Traditional joint-link robots have been widely used in production lines because of their high precision for single tasks.With the development of the manufacturing and service industries,the requirement for the compreh...Traditional joint-link robots have been widely used in production lines because of their high precision for single tasks.With the development of the manufacturing and service industries,the requirement for the comprehensive performance of robotics is growing.Numerous types of bio-inspired robotics have been investigated to realize human-like motion control and manipulation.A study route from inner mechanisms to external structures is proposed to imitate humans and animals better.With this idea,a brain-inspired intelligent robotic system is constructed that contains visual cognition,decision-making,motion control,and musculoskeletal structures.This paper reviews cutting-edge research in brain-inspired visual cognition,decision-making,motion control,and musculoskeletal systems.Two software systems and a corresponding hardware system are established,aiming at the verification and applications of next-generationbrain-inspired musculoskeletal robots.展开更多
Energy efficiency is one of the most important issues for High Performance Computing（HPC） today.Heterogeneous HPC platform with some energy-efficient customizable cores（as application-specific accelerators）is beli...Energy efficiency is one of the most important issues for High Performance Computing（HPC） today.Heterogeneous HPC platform with some energy-efficient customizable cores（as application-specific accelerators）is believed as one of the promising solutions to meet ever-increasing computing needs and to overcome power density limitations. In this paper, we focus on using customizable processor cores to optimize the typical stencil computations—— the kernel of many high-performance applications. We develop a series of effective software/hardware co-optimization strategies to exploit the instruction-level and memory-computation parallelism,as well as to decrease the energy consumption. These optimizations include loop tiling, prefetching, cache customization, Single Instruction Multiple Data（SIMD）, and Direct Memory Access（DMA）, as well as necessary ISA extensions. Detailed tests of power-efficiency are given to evaluate the effect of all these optimizations comprehensively. The results are impressive： the combination of these optimizations has improved the application performance by 341% while the energy consumption has been decreased by 35%; a preliminary comparison with X86, GPU, and FPGA platforms also showed that the design could achieve an order of magnitude higher performance efficiency. We believe this work can help understand sources of inefficiency in general-purpose chips and can be used as a beginning to customize an energy efficient CMP for further improvement.展开更多
基金supported by National Natural Science Foundation of China(Nos.91948303,62203443 and 62203439)the Major Project of Science and Technology Innovation 2030 C Brain Science and Brain-inspired Intelligence(No.2021ZD0200408)+1 种基金the Strategic Priority Research Program of Chinese Academy of Science(No.XDB 32050100)the Science Foundation for Youth of the State Key Laboratory of Management and Control for Complex System(No.2022QN09).
文摘Traditional joint-link robots have been widely used in production lines because of their high precision for single tasks.With the development of the manufacturing and service industries,the requirement for the comprehensive performance of robotics is growing.Numerous types of bio-inspired robotics have been investigated to realize human-like motion control and manipulation.A study route from inner mechanisms to external structures is proposed to imitate humans and animals better.With this idea,a brain-inspired intelligent robotic system is constructed that contains visual cognition,decision-making,motion control,and musculoskeletal structures.This paper reviews cutting-edge research in brain-inspired visual cognition,decision-making,motion control,and musculoskeletal systems.Two software systems and a corresponding hardware system are established,aiming at the verification and applications of next-generationbrain-inspired musculoskeletal robots.
基金supported by the National HighTech Research and Development (863) Program of China (No. 2013AA01A215)the Brain Inspired Computing Research of Tsinghua University (No. 20141080934)
文摘Energy efficiency is one of the most important issues for High Performance Computing（HPC） today.Heterogeneous HPC platform with some energy-efficient customizable cores（as application-specific accelerators）is believed as one of the promising solutions to meet ever-increasing computing needs and to overcome power density limitations. In this paper, we focus on using customizable processor cores to optimize the typical stencil computations—— the kernel of many high-performance applications. We develop a series of effective software/hardware co-optimization strategies to exploit the instruction-level and memory-computation parallelism,as well as to decrease the energy consumption. These optimizations include loop tiling, prefetching, cache customization, Single Instruction Multiple Data（SIMD）, and Direct Memory Access（DMA）, as well as necessary ISA extensions. Detailed tests of power-efficiency are given to evaluate the effect of all these optimizations comprehensively. The results are impressive： the combination of these optimizations has improved the application performance by 341% while the energy consumption has been decreased by 35%; a preliminary comparison with X86, GPU, and FPGA platforms also showed that the design could achieve an order of magnitude higher performance efficiency. We believe this work can help understand sources of inefficiency in general-purpose chips and can be used as a beginning to customize an energy efficient CMP for further improvement.
