Center-configuration selection technique for the reconfigurable modular robot

The reconfigurable modular robot has an enormous amount of configurations to adapt to various environments and tasks. It greatly increases the complexity of configuration research in that the possible configuration number of the reconfigurable modular robot grows exponentially with the increase of module number. Being the initial configuration or the basic configuration of the reconfigurable robot, the center-configuration plays a crucial role in system’s actual applications. In this paper, a novel center-configuration selection technique has been proposed for reconfigurable modular robots. Based on the similarities between configurations’ transformation and graph theory, configuration network has been applied in the modeling and analyzing of these configurations. Configuration adjacency matrix, reconfirmation cost matrix, and center-configuration coefficient have been defined for the configuration network correspondingly. Being similar to the center-location problem, the center configuration has been selected according to the largest center-configuration coefficient. As an example of the reconfigurable robotic system, AMOEBA-I, a three-module reconfigurable robot with nine configurations which was developed in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), has been introduced briefly. According to the numerical simulation result, the center-configuration coefficients for these nine configurations have been calculated and compared to validate this technique. Lastly, a center-configuration selection example is provided with consideration of the adjacent configurations. The center-configuration selection technique proposed in this paper is also available to other reconfigurable modular robots. Supported in part by the National High-Technology 863 Program (Grant No. 2001AA422360), the Chinese Academy of Sciences Advanced Manufacturing Technology R&D Base Fund (Grant Nos. A050104 and F050108), and the GUCAS-BHP Billiton Scholarship     

可重构专用微处理器设计方法的分析

可重构计算技术在上世纪末到本世纪初成为计算机体系结构中的一个热门的研究领域.研制可重构微处理器体系结构也是今后微处理器体系结构研究的重要发展方向之一.本文首先对可重构技术进行了简要的介绍.在此基础上,从可重构粒度、范围和时机三个方面对可重构微处理器的设计方法做了分析.最后,文章提出了一种基于＂标准基本单元-可配置通路＂的设计思路.     

一种编译时估计基本块在可重构器件上运行时间的方法

为在编译过程中快速、准确地计算一段程序直接采用硬件方式实现的执行时间,给软硬件代码划分提供更具指导性的信息.本文提出基于IP核的代码转换机制和一种通用可重构器件描述方法,以及在编译时基于二者计算一个基本块在可重构硬件上运行时间的方法.实验结果表明,虽然为减少编译过程中硬件综合以及布局布线的工作量而采用一些近似和假设,但同Xilinx ISE中Time Analyzer工具的分析结果相比,文中方法的平均计算误差为2.9%,最大误差为8.2%.     

LARPBS上图像的模板匹配和中值滤波算法

图像的模板匹配和中值滤波是图像处理和计算机视觉中的基本操作。给定一个 图像、 模板和 窗口，该文在 个处理器的LARPBS模型上，分别提出了一个时间复杂度为 模板匹配算法和一个时间复杂度为 的中值滤波算法，其中， 。     

可调谐滤波器在DWDM系统中的应用

可调谐滤波器是实现未来全光网络的重要器件,在DWDM系统中有着广泛应用.文章介绍了几种常用的可调谐滤波器的原理、最新研究及其在可重构光分插复用和光传输性能监测中的应用.     

异步可重构结构设计

介绍一种异步可重构结构，研究了异步可重构单元的设计。通过提前产生求值完成信号，使用DSDCVS逻辑实现可重构单元的运算电路，改进了异步可重构单元的控制电路。用三输入的C元件实现异步可重构单元的控制电路。仿真结果表明，异步可重构结构具有低功耗、高性能的优点，适合作为IP集成到系统芯片上，组成低功耗、高性能的可重构计算平台。     

粗粒度可重构结构的性能估计方法

在设计初期,估计粗粒度可重构结构的性能,对粗粒度可重构结构设计具有指导意义.在考虑局部数据存储器结构以及局部数据存储器与可重构阵列的接口结构的情况下,建立了粗粒度可重构结构的参数模型,使用改进的螺旋形绑定策略将应用算法DFG(Data Flow Graph)中的算子绑定到可重构阵列的处理单元上,提出了一种粗粒度可重构结构的性能估计方法.应用实例表明,在设计初期,该方法能得到周期精确的估计结果,有效地指导粗粒度可重构结构的设计.     

新型模块化可重构机器人设计与运动学分析

采用模块化设计思想,设计了一种新型可重构工业机器人.通过对机器人进行结构优化设计,机器人的负载自重比达到1/4.5.机器人各关节模块的结构均相同,大幅减少了设计工作量;关节模块中传动部件均采用通用件,降低了机器人的成本.通过关节模块和手臂模块的组合,可形成多种机器人构型.针对其中一种机器人构型,利用DH法建立了机器人正运动学模型.该构型机器人不符合相邻的3根关节轴线交于一点的条件,利用传统方法很难求得全部逆解,因此提出一种代数法与几何法相结合的新方法,求得该构型机器人逆运动学的完整解析解.机器人运动学分析的正确性通过算例进行了验证,为机器人的运动控制奠定基础.     

多标准视频解码可重构分像素插值结构设计

在各类高清视频解码过程中,分像素插值是计算最为密集的处理环节之一.针对已有分像素插值结构在兼顾性能与灵活性方面所存在的不足,提出一种适用于多标准视频解码处理的可重构分像素插值结构设计.通过分析不同标准的插值计算模式之间的共性与差异,提出一种新型可重构并串混合滤波结构,其中的数据传输通路、输入/输出数据模式以及滤波计算单元均可进行动态配置,能够支持包括VC-1,H.264/263,AVS和MPEG-1/2/4在内的多种视频标准.实验结果表明,该设计能够完成多标准实时HDTV 1080 p(1920x1088@30 fps)视频解码;同已有工作相比,该设计在同等硅片资源下能够支持更多高清视频编解码标准.该设计目前已实际应用在一款多媒体SoC芯片中.     

An approach to regulating machine sharing in reconfigurable back-end semiconductor manufacturing

By complying with the operational philosophy of virtual production lines, a back-end semiconductor manufacturing system can be controlled and managed with better reconfigurability. However, due to the absence of a fully-integrated information system and the gaining popularity of distributed computing, machine reconfiguration decisions are made by machine controllers on the shop floor where heterarchical control architecture is typically used. This research investigates how non-cooperative game theory could be applied for facilitating the decision process reconfiguration decision-making at the machine controller level as machines are competed by multiple jobs streams. This paper presents how material flow traffic can be better regulated in a reconfigurable manufacturing environment. A study using an industrial pilot system is discussed to demonstrate the applicability of the proposed approach, in which heuristics are used to determine the game specification.