An Effective Routability-driven Placer for Mixed-size Circuit Designs

We propose a routability-driven analytical placer that aims at distributing pins evenly. This is accomplished by including a group of pin density constraints in its mathematical formulation. Moreover, for mixed-size circuits, we adopt a scaled smoothing method to cope with fixed macro blocks. As a result, we have fewer cells overlapping with fixed blocks after global placement, implying that the optimization of the global placement solution is more accurate and that the global placement solution resembles a legal solution more. Routing solutions obtained by a commercial router show that for most benchmark circuits, better routing results can be achieved on the placement results generated by our pin density oriented placer

A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative relationships with constantly changeable task demand in Multi-robot field. First this paper whole and static describes organization model HWROM of robot team, then uses Markov course and Bayesian theorem for reference, dynamical describes the team cooperative relationships building. Finally from cooperative entity layer, ability layer and relative layer we research team formation and cooperative mechanism, and discuss how to optimize relative action sets during the evolution. The dynamic evolution model of robot team and cooperative relationships between robot teams proposed and described in this paper can not only generalize the robot team as a whole, but also depict the dynamic evolving process quantitatively. Users can also make the prediction of the cooperative relationship and the action of the robot team encountering new demands based on this model. Journal web page & a lot of robotic related papers www.ars-journal.co