This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed comm...This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navi- gation experiments on the robot in a variety of natural outdoor environments.展开更多
Processors have been playing important roles in both communication infrastructure systems and terminals.In this paper,both application specific and general purpose processors for communications are discussed including...Processors have been playing important roles in both communication infrastructure systems and terminals.In this paper,both application specific and general purpose processors for communications are discussed including the roles,the history,the current situations,and the trends.One trend is that ASIPs(Application Specific Instruction-set Processors) are taking over ASICs(Application Specific Integrated Circuits) because of the increasing needs both on performance and compatibility of multi-modes.The trend opened opportunities for researchers crossing the boundary between communications and computer architecture.Another trend is the serverlization,i.e.,more infrastructure equipments are replaced by servers.The trend opened opportunities for researchers working towards high performance computing for communication,such as research on communication algorithm kernels and real time programming methods on servers.展开更多
SRAM(static random access memory)-based FPGA(field programmable gate array), owing to its large capacity, high performance, and dynamical reconfiguration, has become an attractive platform for So PC(system on programm...SRAM(static random access memory)-based FPGA(field programmable gate array), owing to its large capacity, high performance, and dynamical reconfiguration, has become an attractive platform for So PC(system on programmable chip) development. However, as the configuration memory and logic memory of the SRAM-based FPGA are highly susceptible to SEUs(single-event upsets) in deep space, it is a challenge to design and implement a highly reliable FPGA-based system for spacecraft, and no practical architecture has been proposed. In this paper, a new architecture for a reliable and reconfigurable FPGAbased computer in a highly critical GNC(guidance navigation and control) system is proposed. To mitigate the effect of an SEU on the system, multi-layer reconfiguration and multi-layer TMR(triple module redundancy) techniques are proposed, with a reliable reconfigurable real-time operating system(Space OS) managing the system level fault tolerance of the computer in the architecture. The proposed architecture for the reconfigurable FPGA-based computer has been implemented with COTS(commercial off the shelf) FPGA and has firstly been applied to the GNC system of a circumlunar return and reentry flight vehicle. The in-orbit results show that the proposed architecture is capable of meeting the requirements of high reliability and high availability, and can provide the expressive varying functionality and runtime flexibility for an FPGA-based GNC computer in deep space.展开更多
文摘This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navi- gation experiments on the robot in a variety of natural outdoor environments.
基金The National High-Tech Research and Development Program of China(863 Program)2014AA01A705
文摘Processors have been playing important roles in both communication infrastructure systems and terminals.In this paper,both application specific and general purpose processors for communications are discussed including the roles,the history,the current situations,and the trends.One trend is that ASIPs(Application Specific Instruction-set Processors) are taking over ASICs(Application Specific Integrated Circuits) because of the increasing needs both on performance and compatibility of multi-modes.The trend opened opportunities for researchers crossing the boundary between communications and computer architecture.Another trend is the serverlization,i.e.,more infrastructure equipments are replaced by servers.The trend opened opportunities for researchers working towards high performance computing for communication,such as research on communication algorithm kernels and real time programming methods on servers.
基金supported by the Major Special Projects on National Medium and Long-term Science and Technology Development Planning
文摘SRAM(static random access memory)-based FPGA(field programmable gate array), owing to its large capacity, high performance, and dynamical reconfiguration, has become an attractive platform for So PC(system on programmable chip) development. However, as the configuration memory and logic memory of the SRAM-based FPGA are highly susceptible to SEUs(single-event upsets) in deep space, it is a challenge to design and implement a highly reliable FPGA-based system for spacecraft, and no practical architecture has been proposed. In this paper, a new architecture for a reliable and reconfigurable FPGAbased computer in a highly critical GNC(guidance navigation and control) system is proposed. To mitigate the effect of an SEU on the system, multi-layer reconfiguration and multi-layer TMR(triple module redundancy) techniques are proposed, with a reliable reconfigurable real-time operating system(Space OS) managing the system level fault tolerance of the computer in the architecture. The proposed architecture for the reconfigurable FPGA-based computer has been implemented with COTS(commercial off the shelf) FPGA and has firstly been applied to the GNC system of a circumlunar return and reentry flight vehicle. The in-orbit results show that the proposed architecture is capable of meeting the requirements of high reliability and high availability, and can provide the expressive varying functionality and runtime flexibility for an FPGA-based GNC computer in deep space.
