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Development of VLSI Processors for Robot Control with Ultra-High Performance in the Arithmetic Delay

Research Project

Project/Area Number 04555076
Research Category

Grant-in-Aid for Developmental Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 情報工学
Research InstitutionTohoku University, Graduate School of Information Sciences

Principal Investigator

KAMEYAMA Michitaka  Tohoku University, Graduate School of Information Sciences, Professor, 大学院・情報科学研究科, 教授 (70124568)

Project Period (FY) 1992 – 1994
Project Status Completed (Fiscal Year 1994)
Budget Amount *help
¥9,100,000 (Direct Cost: ¥9,100,000)
Fiscal Year 1994: ¥1,300,000 (Direct Cost: ¥1,300,000)
Fiscal Year 1993: ¥3,800,000 (Direct Cost: ¥3,800,000)
Fiscal Year 1992: ¥4,000,000 (Direct Cost: ¥4,000,000)
KeywordsSpatially Parallel Processing / Robot Electronics / VLSI Processors / Data-Dependcy Graph / Linear Array Processor / Reconfigurable Parralel Processor / Intelligent Integrated Systems / System-On-Chip / システムオンチップ / リニアアレー構造 / 再構成可能プロセッサ
Research Abstract

For next-generation super chips, not only computer-world applications but also real-world applications will be important targets. In the real-world applications, there is data flow passing through the real world, so that the real-world environment is changed to be the desired states by control actions. The typical applications are robotics. Especially, the target architectures rely incresingly on VLSI processors having a high degree of spatial parallelism. Such processors, capable of providing both high throughput and low latency, will be essential components in robot control because they have to respond quickly to the real-world events. In this research project, the following highest performance VLSI processorshave been developed for the first time in the world.
(1) Minimum-Latency Linear Array VLSI Processors
The key concept to minimize the latency is that each each processor element generates its output data emmediately after its input data become available, with 100% utilization of i … More ts arithmetic unit. The developed porcessors based on the concept are the inverse dynamics processor and the FFT processor for robot vision. These performances are much higher than those of the conventional ones.
(2) Reconfigurable Parallel VLSI Processor
In each processor element, a switch circuit is used to change the connection between the multipliers and adders, so that the multiple-input add-multiply can be performed effectively without communication overhead in the data transfer. For an example, the differential kinematics computation can be performed about 100 times faster in comparison with the convential parallel DSP aruchiteture.
(3) Bus-connected parallel VLSI processors
To reduce the latency, the number of communication steps is minimized by its optimal allocation formulated in an integer programming. Moreover, not only parallel operations in memory access and execuition of a task but also parallel data transfer is realized to make the communication cycle time small. To verify its validity, the universal processor is evaluated on the computation of dynamic control. Less

Report

(4 results)
  • 1994 Annual Research Report   Final Research Report Summary
  • 1993 Annual Research Report
  • 1992 Annual Research Report
  • Research Products

    (46 results)

All Other

All Publications (46 results)

  • [Publications] B. Kim: "Parallel VLSI Processors for Robotics Using Multiple Bus Interconnection Networks" IEICE Transactions on Fundamentals. E75-A. 712-719 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K. Shimabukuro: "Design of a Multiple-Valued VLSI Processor for Digital Control" IEICE Transactions on Information and Systems. E75-D. 709-717 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 藤岡与周: "冗長マニピュレータ制御用座標変換VLSIプロセッサ" 電子情報通信学会論文誌 D-I. J75-D-I. 909-916 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Y. Fujioka: "240MOPS Reconfigurable Parallel VLSI Processor for Robot Control" Proceedengs of 1992 International Conference on Industrial Electronics, Control, Instrumentation and Automation. 3. 1385-1390 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] S. Kittichaikoonkit: "A Minimum-Latency Linear Array FFT Processor for Robotics" IEICE Transactions on Information and Systems. E76-D. 680-688 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Y. Sasaki: "Model-Based Robot Vision VLSI Processor for 3-D Instrumentation and Object Recognition" 1993 International Conference on Industrial Electronics, Control, and Instrumentation. 3. 1724-1729 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] M. Hariyama: "A Parallel Collision Detection VLSI Processor for Robotics Using a Content-Addressable Memory" 1993 International Conference on Industrial Electronics, Control, and Instrumentation. 3. 1512-1516 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Y. Fujioka: "2400-MFLOPS Reconfigurable Parallel VLSI Processor for Robot Control" 1993 IEEE International Conference on Robotics and Automation. 3. 149-154 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 藤岡与周: "ディジタル制御用再構成可能並列プロセッサの開発" 電子情報通信学会技術報告. ICD93-100, DSP93-61. 47-54 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Y. Fujioka: "Design of a Reconfigurable Parallel Processor for Digital Control Using FPGAs" IEICE Transactions on electronics. E77-C. 1123-1130 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] B. Kim: "Latency Minimization of Parallel VLSI Processors for Robotics Using Integer Programming" Journal of Robotics and Mechatronics. 6. 143-149 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Y. Sawano: "High-Level Synthesis of VLSI Processors for Intelligent Integrated Systems" IEICE Transactions on electronics. E77-C. 1101-1107 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 藤岡与周: "知能集積システム用再構成可能並列VLSIプロセッサの構成" 電子情報通信学会技術研究報告. ICD94-11. 73-80 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 藤岡与周: "再構成可能並列VLSIプロセッサと知能ロボット制御への応用" 電子情報通信学会技術研究報告. ICD94-193. 57-64 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 藤岡与周: "知能集積システム用再構成可能並列VLSIプロセッサの高性能化" 計測自動制御学会東北支部30周年記念学術講演会予稿集. 39-40 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 金凡哲: "知能集積システム用ユニバーサルVLSIプロセッサの設計と評価" 計測自動制御学会東北支部30周年記念学術講演会与稿集. 37-38 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 植野義則: "2次元構造再構成可能並列VLSIプロセッサシステムと知能ロボット制御への応用" 平成6年度電気関係学会東北支部連合大会講演論文集. 99 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Katsuhiko Shimabukuro, Michitaka Kameyama and Tatsuo Higuchi: ""Design of a Multiple-Valued VLSI Processor for Digital Control"" IEICE Transactions on Information and Systems. Vol.E75-D,No.5. 709-717 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Bumchul Kim, Michitaka Kameyama and Tatsuo Higuchi: ""Parallel VLSI Processors for Robotics Using Multiple Bus Interconnection Networks"" IEICE Transactions on Fundamentals. Vol.E75-A,No.6. 712-719 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Yoshichika Fujioka, Michitaka Kameyama and Tatsuo Higuchi: ""240MOPS Reconfigurable Parallel VLSI Processor for Robot Control"" Proceedengs of the International Conference on Industrial Electronics, Control, Instrumentation and Automation. Vol.3. 1385-1390 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Yoshichika Fujioka and Michitaka Kameyama: ""2400-MFLOPS Reconfigurable Parallel VLSI Processor for Robot Control"" Proceedings of the IEEE International Conference on Robotics and Automation. Vol.3. 149-154 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Bumchul Kim, Michitaka Kameyama and Tatsuo Higuchi: ""Unified Scheduling of High Performance Parallel VLSI Processors for Robotics"" IEICE Transactions on Fundamentals. Vol.E76-A,No.6. 904-910 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Somchai Kittichaikoonkit and Michitaka Kameyama: ""A Minimum-Latency Linear Array FFT Processor for Robotics"" IEICE Transactions on Information and Systems. Vol.E76-D,No.6. 680-688 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Masanori Hariyama and Michitaka Kameyama: ""A Parallel Collision Detection VLSI Processor for Robotics Using a Content-Addressable Memory"" Proceedengs of the International Conference on Industrial Electronics, Control, and Instrumentation. Vol.3. 1512-1516 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Masanori Hariyama and Michitaka Kameyama: ""A Collision Detection Processor for Intelligent Vehicles"" IEICE Transactions on Electronics. Vol.E76-C,No.12. 1804-1811 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Bumchul Kim and Michitaka Kameyama: ""Latency Minimization of parallel VLSI Processors for Robotics Using Integer Programming"" Journal of Robotics and Mechatronics. Vol.6, No.2. 143-149 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Yasuaki Sawano, Bumchul Kim and Michitaka Kameyama: ""High-Level Synthesis of VLSI Processors for Intelligent Integrated Systems"" IEICE Transactions on Electronics. Vol.E77-C,No.7. 1101-1107 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Masanori Hariyama and Michitaka Kameyama: ""Design of a CAM-Based Collision Detecion VLSI Processor for Robotics"" IEICE Transactions on Electronics. Vol.E77-C,No.7. 1108-1115 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Yoshichika Fujioka, Michitaka Kameyama and Nobuhiro Tomabechi: ""Design of a Reconfigurable Parallel Processor for Digital Control Using FPGAs"" IEICE Transactions on Electronics. Vol.E77-C,No.7. 1123-1130 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Y.Fujioka: "Design of a Reconfigurable parallel Processor for Digital Control Using FPGAs" IEICE Transactions on clcctronics. E77-C. 1123-1130 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] B.Kim: "Latency Minimization of Parallel VLSI Processors for Robotics Using Integer Programming" Journal of Robotics and Mcchatronics. 6. 143-149 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] Y.Sawano: "High-Level Synthcsis of VLSI Processors for Intelligent Integrated Systems" IEICE Transactions on electronics. E77-C. 1101-1107 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 藤岡 与周: "知能集積システム用再構成可能並列VLSIプロセッサの構成" 電子情報通信学会技術研究報告. ICD94-11. 73-80 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 藤岡 与周: "再構成可能並列VLSIプロセッサと知能ロボット制御への応用" 電子情報通信学会技術研究報告. ICD94-193. 57-64 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 藤岡 与周: "知能集積システム用再構成可能並列VLSIプロセッサの高性能化" 計測自動制御学会東北支部30周年記念学術講演会予稿集. 39-40 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 金 凡哲: "知能集積システム用ユニバーサルVLSIプロセッサの設計と評価" 計測自動制御学会東北支部30周年記念学術講演会予稿集. 37-38 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 植野 義則: "2次元構造再構成可能並列VLSIプロセッサシステムと知能ロボット制御への応用" 平成6年度電気関係学会東北支部連合大会講演論文集. 99 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] S.Kittichaikoonkit: "A Minimum-Latency Linear Array FFT Processor for Robotics" IEICE Transactions on Information and Systems. E76-D. 680-688 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] Y.Sasaki: "Model-Based Robot Vision VLSI Processor for 3-D Instrumentation and Object Recognition" 1993 International Conference on Industrial Electronics,Control,and Instrumentation. 3. 1724-1729 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] M.Hariyama: "A Parallel Collision Detection VLSI Processor for Robotics Using a Content-Addressable Memory" 1993 International Conference on Industrial Electronics,Control,and Instrumentation. 3. 1512-1516 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] Y.Fujioka: "2400-MFLOPS Reconfigurable Parallel VLSI Processor for Robot Control" 1993 IEEE International Conference on Robotics and Automation. 3. 149-154 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 藤岡与周: "デイジタル制御用再構成可能並列プロセッサの開発" 電子情報通信学会技術報告. ICD93-100,DSP93-61. 47-54 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] B.Kim: "Parallel VLSI Processors for Robotics Using Multiple Bus Interconnection Networks" IEICE Transactions on Fundamentals. E75-A. 712-719 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] K.Shimabukuro: "Design of a Multiple-Valued VLSI Processor for Digital Control" IEICE Transactions on Information & Systems. E75-D. 709-717 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 藤岡 与周: "冗長マニピュレータ制御用座標変換VLSIプロセッサ" 電子情報通信学会論文誌D-I. J75-D-I. 909-916 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] Y.Fujioka: "240 MOPS Reconfigurable VLSI Processor for Robot Control" 1992 International Conference on Industrial Electronics,Control,Instrumentation,and Automation. Vol.3of3. 1385-1390 (1992)

    • Related Report
      1992 Annual Research Report

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Published: 1992-04-01   Modified: 2016-04-21  

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