Secure computing paradigms impose new architectural challenges for general-purpose processors. Cryptographic processing is needed for secure communications, storage, and computations. We identify two categories of ope...Secure computing paradigms impose new architectural challenges for general-purpose processors. Cryptographic processing is needed for secure communications, storage, and computations. We identify two categories of operations in symmetric-key and public-key cryptographic algorithms that are not common in previous general-purpose workloads： advanced bit operations within a word and multi-word operations. We define MOMR （Multiple Operands Multiple Results） execution or datarich execution as a unified solution to both challenges. It allows arbitrary n-bit permutations to be achieved in one or two cycles, rather than O（n） cycles as in existing RISC processors. It also enables significant acceleration of multiword multiplications needed by public-key ciphers. We propose two implementations of MOMR： one employs only hardware changes while the other uses Instruction Set Architecture （ISA） support. We show that MOMR execution leverages available resources in typical multi-issue processors with minimal additional cost. Multi-issue processors enhanced with MOMR units provide additional speedup over standard multi-issue processors with the same datapath. MOMR is a general architectural solution for word-oriented processor architectures to incorporate datarich operations.展开更多
The inherent complexity and uncertainty of multi-operator multi-robot （MOMR） tele-operation system make its safeguard an essential problem. Hazardous factors in the system are analyzed using fault tree analysis（FTA...The inherent complexity and uncertainty of multi-operator multi-robot （MOMR） tele-operation system make its safeguard an essential problem. Hazardous factors in the system are analyzed using fault tree analysis（FTA） technology, and three-layer interactive safety architecture with information flow is designed in modules to control the factors according to the holistic control mode. After that, distributed virtual environment （DVE） including the characteristics of virtual guide （VG） technology is discussed to help the operators achieve some tasks through the visibility of control commands, time-delay, movement collision and operators＇ intentions. Finally an experiment is implemented to test the efficiency of safety control architecture by using two robots to place some building blocks in the same workspace.展开更多
Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presen...Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.展开更多
文摘Secure computing paradigms impose new architectural challenges for general-purpose processors. Cryptographic processing is needed for secure communications, storage, and computations. We identify two categories of operations in symmetric-key and public-key cryptographic algorithms that are not common in previous general-purpose workloads： advanced bit operations within a word and multi-word operations. We define MOMR （Multiple Operands Multiple Results） execution or datarich execution as a unified solution to both challenges. It allows arbitrary n-bit permutations to be achieved in one or two cycles, rather than O（n） cycles as in existing RISC processors. It also enables significant acceleration of multiword multiplications needed by public-key ciphers. We propose two implementations of MOMR： one employs only hardware changes while the other uses Instruction Set Architecture （ISA） support. We show that MOMR execution leverages available resources in typical multi-issue processors with minimal additional cost. Multi-issue processors enhanced with MOMR units provide additional speedup over standard multi-issue processors with the same datapath. MOMR is a general architectural solution for word-oriented processor architectures to incorporate datarich operations.
文摘The inherent complexity and uncertainty of multi-operator multi-robot （MOMR） tele-operation system make its safeguard an essential problem. Hazardous factors in the system are analyzed using fault tree analysis（FTA） technology, and three-layer interactive safety architecture with information flow is designed in modules to control the factors according to the holistic control mode. After that, distributed virtual environment （DVE） including the characteristics of virtual guide （VG） technology is discussed to help the operators achieve some tasks through the visibility of control commands, time-delay, movement collision and operators＇ intentions. Finally an experiment is implemented to test the efficiency of safety control architecture by using two robots to place some building blocks in the same workspace.
文摘Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.
