CPS: Synergy: Collaborative Research: Hybrid Continuous-Discrete Computers for Cyber-Physical Systems

本研究的目的是混合（离散-连续）计算的网络物理系统。该研究增强了当今无处不在的离散（数字）计算模型与连续（模拟）计算，这是非常适合的网络物理系统中涉及的连续自然变量，并在这种系统中的计算的容错性。其结果是在单个硅芯片上的计算平台，具有更高的能源效率，更高的速度，以及比纯离散计算更好的数值收敛性。该研究有几个重点：（1）硬件：现代硅芯片技术用于将模拟计算硬件与数字硬件合并在同一芯片上，后者用于控制和协同计算，（2）架构：设计了使软件可访问混合计算功能的方法，（3）微架构：选择的粒度，类型和组织的模拟和混合模拟-数字功能单元，（4）具体应用到一个现实的赛博-物理系统组成的一组机器人。该研究扩展了现代计算机体系结构技术，以及主要在通信背景下开发的混合模拟/数字芯片技术的进步，以实现网络物理系统的混合计算。它为未来计算机必须处理的容错工作负载带来了更高水平的能源效率。开发的技术可以扩展到其他系统，其中有效的计算是必须的，如天气预报和高能物理。这项工作将研究与教育结合起来，并包括广泛传播所获成果的计划。

This research aims at hybrid (discrete-continuous) computation for cyber-physical systems. The research augments the today-ubiquitous discrete (digital) model of computation with continuous (analog) computing, which is well-suited to the continuous natural variables involved in cyber-physical systems, and to the error-tolerant nature of computation in such systems. The result is a computing platform on a single silicon chip, with higher energy efficiency, higher speed, and better numerical convergence than is possible with purely discrete computation. The research has several thrusts: (1) Hardware: modern silicon chip technology is used to merge analog computing hardware on the same chip with digital hardware, the latter used for control and co-computation, (2) Architecture: methods are devised for making hybrid computing functionality accessible to the software, (3) Microarchitecture: Choices are made on the granularity, type and organization of analog and hybrid analog-digital functional units, and (4) Concrete application to a realistic cyber-physical system consisting of a team of robots. The research extends modern computer architecture techniques, and advances in mixed analog/digital chip technology mainly developed in the context of communications, to hybrid computing for cyber-physical systems. It brings higher levels of energy efficiency to error-tolerant workloads that future computers will have to handle. The techniques developed can be extended to other systems in which efficient computation is a must, such as weather forecasting and high-energy physics. The work integrates research with education and includes plans for broad dissemination of the results obtained.