DESIGN OF A HIGHLY ROBOT CONTROL PROCESSOR BY INTRODUCING REDUNDANCY

(1)冗余互连线和交换交换机的硬件影响。冗余互连线和交换交换机是冗余结构必不可少的组成部分，但在成品率分析中往往被忽略。本研究分析了硬件对WSI产率提高的影响。(2)二维系统划分提出了将系统划分为两个方向的冗余设计。结果表明，通过这种设计可以提高目标系统的产率。在前面的研究中，设计了一个高度集成的机器人控制处理器。本研究设计了一种集成在VLSI芯片上的处理器元件（PE）。在一片晶圆上设计了一个由20-100个pe组成的高度集成处理器。PE之间的数据传输被设计为通过多个总线进行，以便在任何时候有效地操作所有集成PE。提出了一种以动态划分为特征的多总线高效设计方法。机器人控制处理器的高集成度缺陷修复实现高集成度处理器的最大难题是由于产品缺陷的增加而导致成品率的下降。在此基础上，提出了一种有效利用处理器可重构结构的缺陷恢复设计。结果表明，可以在一片晶圆上实现由聚乙烯（84个聚乙烯有效）组成的处理器。研究了高集成度处理器在机器人控制中的应用，发现可以大大减少机器人运行中的延迟时间。

Analysis of the yield enhancement of WSI by introducibg redundancy (1)The effect of the hardware of the redundant interconnection lines and the exchanging switches Although the redundant interconnection lines and the exchanging switches essential for redundant structure, they are usually neglected in the yield analysis.This study analyzes the effect of the hardware on the yield enhancement of WSI.(2)2-dimensional sudsystem-dividing A redundancy design in which a system is divided into two directions is proposed.It is made clear that the yield of the target system can be enhanced by this desing.Design of a highly integrated robot control processor In the preceding study.a processor element (PE)had been designed to be integrated on a VLSI chip In this study.a highly integrated processor composed 20-100 PEs is designed on a single wafer.The data transfer between PEs is designed to perform through the multiple buses so as to operate all of the fntegrated PE effectively at any time.An efficient design of the multiple buses characterized by the dynamic dividing is proposed.Defect recovery of the highly integrated robot control processor The most difficult problem in realizing the highly integrated processor is decreased yield resulting from increased production defects.Against this study proposes a defect recovery desing in which the reonfigurable architecture of the processor is effectively utilised.It is found that a processor composed of PEs (84 PEs are effective) may be implemented on a single wafer.The application of the highly integrated processor to the robot control is also studied and it is found that the delay time in operation can be greatly reduced.