Special purpose parallel computer architecture for real-time control and simulation in robotic applications

This is a real-time robotic controller and simulator which is a MIMD-SIMD parallel architecture for interfacing with an external host computer and providing a high degree of parallelism in computations for robotic control and simulation. It includes a host processor for receiving instructions from the external host computer and for transmitting answers to the external host computer. There are a plurality of SIMD microprocessors, each SIMD processor being a SIMD parallel processor capable of exploiting fine grain parallelism and further being able to operate asynchronously to form a MIMD architecture. Each SIMD processor comprises a SIMD architecture capable of performing two matrix-vector operations in parallel while fully exploiting parallelism in each operation. There is a system bus connecting the host processor to the plurality of SIMD microprocessors and a common clock providing a continuous sequence of clock pulses. There is also a ring structure interconnecting the plurality of SIMD microprocessors and connected to the clock for providing the clock pulses to the SIMD microprocessors and for providing a path for the flow of data and instructions between the SIMD microprocessors. The host processor includes logic for controlling the RRCS by interpreting instructions sent by the external host computer, decomposing the instructions into a series of computations to be performed by the SIMD microprocessors, using the system bus to distribute associated data among the SIMD microprocessors, and initiating activity of the SIMD microprocessors to perform the computations on the data by procedure call

Chaos in computer performance

Modern computer microprocessors are composed of hundreds of millions of transistors that interact through intricate protocols. Their performance during program execution may be highly variable and present aperiodic oscillations. In this paper, we apply current nonlinear time series analysis techniques to the performances of modern microprocessors during the execution of prototypical programs. Our results present pieces of evidence strongly supporting that the high variability of the performance dynamics during the execution of several programs display low-dimensional deterministic chaos, with sensitivity to initial conditions comparable to textbook models. Taken together, these results show that the instantaneous performances of modern microprocessors constitute a complex (or at least complicated) system and would benefit from analysis with modern tools of nonlinear and complexity science

Fast, accurate and flexible data locality analysis

This paper presents a tool based on a new approach for analyzing the locality exhibited by data memory references. The tool is very fast because it is based on a static locality analysis enhanced with very simple profiling information, which results in a negligible slowdown. This feature allows the tool to be used for highly time-consuming applications and to include it as a step in a typical iterative analysis-optimization process. The tool can provide a detailed evaluation of the reuse exhibited by a program, quantifying and qualifying the different types of misses either globally or detailed by program sections, data structures, memory instructions, etc. The accuracy of the tool is validated by comparing its results with those provided by a simulator.Peer ReviewedPostprint (published version

Cross-layer system reliability assessment framework for hardware faults

System reliability estimation during early design phases facilitates informed decisions for the integration of effective protection mechanisms against different classes of hardware faults. When not all system abstraction layers (technology, circuit, microarchitecture, software) are factored in such an estimation model, the delivered reliability reports must be excessively pessimistic and thus lead to unacceptably expensive, over-designed systems. We propose a scalable, cross-layer methodology and supporting suite of tools for accurate but fast estimations of computing systems reliability. The backbone of the methodology is a component-based Bayesian model, which effectively calculates system reliability based on the masking probabilities of individual hardware and software components considering their complex interactions. Our detailed experimental evaluation for different technologies, microarchitectures, and benchmarks demonstrates that the proposed model delivers very accurate reliability estimations (FIT rates) compared to statistically significant but slow fault injection campaigns at the microarchitecture level.Peer ReviewedPostprint (author's final draft

A technique for incorporating the NASA spacelab payload dedicated experiment processor software into the simulation system for the payload crew training complex

The feasibility of some off-the-shelf microprocessors and state-of-art software is assessed (1) as a development system for the principle investigator (pi) in the design of the experiment model, (2) as an example of available technology application for future PI's experiments, (3) as a system capable of being interactive in the PCTC's simulation of the dedicated experiment processor (DEP), preferably by bringing the PI's DEP software directly into the simulation model, (4) as a system having bus compatibility with host VAX simulation computers, (5) as a system readily interfaced with mock-up panels and information displays, and (6) as a functional system for post mission data analysis

Role of simulation and emulation in the development of Shuttle-Centaur (STS-Centaur)

To support the task of integrating the Centaur liquid-fueled upper-stage space vehicle into the space shuttle program. A system to simulate and emulate the STS-Centaur avionic flight system and its supporting ground control and checkout equipment was selected and designated the systems integration facility (SIF). Located in San Diego, California, the SIF is composed of integrated simulators that form a composite control system complement to the STS-Centaur airborne and avionic support equipment. An off-line capability to verify the system design of the Centaur airborne support equipment (CASE) and the Centaur avionic flight system is provided as well as a realistic medium for the development and integration of ground checkout and airborne control software programs. Each simulator is composed of prototype hardware, where feasible, to maximize configuration likeness. Where emulated flight or ground hardware is used, it provides physical characteristics (loads, signals, etc.) equivalent to those of the flight hardware. The hardware and software implementation of the SIF are described

From FPGA to ASIC: A RISC-V processor experience

This work document a correct design flow using these tools in the Lagarto RISC- V Processor and the RTL design considerations that must be taken into account, to move from a design for FPGA to design for ASIC

An assessment of General Aviation utilization of advanced avionics technology

Needs of the general aviation industry for services and facilities which might be supplied by NASA were examined. In the data collection phase, twenty-one individuals from nine manufacturing companies in general aviation were interviewed against a carefully prepared meeting format. General aviation avionics manufacturers were credited with a high degree of technology transfer from the forcing industries such as television, automotive, and computers and a demonstrated ability to apply advanced technology such as large scale integration and microprocessors to avionics functions in an innovative and cost effective manner. The industry's traditional resistance to any unnecessary regimentation or standardization was confirmed. Industry's self sufficiency in applying advanced technology to avionics product development was amply demonstrated. NASA research capability could be supportive in areas of basic mechanics of turbulence in weather and alternative means for its sensing