Parallel Algorithms and Architectures in Robotics

这是休斯研究实验室（HRL, James G. Nash）、南加州大学（USC， S.Y. Kung）和宾夕法尼亚大学（UPenn, Richard P. Paul）三家机构的联合研究成果。这项工作是为了开发一种用于机器人环境的专用收缩阵列计算机。三方在这项拟议的研究中各有专长：HRL关注基于矩阵的线性代数计算机的体系结构和算法；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操纵器控制问题。本工作的目的是将高性能收缩阵列处理器与机器人机械手连接，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，并开发将问题投射到此类机器上的算法。在项目主任看来，这是三位一流的研究人员，他们提出的实验系统研究可能会对机器人控制领域产生重大影响。强烈建议使用所附文件中的修订预算和附加条件提供资金。

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.