In this paper, we present a robot middleware technology named robot software communications architecture (RSCA) for its use in networked home service robots. The RSCA provides a standard operating environment for the ...
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ISBN:
(纸本)9781424400546
In this paper, we present a robot middleware technology named robot software communications architecture (RSCA) for its use in networked home service robots. The RSCA provides a standard operating environment for the robot applications together with a framework that expedites the development of such applications. The operating environment is comprised of a real-time operating system, a communication middleware, and a deployment middleware. Particularly, the deployment middleware supports the reconfiguration of component-based robot applications including installation, creation, start, stop, tear-down, and un-installation. In designing RSCA, we have adopted a middleware called SCA from the software defined radio domain and extend it since the original SCA lacks the real-time guarantees and appropriate event services. We have fully implemented RSCA and performed measurements to quantify its run-time performance. Our implementation clearly shows the viability of RSCA
The conjugate residual (CR) algorithm is a Krylov subspace algorithm that can be used to obtain fast solutions for symmetric linear systems with very large and very sparse coefficient matrices. By changing the computa...
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The conjugate residual (CR) algorithm is a Krylov subspace algorithm that can be used to obtain fast solutions for symmetric linear systems with very large and very sparse coefficient matrices. By changing the computation sequence in the CR algorithm, this paper proposes an improved Conjugate Residual (ICR) algorithm. The numerical stability of ICR algorithm is same as CR algorithm, but the synchronization overhead that represents the bottleneck of the parallel performance is effectively reduced by a factor of two. And all inner products of a single iteration step are independent and communication time required for inner product can be over lapped efficiently with computation time of vector updates. From the theoretical and experimental analysis it is found that ICR algorithm is faster than CR algorithm as the number of processors in creases. The experiments performed on a 64-processor cluster indicate that ICR is approximately 30% faster than CR.
In this paper we investigate the problem of finding a delay- and degree-bounded maximum sum of nodes application level multicast tree. We then proved the problem is NP-hard, and its relationship with the well-studied ...
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We introduce a 64-bit ANSI/IEEE Std 754-1985 floating point design of a hardware matrix multiplier optimized for FPGA implementations. A general block matrix multiplication algorithm, applicable for an arbitrary matri...
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ISBN:
(纸本)9781595930293
We introduce a 64-bit ANSI/IEEE Std 754-1985 floating point design of a hardware matrix multiplier optimized for FPGA implementations. A general block matrix multiplication algorithm, applicable for an arbitrary matrix size is proposed. The algorithm potentially enables optimum performance by exploiting the data locality and reusability incurred by the general matrix multiplication scheme and considering the limitations of the I/O bandwidth and the local storage volume. We implement a scalable linear array of processing elements (PE) supporting the proposed algorithm in the Xilinx Virtex II Pro technology. Synthesis results confirm a superior performance-area ratio compared to related recent works. Assuming the same FPGA chip, the same amount of local memory, and the same I/O bandwidth, our design outperforms related proposals by at least 1.7X and up to 18X consuming the least reconfigurable resources. A total of 39 PEs can be integrated into the xc2vp125-7 FPGA, reaching performance of, e.g., 15.6 GFLOPS with 1600 KB local memory and 400 MB/s external memory bandwidth. Copyright 2005 ACM.
In this paper, we present our Grid-based decision tree architecture, with the intention of applying it to both parallel and sequential algorithms. Also, we show that, based on the scope and model of data mining applie...
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In this paper, a parallel loop self-scheduling scheme for heterogeneous PC cluster systems is proposed. Though the proposed scheme does allow users to choose parameters before the execution initialization phase, there...
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In this paper, we present BioGrid, a novel computing resource that combines advantages of grid computing technology with bioinformatics parallel applications. The grid environment permits the sharing of a large amount...
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Internet computing and grid technologies promise to change the way we tackle complex problems. They will enable large-scale aggregation and sharing of computational, data and other resources across institutional bound...
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