Title :
A 34.7-mW quad-core MIQP solver processor for robot control
Author :
Noguchi, Hiroki ; Tani, Junichi ; Shimai, Yusuke ; Nishino, Masanori ; Izumi, Shintaro ; Kawaguchi, Hiroshi ; Yoshimoto, Masahiko
Author_Institution :
Kobe Univ., Kobe, Japan
Abstract :
We propose a quad-core mixed integer quadric programming (MIQP) solver processor. The MIQP solver is applicable to hybrid control systems including real-time control robotics. Using multi-core architecture, fixed-point calculations, and branch-and-bound method with high-dispersion performance while processing a 50-variable problem, our design achieves 34.7-mW operation at a frequency of 52 MHz in measurement results, although a core 2 duo PC requires 3.16 GHz to solve it as rapidly.
Keywords :
fixed point arithmetic; integer programming; microprocessor chips; robots; branch-and-bound method; fixed point calculations; high dispersion performance; hybrid control system; multi core architecture; power 34.7 mW; quad core MIQP solver processor; quad core mixed integer quadric programming solver processor; real time control robotics; robot control; Calculators; Control systems; Field programmable gate arrays; Frequency measurement; Multicore processing; Random access memory; Robots; MIQP; multi core; real-time hybrid control;
Conference_Titel :
Custom Integrated Circuits Conference (CICC), 2010 IEEE
Conference_Location :
San Jose, CA
Print_ISBN :
978-1-4244-5758-8
DOI :
10.1109/CICC.2010.5617467
