Computer hardware and software for robotic control

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems

Custom Integrated Circuits

Contains reports on ten research projects.Analog Devices, Inc.IBM CorporationNational Science Foundation/Defense Advanced Research Projects Agency Grant MIP 88-14612Analog Devices Career Development Assistant ProfessorshipU.S. Navy - Office of Naval Research Contract N0014-87-K-0825AT&TDigital Equipment CorporationNational Science Foundation Grant MIP 88-5876

Processor-In-Memory (PIM) Based Architectures for PetaFlops Potential Massively Parallel Processing

The report summarizes the work performed at the University of Notre Dame under a NASA grant from July 15, 1995 through July 14, 1996. Researchers involved in the work included the PI, Dr. Peter M. Kogge, and three graduate students under his direction in the Computer Science and Engineering Department: Stephen Dartt, Costin Iancu, and Lakshmi Narayanaswany. The organization of this report is as follows. Section 2 is a summary of the problem addressed by this work. Section 3 is a summary of the project's objectives and approach. Section 4 summarizes PIM technology briefly. Section 5 overviews the main results of the work. Section 6 then discusses the importance of the results and future directions. Also attached to this report are copies of several technical reports and publications whose contents directly reflect results developed during this study

A Fast and Accurate Cost Model for FPGA Design Space Exploration in HPC Applications

Heterogeneous High-Performance Computing (HPC) platforms present a significant programming challenge, especially because the key users of HPC resources are scientists, not parallel programmers. We contend that compiler technology has to evolve to automatically create the best program variant by transforming a given original program. We have developed a novel methodology based on type transformations for generating correct-by-construction design variants, and an associated light-weight cost model for evaluating these variants for implementation on FPGAs. In this paper we present a key enabler of our approach, the cost model. We discuss how we are able to quickly derive accurate estimates of performance and resource-utilization from the design’s representation in our intermediate language. We show results confirming the accuracy of our cost model by testing it on three different scientific kernels. We conclude with a case-study that compares a solution generated by our framework with one from a conventional high-level synthesis tool, showing better performance and power-efficiency using our cost model based approach

A Survey on Array Storage, Query Languages, and Systems

Since scientific investigation is one of the most important providers of massive amounts of ordered data, there is a renewed interest in array data processing in the context of Big Data. To the best of our knowledge, a unified resource that summarizes and analyzes array processing research over its long existence is currently missing. In this survey, we provide a guide for past, present, and future research in array processing. The survey is organized along three main topics. Array storage discusses all the aspects related to array partitioning into chunks. The identification of a reduced set of array operators to form the foundation for an array query language is analyzed across multiple such proposals. Lastly, we survey real systems for array processing. The result is a thorough survey on array data storage and processing that should be consulted by anyone interested in this research topic, independent of experience level. The survey is not complete though. We greatly appreciate pointers towards any work we might have forgotten to mention.Comment: 44 page

A Survey on FPGA-Based Sensor Systems: Towards Intelligent and Reconfigurable Low-Power Sensors for Computer Vision, Control and Signal Processing

The current trend in the evolution of sensor systems seeks ways to provide more accuracy and resolution, while at the same time decreasing the size and power consumption. The use of Field Programmable Gate Arrays (FPGAs) provides specific reprogrammable hardware technology that can be properly exploited to obtain a reconfigurable sensor system. This adaptation capability enables the implementation of complex applications using the partial reconfigurability at a very low-power consumption. For highly demanding tasks FPGAs have been favored due to the high efficiency provided by their architectural flexibility (parallelism, on-chip memory, etc.), reconfigurability and superb performance in the development of algorithms. FPGAs have improved the performance of sensor systems and have triggered a clear increase in their use in new fields of application. A new generation of smarter, reconfigurable and lower power consumption sensors is being developed in Spain based on FPGAs. In this paper, a review of these developments is presented, describing as well the FPGA technologies employed by the different research groups and providing an overview of future research within this field.The research leading to these results has received funding from the Spanish Government and European FEDER funds (DPI2012-32390), the Valencia Regional Government (PROMETEO/2013/085) and the University of Alicante (GRE12-17)

Designing a scalable dynamic load -balancing algorithm for pipelined single program multiple data applications on a non-dedicated heterogeneous network of workstations

Dynamic load balancing strategies have been shown to be the most critical part of an efficient implementation of various applications on large distributed computing systems. The need for dynamic load balancing strategies increases when the underlying hardware is a non-dedicated heterogeneous network of workstations (HNOW). This research focuses on the single program multiple data (SPMD) programming model as it has been extensively used in parallel programming for its simplicity and scalability in terms of computational power and memory size.;This dissertation formally defines and addresses the problem of designing a scalable dynamic load-balancing algorithm for pipelined SPMD applications on non-dedicated HNOW. During this process, the HNOW parameters, SPMD application characteristics, and load-balancing performance parameters are identified.;The dissertation presents a taxonomy that categorizes general load balancing algorithms and a methodology that facilitates creating new algorithms that can harness the HNOW computing power and still preserve the scalability of the SPMD application.;The dissertation devises a new algorithm, DLAH (Dynamic Load-balancing Algorithm for HNOW). DLAH is based on a modified diffusion technique, which incorporates the HNOW parameters. Analytical performance bound for the worst-case scenario of the diffusion technique has been derived.;The dissertation develops and utilizes an HNOW simulation model to conduct extensive simulations. These simulations were used to validate DLAH and compare its performance to related dynamic algorithms. The simulations results show that DLAH algorithm is scalable and performs well for both homogeneous and heterogeneous networks. Detailed sensitivity analysis was conducted to study the effects of key parameters on performance

A bibliography on parallel and vector numerical algorithms

This is a bibliography of numerical methods. It also includes a number of other references on machine architecture, programming language, and other topics of interest to scientific computing. Certain conference proceedings and anthologies which have been published in book form are listed also