Parallel Algorithms and Architectures in Robotics

机器人中的并行算法和架构

• 批准号: 8714689
• 负责人: J Greg Nash
• 金额: $ 86.31万
• 依托单位: Hughes Research Laboratories
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 1987
• 资助国家: 美国
• 起止时间: 1987-09-01 至 1990-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8714689&HistoricalAwards=false
• 关键词: Parallel; Algorithms; Architectures; Robotics

This is a proposed joint research effort among three institutions: Hughes Research Laboratory (HRL, James G. Nash), University of Southern California (USC, S.Y. Kung), and the University of Pennsylvania (UPenn, Richard P. Paul). This effort is to develop a special-purpose systolic-array computer for use in a robotics environment. Each of the three parties has special talents with regard to this proposed research: HRL is concerned with the architecture and algorithms for matrix-based linear algebraic computers; the research at USC is aimed at mapping problems into arrays; and UPenn specializes in robot manipulator control problems. The purposes of this effort are to interface a high-performance systolic-array processor to a robot manipulator, to re-evaluate and improve on the design of the processor, to develop new parallel algorithms for such machines, to develop and evaluate various appropriate kinematic control algorithms, and to develop algorithms for projecting problems onto machines of this type. In the opinion of the program director, these are three first-class researchers who propose research on an experimental system that may significantly impact the robotics control area. Funding with the revised budgets and added conditions in the attached documents is strongly recommended.

这是三个机构之间拟议的联合研究工作： 休斯研究实验室（HRL，詹姆斯G。Nash），南方大学 加州（南加州大学，S.Y. Kung）和宾夕法尼亚大学（UPenn， Richard P. Paul）。 这项工作是为了开发一种特殊用途的 用于机器人环境中的系统阵列计算机。 每个 三个方面都有特殊的人才， 研究：HRL关注的是架构和算法， 基于矩阵的线性代数计算机;南加州大学的研究旨在 将问题映射到数组中;宾夕法尼亚大学专门研究机器人 机械手控制问题。 这一努力的目的是 高性能系统阵列处理器与机器人接口 机械手，重新评估和改进处理器的设计， 为此类机器开发新的并行算法，开发和 评估各种适当的运动控制算法，并 开发算法，将问题投影到这类机器上。 在节目导演看来，这是三个一流的 研究人员提出研究一个实验系统， 对机器人控制领域产生重大影响。 与联合国 所附文件中的修订预算和附加条件是 强烈推荐。