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Cryo-CACTI: Cryogenic-Aware CACTI for Cache Modeling down to 10K in Advanced 7nm FinFETs

IEEE Transactions on Computers 2025年

作者： Ravipati, Divya Praneetha van Santen, Victor M. Parihar, Shivendra Singh Chauhan, Yogesh Singh Panda, Preeti Ranjan Amrouch, Hussam Indian Institute of Technology Delhi Department of Computer Science and Engineering New Delhi India Technical University of Munich TUM School of Computation Information and Technology Chair of AI Processor Design Munich Institute of Robotics and Machine Intelligence Germany Kanpur Nanolab Department of Electrical Engineering Uttar Pradesh India

Cryogenic circuits are currently employed in fields such as quantum computing, particle detectors, magnetic resonance imaging, and space applications. While cryogenic circuits are being researched, there is limited work on designing cryogenic caches at temperatures below 77K. Moreover, there is no tool to estimate the delay, power, and area of cryogenic caches at advanced technology nodes. Our research focuses on the development of cryogenic caches tailored for the 7nm technology node, operating at 10K. However, a key challenge is the lack of cryogenic measurement data, especially in recent technologies. Consequently, through conducting our own FinFET transistor measurements, we calibrate cryogenic transistor models at 10K. With the 7nm cryogenic transistor data, we model Cryo-CACTI for cryogenic caches (due to cache’s vital role in improving performance and their considerable share in area and power of the processor). Using Cryo-CACTI, our evaluation reveals considerable improvements in the energy efficiency (up to 99%) of cryogenic caches of larger sizes compared to the caches at room temperature (300K). Additionally, we explore alternative cache configurations at circuit-level to optimize cryogenic operation. Furthermore, we use Cryo-CACTI to explore the performance/energy consumption of cryogenic caches while simulating workloads such as SPEC CPU2017 and machine learning via neural networks. © 1968-2012 IEEE.

关键词： Combinatorial circuits

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3D Multimedia Packaging design Based on Agile Software Development and IoT Platform

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Journal of Mobile Multimedia 2022年第3期18卷 475-494页

作者： Sang-Aroon, Patinya Prongnuch, Sethakarn Sitjongsataporn, Suchada Branch of Packaging Design Department of Design and Packaging Faculty of Industrial Technology Suan Sunandha Rajabhat University 1 U-Thong Nok Rd. Dusit Bangkok Thailand Department of Robotics Engineering Faculty of Industrial Technology Suan Sunandha Rajabhat University 1 U-Thong Nok Rd. Dusit Bangkok Thailand Department of Electronic Engineering Mahanakorn Institute of Innovation (MII) Faculty of Engineering and Technology Mahanakorn University of Technology 140 Cheumsamphan Rd. Nongchok Bangkok Thailand

This paper aims to present the three-dimensional (3D) packaging structure design based on the agile software development and internet of things (IoT) platform, which an efficiency validation of IoT platform is required. The objective of this research is to investigate the model development of 3D multimedia-based packaging structure using the webserver design and agile software development applied in the design and implementation process. This model development methodology comprises how the IoT platform as the client-server architecture that is used to develop and support the orthographic projection techniques, information sheet, worksheet and multimedia presentation in the modern product design. The empirical results show the creative thinking of the group of young designers that can be achieved efficiently. The proposed model development can increase significantly the fundamental knowledge and interactive design ideas of young designers combining from the two-dimension to three-dimension packaging structure model. © 2022 River Publishers.

关键词： 3D packaging model development Agile software development IoT platform

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Hydrogel-elastomer-based stretchable strain sensor fabricated by a simple projection lithography method

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International Journal of Smart and Nano Materials 2021年第3期12卷 256-268页

作者： Zhenqing Li Xiangnan He Jianxiang Cheng Honggeng Li Yuan-Fang Zhang Xiaojuan Shi Kai Yu Hui Ying Yang Qi Ge Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenChina Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenChina Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore Department of Mechanical Engineering University of Colorado DenverDenverCOUSA National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbinP.R.China

Stretchable strain sensor detects a wide range of strain variation and is therefore a key component in various *** traditional ones made of elastomers doped with conductive components or fabricated with liquid conductors,ionically conductive hydrogel-based strain sensors remain conductive under large deformations and are ***,dehydration is a challenging issue for the *** have developed hydrogel-elastomer-based strain sensors where an elastomer matrix encapsulates a hydrogel circuit to prevent its ***,the reported multistep approaches are generally *** group recently reported a multimaterial 3D printing approach that enables fast fabrication of such sensors,yet requires a self-built digital-light-processing-based multimaterial 3D ***,we report a simple projection lithography method to fabricate hydrogel-elastomer-based stretchable strain sensors within 5 *** method only requires a UV projector/lamp with photomasks;the chemicals are commercially available;the protocols for preparing the polymer precursors are friendly to users without chemistry ***,the manufacturing flexibility allows users to readily pattern the sensor circuit and attach the sensor to a 3D printed soft pneumatic actuator to enable strain sensing on the *** proposed approach paves a simple and versatile way to fabricate hydrogel-elastomer-based stretchable strain sensors and flexible electronic devices.

关键词： Ionically conductive hydrogel stretchable strain sensor projection lithography

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Development of a Software for Laser-Based Micromachining of Piezoceramic Microactuators 1

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AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and Mechanical Manufacturing engineering, RCTEMME 2021

作者： Nguyen, Ha Xuan Nguyen, Hung Anh Department of Machine Design and Robotics School of Mechanical Engineering Hanoi University of Science and Technology No. 1 Dai Co Viet Hai Ba Trung Hanoi Viet Nam Department of Mechatronics Engineering Faculty of Mechanical Engineering Thuy Loi University No. 175 Tay Son Dong Da Hanoi Viet Nam

ISBN: (数字)9789811919688

ISBN: (纸本)9789811919671

Laser-based micromachining is often applied to the fabrication of piezoceramic microactuators. In fact, the manual generation of a G-code file for the micromachining of such microactuators is very hard work. In this work, a CAM software for the laser-based micromachining of piezoceramic microactuators was developed. The software was built using C++ and the OpenCV library with Microsoft Visual Studio 9.0. The software has three main classes, including ReadDXF, DrawDXF, and MakeGcode. ReadDXF and DrawDXF were developed to read and display DXF data of the design of fabricated parts in an image for further processing. MakeGcode was built for generating G-code, which is then included in the main program of the NView for running the machine. Robust algorithms were developed so that the software could read complex designs without any failure. Optimization of the toolpath, which can improve machine productivity and lifetime service, was introduced. Results and experimental implementations show that our software can efficiently be used to machine piezoceramic microactuators. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Laser machining Microactuators Piezoceramic

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Optimizing Autonomous Vehicle Sensor Setups: A Framework for Coverage Analysis

Optimizing Autonomous Vehicle Sensor Setups: A Framework for...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Philipp Hafemann Simon Enrico Hahn Markus Lienkamp Department of Mobility Systems Engineering Institute of Automotive Technology and Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Germany School of Engineering & Design Munich Germany

The performance of environment perception in autonomous vehicles is significantly influenced by the sensor setup, which is determined in the early design phase. The selection of the type and position of sensors in this phase often occurs before the availability of data processing algorithms. Therefore, the evaluation of the sensor setup can only be based on coverage metrics. This paper presents a novel framework for modeling the sensor coverage of autonomous vehicles. By discretizing the environment into grid cells, our framework analyzes each sensor and the whole setup. Our methodology systematically determines the coverage, identifies redundancy and blind spot areas, and obtains quantifiable metrics for evaluating the sensor setup efficiency. Utilizing the PyVista visualization library, we present the individual building blocks of the framework and their open-source implementation. The results from a real-world case study demonstrate our framework’s ability to identify weaknesses in sensor setup coverage. Our approach helps to develop a comprehensive understanding of the sensor coverage and, therefore, contributes to designing more effective and reliable sensing systems.

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Classification of Behaviors Related to Bed-Leaving and Bed-Lying Using Millimeter-Wave FMCW Radar 5

Classification of Behaviors Related to Bed-Leaving and Bed-L...

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5th International Symposium on Advanced Technologies and Applications in the Internet of Things, ATAIT 2023

作者： Hashimoto, Shuhei Kong, Xiangbo Manabe, Kosuke Minematsu, Hiroshi Saho, Kenshi Department of Intelligent Robotics Toyama Prefectural University 5180 Kurokawa Imizu Toyama Japan Tokyo Design Center Shikino High-Tech Co. Ltd. 1-1-12 Shibakoen Minato-Ku Tokyo Japan Department of Electronic and Computer Engineering Ritsumeikan University 1-1-1 Noji-Higashi Kusatsu Shiga Japan

This paper presents a 60 GHz millimeter wave radar technique for the classification of behaviors related to bed-leaving and bed-lying of elderly adults using real data acquired in nursing care facilities. Time-range and time-velocity distribution images corresponding to short-time data were generated based on frequency-modulated continuous-wave (FMCW) radar signal processing. Then, bed-leaving and other behaviors such as bed-lying and sitting on the bed were classified with 97 % accuracy using the convolutional neural network whose inputs were the generated time-range images. However, in other experiments, the classification of gaits during bed-approaching and bed-leaving using time-range images was failed. To overcome this, we used the time-velocity images calculated based on Doppler radar processing and achieved a 90% accuracy rate for their classification. These results suggest that millimeter wave radar can be a useful tool for monitoring the activities of elderly adults in a non-invasive way for daily monitoring in nursing care. © 2023 CEUR-WS. All rights reserved.

关键词： Frequency modulation

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Trustworthy ROS Software Architecture for Autonomous Drones Missions: From RoboChart Modelling to ROS Implementation

Trustworthy ROS Software Architecture for Autonomous Drones ...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Nabil Shaukat Shival Dubey Bilal Kaddouh Andy Blight Lenka Mudrich Pedro Ribeiro Hugo Araujo Rob Richardson Louise Dennis Ana Cavalcanti Mohammad Mousavi Institute of Design Robotics and Manufacturing School of Mechanical Engineering University of Leeds UK Department of Computer Science University of York UK Department of Informatics Kings College London UK Department of Computer Science University of Manchester UK

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

Drones are becoming essential tools in emergency situations such as search and rescue, surveillance, and firefighting. These applications make the development of trustworthy software a priority to increase efficiency, cut costs, and reduce risks, in future replacing human personnel in challenging areas. RoboChart, a platform-agnostic tool, brings numerous benefits to the robotics community by providing a language and high-level tool to describe a model via automatic verification and exhaustive testing of the model. However, when it comes to real robotics it is essential to use testing tools suitable for specific robotic software. In the context of the Robotic Operating System (ROS), it imposes its own design constraints, best practices, and communication requirements. This paper aims to apply the RoboChart modelling approach to autonomous firefighting drones, putting forward a low-level ROS software architecture that aligns with RoboChart models, ensuring the trustworthiness of the system during operation.

关键词： Mechatronics Software architecture Surveillance Computer architecture Software Personnel Formal specifications Robots Testing Drones

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design and Development of a Telepresence and Monitoring Service to Empower the Older Adults 11th

Design and Development of a Telepresence and Monitoring Serv...

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11th Italian Forum on Ambient Assisted Living, ForItAAL 2020

作者： Sorrentino, Alessandra Radi, Lorenzo Cavallo, Filippo Becchimanzi, Claudia Pistolesi, Mattia Tosi, Francesca Rovini, Erika Fiorini, Laura The BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Industrial Engineering University of Florence Florence Italy Laboratory of Ergonomics and Design Department of Architecture University of Florence Florence Italy

ISBN: (纸本)9783031088377

Older people would like to live independently for as long as possible. However, seniors may experience cognitive and physical problems which could have a great impact on their autonomy and their quality of life. Over the last years, several national and European projects were founded to design, develop, and test reliable solutions to support the life of the older population. In this context, Information and Communication Technologies (ICTs), such as robots, could represent a valid solution to empower older people. Inspired by the current trends, this paper presents the design and the development of a telepresence and monitoring service to foster active aging. The proposed approach is based on a human-centered design which leads to the definitions of the services through the focus groups and the survey conducted within social cooperatives. Based on these results, a cloud system composed of environmental sensors and a telepresence robot was developed and tested in private homes and residential facilities without the presence of any external support. The results underline a positive attitude of the senior citizens such as the caregivers involved in the services. The telepresence robot demonstrates high reliability and it was used for more than 100 calls during the experimentation phase. During this experience, we collected and grouped multidisciplinary guidelines and feedbacks which we report in this paper as guidelines for future researchers. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robots

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QTER: QoS-Aware Three-Dimensional Efficient and Reliable Routing for LEO Satellite Networks

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IEEE Internet of Things Journal 2025年

作者： Zheng, Jinkai Luan, Tom H. Li, Guanjie Zhang, Yanfeng Yuan, Mingfeng Pan, Jianping Dongguan University of Technology School of Electrical Engineering and Intelligentization China Xi’an Jiaotong University China Xidian University School of Cyber Engineering China Singapore University of Technology and Design Information Systems Technology and Design Pillar Singapore University of Toronto Institute for Aerospace Studies University of Toronto Robotics Institute Canada University of Victoria Department of Computer Science Canada

Low Earth Orbit (LEO) satellite networks offer a promising approach for achieving global coverage and high-speed Internet access. However, the existing communication frameworks within these networks may result in low robustness and reliability. This paper introduces QTER, a novel and lightweight routing framework specifically designed for LEO networks, aimed at addressing these challenges. Our contributions are threefold. First, QTER establishes a cost-effective and reliable routing framework that accommodates a variety of applications with distinct Quality of Service (QoS) requirements. By enabling multi-path routing, the framework minimizes costs while ensuring end-to-end reliability, thus enhancing adaptability to diverse service demands. Second, we leverage the unique structural characteristics of LEO satellite networks by modeling the satellite constellation as a three-dimensional network, wherein higher-shell satellites serve as management satellite nodes (MSNs) to coordinate routing strategies among lower-shell satellites. This architecture significantly improves system efficiency and adaptability. Third, we propose a failure recovery mechanism that allows MSNs to relay packets when lower-orbit satellites are rendered unavailable due to environmental factors, thereby enhancing system robustness. Extensive simulations demonstrate that QTER exhibits resilience to node failures and dynamic network conditions, achieving reductions in average cost and delay by 59.4% and 38.9%, respectively, compared to baselines. © 2014 IEEE.

关键词： Resource allocation

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Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning

arXiv

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arXiv 2024年

作者： Thibault, William Rajendran, Vidyasagar Melek, William Mombaur, Katja Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada The Department of Systems Design Engineering CERC Human-Centred Robotics and Machine Intelligence University of Waterloo Canada Karlsruhe Germany

Learning-based methods have proven useful at generating complex motions for robots, including humanoids. Reinforcement learning (RL) has been used to learn locomotion policies, some of which leverage a periodic reward formulation. This work extends the periodic reward formulation of locomotion to skateboarding for the REEM-C robot. Brax/MJX is used to implement the RL problem to achieve fast training. Initial results in simulation are presented with hardware experiments in progress. © 2024, CC BY.

关键词： Reinforcement learning

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