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U N * ^ Ms International INFORMATION TO USERS Til is reproduction was made from a copy of a document sent to us for microfilming. While the most advanced technology has been used to photograph and reproduce this document, the quality of the reproduction is heavily dependent upon the quality of the material submitted. The following explanation of techniques is provided to help clarify markings or notations which may appear on this reproduction. 1. The sign or “target” for pages apparently lacking from the document photographed is “ Missing Page(s)". If it was possible to obtain the missing page(s) or section, they are spliced into the film along with adjacent pages. This may have necessitated cutting through an image and duplicating adjacent pages to assure com plete co n tin u ity. 2 . When an image on the film is obliterated with a round black mark, it is an indication of either blurred copy because of movement during exposure, duplicate copy, or copyrighted materials that should not have been filmed. For blurred pages, a good image of the page can be found in the adjacent frame. If copyrighted materials were deleted, a target note will appear listing the pages in the adjacent frame. ,V When a map, drawing or chart, etc.. is part of the material being photographed, a definite method of "sectioning" the material has been followed. It is customary to begin filming at the upper left hand corner of a large sheet and to continue from left to right in equal sections with small overlaps. It' necessary, sectioning is continued again beginning below the first row and continuing 011 until complete. 4. For illustrations that cannot be satisfactorily reproduced by xerographic means, photographic prints can he purchased at additional cost and inserted into your xerographic copy. These prints are available upon request from the Dissertations Customer Services Department. .‘'.Som e pages in any document may have indistinct print. In all cases the best available copy has been filmed. Un*^ ms International 300 N Zeeb Road Ann Arbor, Ml 4S106 851892$ Chao, Hung-Hsiang Jonathan PARALLEL/PIPELINE VLSI COMPUTING STRUCTURES FOR ROBOTICS APPLICATIONS The Ohio State University Ph.D. 1985 University Microfilms International 300 N Zeeb Road. Ann Arbor, Ml 48106 Copyright 1985 by Chao, Hung-Hsiang Jonathan All Rights Reserved Parallel/Pipeline VLSI Computing Structures for Robotics Applications DISSERTATION Presented in Partial Fulfillm ent of the Requirements for the Degree Doctor of Philosophy 1n the Graduate School of The Ohio State University by Hung-Hsiang Jonathan Chao, B.S., M.S. The Ohio State University 1985 Reading Committee: Karl Olson David Orin Approved by Fusun Ozguner Advisor Department of Electrical Engineering © 1985 HUNG-HSIANG JONATHAN CHAO All Rights Reserved To my parents and my w ife ii ACKNOWLEDGEMENTS I would like to thank my advisor. Professor Karl W, Olson, for the constant support and constructive advice which he provided during my studies at The Ohio State University. Many of the results of this research were developed under his guidance. His contributions to the research and patience in reviewing this dissertation are also greatly appreciated. I would like to thank Professor David E. Orin, who gave me many helpful suggestions from time to time and also reviewed this dissertation. I also would like to thank Professor Fusun Ozguner, one of the reading committee, for reviewing this dissertation. I am very much indebted to Mrs. Barbara S. Elberfeld for her careful, patient, and efficient proofreading of my manuscript. I am grateful to Ms. Debi Britton for her excellent work in preparing this manuscript. Finally, I would like to thank my parents for their support, and most importantly, I wish to thank my wife, Yeichu, and daughter, Jessica, for the endurance, encourangement and love which they provided throughout my studies. This research was supported by the National Science Foundation, Computer Engineering Grant No. DMC-8312677, i i i Hung-Hsiang Jonathan Chao VITA December 10, 1955 ................................. Born -- Taipei, Taiwain, R.O.C, June, 1977 .................................................. B.S, Electronics Engineering National Chiao Tung University Hsinchu, Taiwan, R.O.C, June, 1980 _ ............................................... M.S. Electronics Engineering National Chiao Tung University Hsinchu, Taiwan, R.O.C. 1977-1981 .................................................... Design Engineer, Telecommunication Laboratories, Switching System Group Chungli, Taiwan, R.O.C. 1982-1985 .................................................... Graduate Research Associate Digital Systems Laboratory The Ohio State University Columbus, Ohio 1982-1985 .................................................... Graduate Teaching Associate Department of Electrical Engineering The Ohio State University Columbus, Ohio i v VITA — Continued FIELDS OF STUDY Major Field: Electrical Engineering Studies in Computer Engineering : Professor K.W. Olson, D.E. Orin, F. Ozguner, K.J. Breeding, R.R. McGhee Studies in Control Engineering: Professor R.E. Fenton, II. Ozguner Studies in Communications: Professor D.T. Davis, R.T. Compton Studies in Computer and Information Science: Professor M.T. Liu, V. Ashok, B.W. Weide PUBLICATIONS "The Design of Reliable Common Channel Signaling System in Time Division Digital Switching System," M.S. Thesis, National Chiao Tung University, Hsinchu, Taiwan, R.O.C., June 1980. "The Design of Control System in Time Division Digital Switching System-II," Journal of Taiwan Telecommunication Laboratories, Chungli, Taiwan, R.O.C., April 1981. v TABLE OF CONTENTS Page ACKNOWLEDGEMENT ................................................................................................................ i 11 VITA .......................................................................................................................................... iv LIST OF FIGURES ............................................................................................................... x iii LIST OF TABLES ...................................................................................................................xviii Chapter 1 INTRODUCTION ................................................................................................... 1 1.1 Project Background .......................................................................... 1 1.2 Previous Work ..................................................................................... 3 1.3 Organization ....................................................................................... 5 2 VLSI COMPUTING STRUCTURE ON ROBOTICS APPLICATIONS ............. 7 2.1 Introduction ................................................................................. 7 2.2 Inverse Plant Plus Uacobian Control ................................... 7 2.3 Computer Architectures for Robotics .................................. 9 2.4 VLSI Technology to Computer Architectures ....................... 13 2.5 VLSI Technology ................................................................................. 15 2.6 Summary ................................................................................................... 17 3 ARCHITECTURE OF THE ROBOTICS PROCESSOR ....................................... IB 3.1 Introduction ........................................................................................ IB 3.2 Block Diagram of the RP .................................................. 18 3.3 Evolution of the Architectural Design of the RP Data Paths ........................................................................................... 24 vi TABLE OF CONTENTS - - Continued Chapter Page 3.3.1 Single-Bus Configuration ............................................. 24 3.3.2 Two-Bus Configuration .................................................... 26 3.3.3 Three-Bus Configuration ............................................ 26 3.3.4 Cross-Bar Network ......................................................... 27 3.4 Summary .................................................................................................. 29 4 APPLICATIONS OF THE ROBOTICS PROCESSOR ...................................... 33 4.1 Introduction ....................................................................................... 33 4.2 Jacobian ................................................................................................ 37 4.2.1 Complexity of Vector Operations ......................... 39 4.2.2 Task Graph ........................................................................... 40 4.2.3 Architectures of the Jacobian ................................ 43 4.2.3.1 1-Processor Architecture ....................... 43 4.2.3.2 2-Processor Architecture ....................... 46 4.2.3.3 N-Processor Architecture ....................... 49 4.2.3.4 Cube Interconnection Network ............ 55 4.2 .3 .5 Comparison ...................................................... 66 4.3 Inverse Jacobian ................... 67 4.3.1 Methods for Solving Linear Equations ................. 68 4.3.2 Architectures of the Inverse Jacobian .............. 70 4.3.2.1 1-Processor Architecture ....................... 70 4.3.2.2 6-Processor Architecture ........................ 72 4.3.2.3 12-Processor Architecture .................. 72 4.3.2.4 24-Processor Architecture .. 75 v 11 TABLE OF CONTENTS — Continued Chapter Page 4.3.2.5 Comparison ...................................................... 75 4.4 Inverse Oynamics ............................................................................
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