153 research outputs found

    Architectural Exploration of KeyRing Self-Timed Processors

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    RÉSUMÉ Les dernières décennies ont vu l’augmentation des performances des processeurs contraintes par les limites imposées par la consommation d’énergie des systèmes électroniques : des très basses consommations requises pour les objets connectés, aux budgets de dépenses électriques des serveurs, en passant par les limitations thermiques et la durée de vie des batteries des appareils mobiles. Cette forte demande en processeurs efficients en énergie, couplée avec les limitations de la réduction d’échelle des transistors—qui ne permet plus d’améliorer les performances à densité de puissance constante—, conduit les concepteurs de circuits intégrés à explorer de nouvelles microarchitectures permettant d’obtenir de meilleures performances pour un budget énergétique donné. Cette thèse s’inscrit dans cette tendance en proposant une nouvelle microarchitecture de processeur, appelée KeyRing, conçue avec l’intention de réduire la consommation d’énergie des processeurs. La fréquence d’opération des transistors dans les circuits intégrés est proportionnelle à leur consommation dynamique d’énergie. Par conséquent, les techniques de conception permettant de réduire dynamiquement le nombre de transistors en opération sont très largement adoptées pour améliorer l’efficience énergétique des processeurs. La technique de clock-gating est particulièrement usitée dans les circuits synchrones, car elle réduit l’impact de l’horloge globale, qui est la principale source d’activité. La microarchitecture KeyRing présentée dans cette thèse utilise une méthode de synchronisation décentralisée et asynchrone pour réduire l’activité des circuits. Elle est dérivée du processeur AnARM, un processeur développé par Octasic sur la base d’une microarchitecture asynchrone ad hoc. Bien qu’il soit plus efficient en énergie que des alternatives synchrones, le AnARM est essentiellement incompatible avec les méthodes de synthèse et d’analyse temporelle statique standards. De plus, sa technique de conception ad hoc ne s’inscrit que partiellement dans les paradigmes de conceptions asynchrones. Cette thèse propose une approche rigoureuse pour définir les principes généraux de cette technique de conception ad hoc, en faisant levier sur la littérature asynchrone. La microarchitecture KeyRing qui en résulte est développée en association avec une méthode de conception automatisée, qui permet de s’affranchir des incompatibilités natives existant entre les outils de conception et les systèmes asynchrones. La méthode proposée permet de pleinement mettre à profit les flots de conception standards de l’industrie microélectronique pour réaliser la synthèse et la vérification des circuits KeyRing. Cette thèse propose également des protocoles expérimentaux, dont le but est de renforcer la relation de causalité entre la microarchitecture KeyRing et une réduction de la consommation énergétique des processeurs, comparativement à des alternatives synchrones équivalentes.----------ABSTRACT Over the last years, microprocessors have had to increase their performances while keeping their power envelope within tight bounds, as dictated by the needs of various markets: from the ultra-low power requirements of the IoT, to the electrical power consumption budget in enterprise servers, by way of passive cooling and day-long battery life in mobile devices. This high demand for power-efficient processors, coupled with the limitations of technology scaling—which no longer provides improved performances at constant power densities—, is leading designers to explore new microarchitectures with the goal of pulling more performances out of a fixed power budget. This work enters into this trend by proposing a new processor microarchitecture, called KeyRing, having a low-power design intent. The switching activity of integrated circuits—i.e. transistors switching on and off—directly affects their dynamic power consumption. Circuit-level design techniques such as clock-gating are widely adopted as they dramatically reduce the impact of the global clock in synchronous circuits, which constitutes the main source of switching activity. The KeyRing microarchitecture presented in this work uses an asynchronous clocking scheme that relies on decentralized synchronization mechanisms to reduce the switching activity of circuits. It is derived from the AnARM, a power-efficient ARM processor developed by Octasic using an ad hoc asynchronous microarchitecture. Although it delivers better power-efficiency than synchronous alternatives, it is for the most part incompatible with standard timing-driven synthesis and Static Timing Analysis (STA). In addition, its design style does not fit well within the existing asynchronous design paradigms. This work lays the foundations for a more rigorous definition of this rather unorthodox design style, using circuits and methods coming from the asynchronous literature. The resulting KeyRing microarchitecture is developed in combination with Electronic Design Automation (EDA) methods that alleviate incompatibility issues related to ad hoc clocking, enabling timing-driven optimizations and verifications of KeyRing circuits using industry-standard design flows. In addition to bridging the gap with standard design practices, this work also proposes comprehensive experimental protocols that aims to strengthen the causal relation between the reported asynchronous microarchitecture and a reduced power consumption compared with synchronous alternatives. The main achievement of this work is a framework that enables the architectural exploration of circuits using the KeyRing microarchitecture

    빠른 성능조건 만족을 위한 임계경로를 고려하는 상위 수준 합성

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    학위논문 (박사)-- 서울대학교 대학원 : 전기·컴퓨터공학부, 2014. 2. 최기영.Rapid advancement of process technology enables designers to integrate various functions onto a single chip and to realize diverse requirements of customers, but productivity of system designers has improved too slowly to make optimal design in time-to-market. Since designing at higher levels of abstraction reduces the number of design instances to be considered to acquire an optimal design, it improves quality of system as well as reduces design time and cost. High-level synthesis, which maps behavioral description models to register-transfer models, can improve design productivity drastically, and thus, it has been one of the important issues in electronic system level design. Centralized controllers commonly used in high-level synthesis often require long wires and cause high load capacitance, and that is why critical paths typically occur on paths from controllers to data registers instead of paths from data registers to data registers. However, conventional high-level synthesis has focused on delays within a datapath, making it difficult to solve the timing closure problem during physical synthesis. This thesis presents hardware architecture with a distributed controller, which makes the timing closure problem much easier. A novel critical-path-aware high-level synthesis flow is also presented for synthesizing such hardware through datapath partitioning, register binding, and controller optimization. We explore the design space related to the number of partitions, which is an important design parameter for target architecture. According to our experiments, the proposed approach reduces the critical path delay excluding FUs by 29.3% and that including FUs by 10.0%, with 2.2% area overhead on average compared to centralized controller architecture. We also propose two approaches, clock gating and register constrained flow, to alleviate high peak current problem which is caused by the proposed approach. These approaches suppress the peak current overhead to keep it less than 3.6%.Chapter 1 Introduction 1 Chapter 2 Background 7 2.1 High-level Synthesis 7 2.2 Subtasks of High-level Synthesis 8 2.2.1 Operation Scheduling and FU Binding 8 2.2.2 Register Binding 10 2.2.3 Controller Synthesis 11 2.2.4 Functional Pipelining Technique for High-level Synthesis 11 2.3 Centralized Controller Architecture 12 2.4 Design Closure Problem in High-level Synthesis 15 2.5 Thesis Contribution 18 Chapter 3 Target Architecture and Overall flow 21 3.1 Target Architecture 21 3.2 Overall flow 23 Chapter 4 Critical-Path-Aware Datapath Partitioning 27 4.1 Introduction 27 4.2 Problem Formulation 30 4.3 Proposed Algorithm 32 4.4 Exploring Design Space for the Number of Partitions 36 Chapter 5 Critical-Path-Aware Register Binding 39 5.1 Introduction 39 5.2 Problem Formulation 40 5.3 Proposed Algorithm 43 Chapter 6 Critical-Path-Aware Controller Optimization 49 6.1 Introduction 49 6.2 Problem Formulation 50 6.3 Proposed Algorithm 55 Chapter 7 Evaluation 63 7.1 Experimental Setup 63 7.2 Design Parameters and Computation Time 66 7.3 Analysis Critical Path Delay on Distributed Controller Architecture 68 7.4 Analysis of Performance and Area 70 7.5 Energy Consumption 78 7.6 Analysis on Register Overhead 80 7.6.1 Clock Gating Approach 81 7.6.2 Register Constrained Approach 84 7.6.3 Combined Approach 86 7.7 Join to Conventional Optimization Techniques on HLS 87 7.8 Comparison with DRFM Binding Approach 87 Chapter 8 Conclusion and Future Work 89 8.1 Summary 89 8.2 Future Work 90 Bibliography 93 Abstract in Korean 103Docto

    Ocin_tsim - A DVFS Aware Simulator for NoC Design Space Exploration and Optimization

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    Networks-on-Chip (NoCs) are a general purpose, scalable replacement for shared medium wired interconnects offering many practical applications in industry. Dynamic Voltage Frequency Scaling (DVFS) is a technique whereby a chip?s voltage-frequency levels are varied at run time, often used to conserve dynamic power. Various DVFSbased NoC optimization techniques have been proposed. However, due to the resources required to validate architectural decisions through prototyping, few are implemented. As a result, designers are faced with a lack of insight into potential power savings or performance gains at early architecture stages. This thesis proposes a DVFS aware NoC simulator with support for per node power-frequency modeling to allow fine-tuning of such optimization techniques early on in the design cycle. The proposed simulator also provides a framework for benchmarking various candidate strategies to allow selective prototyping and optimization. As part of the research, DVFS extensions were built for an existing NoC performance simulator and released for public use. This thesis presents some of the preliminary results from our simulator that show the average power consumed per node for all the benchmarks in SPLASH 2 benchmark suite [74] to be quite similar to each other. This thesis also serves as a technical manual for the simulator extensions. Important links for downloading and using the simulator are provided at the end of this document in Appendix C

    Virtual Runtime Application Partitions for Resource Management in Massively Parallel Architectures

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    This thesis presents a novel design paradigm, called Virtual Runtime Application Partitions (VRAP), to judiciously utilize the on-chip resources. As the dark silicon era approaches, where the power considerations will allow only a fraction chip to be powered on, judicious resource management will become a key consideration in future designs. Most of the works on resource management treat only the physical components (i.e. computation, communication, and memory blocks) as resources and manipulate the component to application mapping to optimize various parameters (e.g. energy efficiency). To further enhance the optimization potential, in addition to the physical resources we propose to manipulate abstract resources (i.e. voltage/frequency operating point, the fault-tolerance strength, the degree of parallelism, and the configuration architecture). The proposed framework (i.e. VRAP) encapsulates methods, algorithms, and hardware blocks to provide each application with the abstract resources tailored to its needs. To test the efficacy of this concept, we have developed three distinct self adaptive environments: (i) Private Operating Environment (POE), (ii) Private Reliability Environment (PRE), and (iii) Private Configuration Environment (PCE) that collectively ensure that each application meets its deadlines using minimal platform resources. In this work several novel architectural enhancements, algorithms and policies are presented to realize the virtual runtime application partitions efficiently. Considering the future design trends, we have chosen Coarse Grained Reconfigurable Architectures (CGRAs) and Network on Chips (NoCs) to test the feasibility of our approach. Specifically, we have chosen Dynamically Reconfigurable Resource Array (DRRA) and McNoC as the representative CGRA and NoC platforms. The proposed techniques are compared and evaluated using a variety of quantitative experiments. Synthesis and simulation results demonstrate VRAP significantly enhances the energy and power efficiency compared to state of the art.Siirretty Doriast

    Microarchitectural Low-Power Design Techniques for Embedded Microprocessors

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    With the omnipresence of embedded processing in all forms of electronics today, there is a strong trend towards wireless, battery-powered, portable embedded systems which have to operate under stringent energy constraints. Consequently, low power consumption and high energy efficiency have emerged as the two key criteria for embedded microprocessor design. In this thesis we present a range of microarchitectural low-power design techniques which enable the increase of performance for embedded microprocessors and/or the reduction of energy consumption, e.g., through voltage scaling. In the context of cryptographic applications, we explore the effectiveness of instruction set extensions (ISEs) for a range of different cryptographic hash functions (SHA-3 candidates) on a 16-bit microcontroller architecture (PIC24). Specifically, we demonstrate the effectiveness of light-weight ISEs based on lookup table integration and microcoded instructions using finite state machines for operand and address generation. On-node processing in autonomous wireless sensor node devices requires deeply embedded cores with extremely low power consumption. To address this need, we present TamaRISC, a custom-designed ISA with a corresponding ultra-low-power microarchitecture implementation. The TamaRISC architecture is employed in conjunction with an ISE and standard cell memories to design a sub-threshold capable processor system targeted at compressed sensing applications. We furthermore employ TamaRISC in a hybrid SIMD/MIMD multi-core architecture targeted at moderate to high processing requirements (> 1 MOPS). A range of different microarchitectural techniques for efficient memory organization are presented. Specifically, we introduce a configurable data memory mapping technique for private and shared access, as well as instruction broadcast together with synchronized code execution based on checkpointing. We then study an inherent suboptimality due to the worst-case design principle in synchronous circuits, and introduce the concept of dynamic timing margins. We show that dynamic timing margins exist in microprocessor circuits, and that these margins are to a large extent state-dependent and that they are correlated to the sequences of instruction types which are executed within the processor pipeline. To perform this analysis we propose a circuit/processor characterization flow and tool called dynamic timing analysis. Moreover, this flow is employed in order to devise a high-level instruction set simulation environment for impact-evaluation of timing errors on application performance. The presented approach improves the state of the art significantly in terms of simulation accuracy through the use of statistical fault injection. The dynamic timing margins in microprocessors are then systematically exploited for throughput improvements or energy reductions via our proposed instruction-based dynamic clock adjustment (DCA) technique. To this end, we introduce a 6-stage 32-bit microprocessor with cycle-by-cycle DCA. Besides a comprehensive design flow and simulation environment for evaluation of the DCA approach, we additionally present a silicon prototype of a DCA-enabled OpenRISC microarchitecture fabricated in 28 nm FD-SOI CMOS. The test chip includes a suitable clock generation unit which allows for cycle-by-cycle DCA over a wide range with fine granularity at frequencies exceeding 1 GHz. Measurement results of speedups and power reductions are provided

    GPU NTC Process Variation Compensation with Voltage Stacking

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    Near-threshold computing (NTC) has the potential to significantly improve efficiency in high throughput architectures, such as general-purpose computing on graphic processing unit (GPGPU). Nevertheless, NTC is more sensitive to process variation (PV) as it complicates power delivery. We propose GPU stacking, a novel method based on voltage stacking, to manage the effects of PV and improve the power delivery simultaneously. To evaluate our methodology, we first explore the design space of GPGPUs in the NTC to find a suitable baseline configuration and then apply GPU stacking to mitigate the effects of PV. When comparing with an equivalent NTC GPGPU without PV management, we achieve 37% more performance on average. When considering high production volume, our approach shifts all the chips closer to the nominal non-PV case, delivering on average (across chips) ˜80 % of the performance of nominal NTC GPGPU, whereas when not using our technique, chips would have ˜50 % of the nominal performance. We also show that our approach can be applied on top of multifrequency domain designs, improving the overall performance

    Cross-Layer Rapid Prototyping and Synthesis of Application-Specific and Reconfigurable Many-accelerator Platforms

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    Technological advances of recent years laid the foundation consolidation of informatisationof society, impacting on economic, political, cultural and socialdimensions. At the peak of this realization, today, more and more everydaydevices are connected to the web, giving the term ”Internet of Things”. The futureholds the full connection and interaction of IT and communications systemsto the natural world, delimiting the transition to natural cyber systems and offeringmeta-services in the physical world, such as personalized medical care, autonomoustransportation, smart energy cities etc. . Outlining the necessities of this dynamicallyevolving market, computer engineers are required to implement computingplatforms that incorporate both increased systemic complexity and also cover awide range of meta-characteristics, such as the cost and design time, reliabilityand reuse, which are prescribed by a conflicting set of functional, technical andconstruction constraints. This thesis aims to address these design challenges bydeveloping methodologies and hardware/software co-design tools that enable therapid implementation and efficient synthesis of architectural solutions, which specifyoperating meta-features required by the modern market. Specifically, this thesispresents a) methodologies to accelerate the design flow for both reconfigurableand application-specific architectures, b) coarse-grain heterogeneous architecturaltemplates for processing and communication acceleration and c) efficient multiobjectivesynthesis techniques both at high abstraction level of programming andphysical silicon level.Regarding to the acceleration of the design flow, the proposed methodologyemploys virtual platforms in order to hide architectural details and drastically reducesimulation time. An extension of this framework introduces the systemicco-simulation using reconfigurable acceleration platforms as co-emulation intermediateplatforms. Thus, the development cycle of a hardware/software productis accelerated by moving from a vertical serial flow to a circular interactive loop.Moreover the simulation capabilities are enriched with efficient detection and correctiontechniques of design errors, as well as control methods of performancemetrics of the system according to the desired specifications, during all phasesof the system development. In orthogonal correlation with the aforementionedmethodological framework, a new architectural template is proposed, aiming atbridging the gap between design complexity and technological productivity usingspecialized hardware accelerators in heterogeneous systems-on-chip and networkon-chip platforms. It is presented a novel co-design methodology for the hardwareaccelerators and their respective programming software, including the tasks allocationto the available resources of the system/network. The introduced frameworkprovides implementation techniques for the accelerators, using either conventionalprogramming flows with hardware description language or abstract programmingmodel flows, using techniques from high-level synthesis. In any case, it is providedthe option of systemic measures optimization, such as the processing speed,the throughput, the reliability, the power consumption and the design silicon area.Finally, on addressing the increased complexity in design tools of reconfigurablesystems, there are proposed novel multi-objective optimization evolutionary algo-rithms which exploit the modern multicore processors and the coarse-grain natureof multithreaded programming environments (e.g. OpenMP) in order to reduce theplacement time, while by simultaneously grouping the applications based on theirintrinsic characteristics, the effectively explore the design space effectively.The efficiency of the proposed architectural templates, design tools and methodologyflows is evaluated in relation to the existing edge solutions with applicationsfrom typical computing domains, such as digital signal processing, multimedia andarithmetic complexity, as well as from systemic heterogeneous environments, suchas a computer vision system for autonomous robotic space navigation and manyacceleratorsystems for HPC and workstations/datacenters. The results strengthenthe belief of the author, that this thesis provides competitive expertise to addresscomplex modern - and projected future - design challenges.Οι τεχνολογικές εξελίξεις των τελευταίων ετών έθεσαν τα θεμέλια εδραίωσης της πληροφοριοποίησης της κοινωνίας, επιδρώντας σε οικονομικές,πολιτικές, πολιτιστικές και κοινωνικές διαστάσεις. Στο απόγειο αυτής τη ςπραγμάτωσης, σήμερα, ολοένα και περισσότερες καθημερινές συσκευές συνδέονται στο παγκόσμιο ιστό, αποδίδοντας τον όρο «Ίντερνετ των πραγμάτων».Το μέλλον επιφυλάσσει την πλήρη σύνδεση και αλληλεπίδραση των συστημάτων πληροφορικής και επικοινωνιών με τον φυσικό κόσμο, οριοθετώντας τη μετάβαση στα συστήματα φυσικού κυβερνοχώρου και προσφέροντας μεταυπηρεσίες στον φυσικό κόσμο όπως προσωποποιημένη ιατρική περίθαλψη, αυτόνομες μετακινήσεις, έξυπνες ενεργειακά πόλεις κ.α. . Σκιαγραφώντας τις ανάγκες αυτής της δυναμικά εξελισσόμενης αγοράς, οι μηχανικοί υπολογιστών καλούνται να υλοποιήσουν υπολογιστικές πλατφόρμες που αφενός ενσωματώνουν αυξημένη συστημική πολυπλοκότητα και αφετέρου καλύπτουν ένα ευρύ φάσμα μεταχαρακτηριστικών, όπως λ.χ. το κόστος σχεδιασμού, ο χρόνος σχεδιασμού, η αξιοπιστία και η επαναχρησιμοποίηση, τα οποία προδιαγράφονται από ένα αντικρουόμενο σύνολο λειτουργικών, τεχνολογικών και κατασκευαστικών περιορισμών. Η παρούσα διατριβή στοχεύει στην αντιμετώπιση των παραπάνω σχεδιαστικών προκλήσεων, μέσω της ανάπτυξης μεθοδολογιών και εργαλείων συνσχεδίασης υλικού/λογισμικού που επιτρέπουν την ταχεία υλοποίηση καθώς και την αποδοτική σύνθεση αρχιτεκτονικών λύσεων, οι οποίες προδιαγράφουν τα μετα-χαρακτηριστικά λειτουργίας που απαιτεί η σύγχρονη αγορά. Συγκεκριμένα, στα πλαίσια αυτής της διατριβής, παρουσιάζονται α) μεθοδολογίες επιτάχυνσης της ροής σχεδιασμού τόσο για επαναδιαμορφούμενες όσο και για εξειδικευμένες αρχιτεκτονικές, β) ετερογενή αδρομερή αρχιτεκτονικά πρότυπα επιτάχυνσης επεξεργασίας και επικοινωνίας και γ) αποδοτικές τεχνικές πολυκριτηριακής σύνθεσης τόσο σε υψηλό αφαιρετικό επίπεδο προγραμματισμού,όσο και σε φυσικό επίπεδο πυριτίου.Αναφορικά προς την επιτάχυνση της ροής σχεδιασμού, προτείνεται μια μεθοδολογία που χρησιμοποιεί εικονικές πλατφόρμες, οι οποίες αφαιρώντας τις αρχιτεκτονικές λεπτομέρειες καταφέρνουν να μειώσουν σημαντικά το χρόνο εξομοίωσης. Παράλληλα, εισηγείται η συστημική συν-εξομοίωση με τη χρήση επαναδιαμορφούμενων πλατφορμών, ως μέσων επιτάχυνσης. Με αυτόν τον τρόπο, ο κύκλος ανάπτυξης ενός προϊόντος υλικού, μετατεθειμένος από την κάθετη σειριακή ροή σε έναν κυκλικό αλληλεπιδραστικό βρόγχο, καθίσταται ταχύτερος, ενώ οι δυνατότητες προσομοίωσης εμπλουτίζονται με αποδοτικότερες μεθόδους εντοπισμού και διόρθωσης σχεδιαστικών σφαλμάτων, καθώς και μεθόδους ελέγχου των μετρικών απόδοσης του συστήματος σε σχέση με τις επιθυμητές προδιαγραφές, σε όλες τις φάσεις ανάπτυξης του συστήματος. Σε ορθογώνια συνάφεια με το προαναφερθέν μεθοδολογικό πλαίσιο, προτείνονται νέα αρχιτεκτονικά πρότυπα που στοχεύουν στη γεφύρωση του χάσματος μεταξύ της σχεδιαστικής πολυπλοκότητας και της τεχνολογικής παραγωγικότητας, με τη χρήση συστημάτων εξειδικευμένων επιταχυντών υλικού σε ετερογενή συστήματα-σε-ψηφίδα καθώς και δίκτυα-σε-ψηφίδα. Παρουσιάζεται κατάλληλη μεθοδολογία συν-σχεδίασης των επιταχυντών υλικού και του λογισμικού προκειμένου να αποφασισθεί η κατανομή των εργασιών στους διαθέσιμους πόρους του συστήματος/δικτύου. Το μεθοδολογικό πλαίσιο προβλέπει την υλοποίηση των επιταχυντών είτε με συμβατικές μεθόδους προγραμματισμού σε γλώσσα περιγραφής υλικού είτε με αφαιρετικό προγραμματιστικό μοντέλο με τη χρήση τεχνικών υψηλού επιπέδου σύνθεσης. Σε κάθε περίπτωση, δίδεται η δυνατότητα στο σχεδιαστή για βελτιστοποίηση συστημικών μετρικών, όπως η ταχύτητα επεξεργασίας, η ρυθμαπόδοση, η αξιοπιστία, η κατανάλωση ενέργειας και η επιφάνεια πυριτίου του σχεδιασμού. Τέλος, προκειμένου να αντιμετωπισθεί η αυξημένη πολυπλοκότητα στα σχεδιαστικά εργαλεία επαναδιαμορφούμενων συστημάτων, προτείνονται νέοι εξελικτικοί αλγόριθμοι πολυκριτηριακής βελτιστοποίησης, οι οποίοι εκμεταλλευόμενοι τους σύγχρονους πολυπύρηνους επεξεργαστές και την αδρομερή φύση των πολυνηματικών περιβαλλόντων προγραμματισμού (π.χ. OpenMP), μειώνουν το χρόνο επίλυσης του προβλήματος της τοποθέτησης των λογικών πόρων σε φυσικούς,ενώ ταυτόχρονα, ομαδοποιώντας τις εφαρμογές βάση των εγγενών χαρακτηριστικών τους, διερευνούν αποτελεσματικότερα το χώρο σχεδίασης.Η αποδοτικότητά των προτεινόμενων αρχιτεκτονικών προτύπων και μεθοδολογιών επαληθεύτηκε σε σχέση με τις υφιστάμενες λύσεις αιχμής τόσο σε αυτοτελής εφαρμογές, όπως η ψηφιακή επεξεργασία σήματος, τα πολυμέσα και τα προβλήματα αριθμητικής πολυπλοκότητας, καθώς και σε συστημικά ετερογενή περιβάλλοντα, όπως ένα σύστημα όρασης υπολογιστών για αυτόνομα διαστημικά ρομποτικά οχήματα και ένα σύστημα πολλαπλών επιταχυντών υλικού για σταθμούς εργασίας και κέντρα δεδομένων, στοχεύοντας εφαρμογές υψηλής υπολογιστικής απόδοσης (HPC). Τα αποτελέσματα ενισχύουν την πεποίθηση του γράφοντα, ότι η παρούσα διατριβή παρέχει ανταγωνιστική τεχνογνωσία για την αντιμετώπιση των πολύπλοκων σύγχρονων και προβλεπόμενα μελλοντικών σχεδιαστικών προκλήσεων
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