An ASIP-based control system for Vision Chips with highly parallel signal processing

A gravity compensation algorithm for master manipulator used in minimally invasive robot surgery is proposed in this paper. The Lagrange dynamic equation is used to solve the motor output torque for balancing the master gravity. To avoid time delay in signal processing, multi-thread and multi-event technology are used in software control system. With the algorithm, the force by hand is very small under the condition of exist gravity compensation, less output more than 90% of the external force compared with the lack of gravity compensation.

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Parallel Programming and Its Architectures Based on Data Access Separated Algorithm Kernels

Computer Engineering ◽

10.4018/978-1-61350-456-7.ch207 ◽

2012 ◽

pp. 278-296

Author(s):

Dake Liu ◽

Joar Sohl ◽

Jian Wang

Keyword(s):

Signal Processing ◽

Parallel Programming ◽

High Performance ◽

Data Access ◽

Time Signal ◽

Hardware System ◽

Memory Subsystem ◽

Computing Performance ◽

Processing Platform ◽

Parallel Signal Processing

A novel master-multi-SIMD architecture and its kernel (template) based parallel programming flow is introduced as a parallel signal processing platform. The name of the platform is ePUMA (embedded Parallel DSP processor architecture with Unique Memory Access). The essential technology is to separate data accessing kernels from arithmetic computing kernels so that the run-time cost of data access can be minimized by running it in parallel with algorithm computing. The SIMD memory subsystem architecture based on the proposed flow dramatically improves the total computing performance. The hardware system and programming flow introduced in this article will primarily aim at low-power high-performance embedded parallel computing with low silicon cost for communications and similar real-time signal processing.

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Load Balancing and Partitioning for Parallel Signal Processing and Control Algorithms

NATO ASI Series - Advanced Computing Concepts and Techniques in Control Engineering ◽

10.1007/978-3-642-83548-3_13 ◽

1988 ◽

pp. 391-408 ◽

Cited By ~ 2

Author(s):

George Cybenko

Keyword(s):

Signal Processing ◽

Load Balancing ◽

Control Algorithms ◽

And Control ◽

Parallel Signal Processing

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Software and hardware solution for digital signal processing algorithms testing

E3S Web of Conferences ◽

10.1051/e3sconf/201912403006 ◽

2019 ◽

Vol 124 ◽

pp. 03006

Author(s):

M. V. Talanov ◽

V. M. Talanov

Keyword(s):

Signal Processing ◽

Control System ◽

Digital Signal Processing ◽

Control Systems ◽

System Simulation ◽

Digital Signal ◽

Drive Control ◽

Signal Processing Algorithms ◽

Software And Hardware ◽

Processing Algorithms

The article describes the microprocessor system for various digital signal processing algorithms testing. The development of electric drive control systems is carried out with the usage of modeling systems such as, MATLAB/Simulink. Modern digital control systems are based on specialized digital signal microcontrollers. The present market offers evaluation boards, for example STM32F4DISCOVERY, which enables to connect a microcontroller to a personal computer. It makes possible to use the microcontroller as a part of the mathematical model of the control system. However, the designing of the control system simulation model and the program for the microprocessor is carried out in different programming environments. Thus, the software and hardware solution for testing programs for the microprocessor, which is a part of the control system, is relevant. This article deals with the designing of the modeling method in which the prototype program for the microprocessor is debugged as a part of the electric drive control system simulation model.

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