consumption Parallel processing

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Time-deterministic WDM star network for massively parallel computing in radar systems

Time-deterministic WDM star network for massively parallel c...

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International Conference on Massively Parallel Processing Using Optical Interconnections

作者： M. Jonsson A. Ahlander M. Taveniku B. Svensson Centre for Computer Systems Architecture Halmstad University Halmstad Sweden Ericsson Microwave Systems AB Molndal Sweden Department of Computer Engineering Chalmers University of Technology Gothenburg Sweden

In massively parallel computer systems for embedded real-time applications there are normally very high bandwidth demands on the interconnection network. Other important properties are time-deterministic latency and services to guarantee that deadlines are met. In this paper we analyze how these properties vary with the design parameters for a passive optical star network, specifically when used in a massively parallel radar signal processing system. The aggregated bandwidth and computational power of the radar system are approximately 45 Gb/s and 100 GOPS, respectively. The analysis is focused on the medium access control protocol, called TD-TWDMA, for the time and wavelength multiplexed network. It is concluded that the proposed network is very well suited to this kind of signal-processing applications. We also present a new distributed slot-allocation algorithm with real-time properties.

关键词： Wavelength division multiplexing WDM networks Bandwidth computer networks Concurrent computing Embedded computing Real time systems Application software Multiprocessor interconnection networks Delay

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TETROBOT modular robotics: prototype and experiments

TETROBOT modular robotics: prototype and experiments

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G.J. Hamlin A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

TETROBOT is a modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms. This paper describes new experimental results based on evaluation of prototype configurations with up to 18 nodes, 48 links and 15 actuators. TETROBOT is an actuated robotic structure which may be reassembled into many different configurations while still being controlled by the same hardware and software architecture. Implementations of a double octahedral platform, a tetrahedral arm and a six-legged walker, constructed from the same set of parts, are described. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.

关键词： Prototypes Collision mitigation Robotics and automation Robot sensing systems Manipulators Fasteners Parallel robots Control systems Orbital robotics Manufacturing automation

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Tetrobot family tree: modular synthesis of kinematic structures for parallel robotics

Tetrobot family tree: modular synthesis of kinematic structu...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： A.B. Neville A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel robots can be built by linking together unit cells in configurations which retain the static determinacy of the overall structure. In the Tetrobot system, the kinematics of these concatenated structures can be solved by propagation of solutions through connected graphs of linked modules. In this paper, we examine the synthesis of unit cells which could be used in creating these structures and retain the ability to compute the kinematics for control of the actuated system. Admissible unit cells are shown to form families in two- and three-dimensions, and a set of synthesis rules is described which generates the members of these families recursively for each generations. The resulting set of modules comprises a broad set of useful cells which can be used to design parallel robots and guarantee the computability of their kinematics on a cell-by-cell basis.

关键词： Kinematics Parallel robots Robotics and automation Control system synthesis Manufacturing automation computer aided manufacturing Concurrent computing systems engineering and theory Joining processes Concatenated codes

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Application of feature-based multi-view servoing for lamp filament alignment

Application of feature-based multi-view servoing for lamp fi...

引用

IEEE International Conference on Robotics and automation (ICRA)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing Robotics and automation Manufacturing automation Robot vision systems Robustness Application software computer aided manufacturing Calibration

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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

引用

IEEE International Conference on Robotics and automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control Robotics and automation Feedback Manufacturing automation computer aided manufacturing Orbital robotics Electrostatics Navigation

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Design of a control and integration net for simulation of CIMOSA-based business processes in cellular manufacturing

Design of a control and integration net for simulation of CI...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Yushun Fan W. Schonewolf Xuejun Pel State Computer Integrated Manufacturing Systems-Engineering Research Center Department of Automation CIMS-ERC Tsinghua University Beijing China Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

We present a new type of Petri net called "control and integration net" (CIN) utilized for simulation and evaluation of CIMOSA (computer integrated manufacturing open system architecture) models. We discuss the definition of a set of rules for mapping CIMOSA models to CIN structure, a formal language to describe the CIN structures, and the graphical representation extended from the conventional Petri nets. We also present an engineering environment for cellular manufacturing, in which simulation results will guide the modeller to optimize CIMOSA models with help of the CIN interpreter and simulator according to user requirements.

关键词： Computational modeling computer integrated manufacturing Industrial control Automatic control Cellular manufacturing Formal languages Electrical equipment industry Manufacturing industries computer simulation Design engineering

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Modular robotics: design and examples

Modular robotics: design and examples

引用

International Conference on Emerging Technologies and Factory automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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