In order to accommodate the variety of algorithms with different performance in specific application and improve power efficiency,reconfigurable architecture has become an effective methodology in academia and industr...In order to accommodate the variety of algorithms with different performance in specific application and improve power efficiency,reconfigurable architecture has become an effective methodology in academia and industry.However,existing architectures suffer from performance bottleneck due to slow updating of contexts and inadequate flexibility.This paper presents an H-tree based reconfiguration mechanism(HRM)with Huffman-coding-like and mask addressing method in a homogeneous processing element(PE)array,which supports both programmable and data-driven modes.The proposed HRM can transfer reconfiguration instructions/contexts to a particular PE or associated PEs simultaneously in one clock cycle in unicast,multicast and broadcast mode,and shut down the unnecessary PE/PEs according to the current configuration.To verify the correctness and efficiency,we implement it in RTL synthesis and FPGA prototype.Compared to prior works,the experiment results show that the HRM has improved the work frequency by an average of 23.4%,increased the updating speed by 2×,and reduced the area by 36.9%;HRM can also power off the unnecessary PEs which reduced 51%of dynamic power dissipation in certain application configuration.Furthermore,in the data-driven mode,the system frequency can reach 214 MHz,which is 1.68×higher compared with the programmable mode.展开更多
H型钢立板焊接路径规划效率低下、路径质量欠佳以及转弯冗余过多等问题一直是制约其焊接效率与质量提升的关键难题。为攻克这一难题,提出了一种基于改进快速探索随机树(rapidly-exploring random tree,RRT)法的机器人焊接路径优化方法...H型钢立板焊接路径规划效率低下、路径质量欠佳以及转弯冗余过多等问题一直是制约其焊接效率与质量提升的关键难题。为攻克这一难题,提出了一种基于改进快速探索随机树(rapidly-exploring random tree,RRT)法的机器人焊接路径优化方法。首先,引入人工势场机制引导采样树的扩展方向,从而提升算法的收敛效率;其次,结合粒子群优化算法,基于路径拆分与优选段落重组策略,构建连贯顺畅的连通路径;最后,提出创建线段间自适应半径圆弧的方法,对路径进行精细化的平滑处理,进一步提升路径质量。实验结果表明,所提方法在收敛速度、路径平滑度与可行性方面均优于传统RRT算法,能够更好地满足H型钢立板复杂焊缝环境下的焊接路径规划需求。展开更多
基金supported by the National Natural Science Foundation of China (Nos. 61834005, 61602377, 61772417, 61802304, 61874087)the Shaanxi International Science and Technology Cooperation Program No. 2018KW-006+1 种基金Shaanxi Provincial Key R&D Plan under Grant No. 2017GY-060Shaanxi Province Co-ordination Innovation Project of Science and Technology under Grant No. 2016KTZDGY02-04-02
文摘In order to accommodate the variety of algorithms with different performance in specific application and improve power efficiency,reconfigurable architecture has become an effective methodology in academia and industry.However,existing architectures suffer from performance bottleneck due to slow updating of contexts and inadequate flexibility.This paper presents an H-tree based reconfiguration mechanism(HRM)with Huffman-coding-like and mask addressing method in a homogeneous processing element(PE)array,which supports both programmable and data-driven modes.The proposed HRM can transfer reconfiguration instructions/contexts to a particular PE or associated PEs simultaneously in one clock cycle in unicast,multicast and broadcast mode,and shut down the unnecessary PE/PEs according to the current configuration.To verify the correctness and efficiency,we implement it in RTL synthesis and FPGA prototype.Compared to prior works,the experiment results show that the HRM has improved the work frequency by an average of 23.4%,increased the updating speed by 2×,and reduced the area by 36.9%;HRM can also power off the unnecessary PEs which reduced 51%of dynamic power dissipation in certain application configuration.Furthermore,in the data-driven mode,the system frequency can reach 214 MHz,which is 1.68×higher compared with the programmable mode.
文摘H型钢立板焊接路径规划效率低下、路径质量欠佳以及转弯冗余过多等问题一直是制约其焊接效率与质量提升的关键难题。为攻克这一难题,提出了一种基于改进快速探索随机树(rapidly-exploring random tree,RRT)法的机器人焊接路径优化方法。首先,引入人工势场机制引导采样树的扩展方向,从而提升算法的收敛效率;其次,结合粒子群优化算法,基于路径拆分与优选段落重组策略,构建连贯顺畅的连通路径;最后,提出创建线段间自适应半径圆弧的方法,对路径进行精细化的平滑处理,进一步提升路径质量。实验结果表明,所提方法在收敛速度、路径平滑度与可行性方面均优于传统RRT算法,能够更好地满足H型钢立板复杂焊缝环境下的焊接路径规划需求。
