The Plastic Cell Architecture for dynamic reconfigurable computing

Ito, H.; Oguri, Kazuta; Nagami, Kouichi; Konishi, Ryusuke; Shiozawa, Tsunemichi

doi:10.1109/iwrsp.1998.676666

Cited by 7 publications

(3 citation statements)

References 13 publications

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“…Because the converter is tied to a specific wedge, if the wedges are re-arranged, the signals to the converters have to be re-arranged. To achieve this, other researchers have dedicated entire segments of the FPGA to an internal bus [27]. In most cases, it has been 100% of the "long lines" of the FPGA [28].…”

Section: A Morphing Busmentioning

confidence: 99%

RecoNode: A reconfigurable node for heterogeneous multi-robot search and rescue

Voyles

Povilus

Mangharam

et al. 2010

2010 IEEE Safety Security and Rescue Robotics

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Follow this and additional works at: http://repository.upenn.edu/mlab_papers Part of the Engineering CommonsSuggested Citation: Voyles, R.M.; Povilus, S.; Mangharam, R.; Kang Li; , "RecoNode: A reconfigurable node for heterogeneous multi-robot search and rescue," Safety Security and Rescue Robotics (SSRR), 2010 IEEE International Workshop on , vol., no., pp.1-7, 26-30 July 2010 doi: 10.1109/SSRR.2010 ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. AbstractSearch and rescue robots can benefit from small size as it facilitates access to voids and movement in cramped quarters. Yet, small robots cannot be the entire answer for urban search and rescue because small size limits the size of actuators, sensor payloads, computational capacity and battery capacity. Nonetheless, we are attempting to alleviate these limitations by developing the hardware and software infrastructure for heterogeneous, wireless sensor/actuator/control networks that is well-suited to miniature search and rescue robots, as well as a host of other relevant applications. These networks of application-specific sensors, actuators and intelligence will be assembled from a backbone that includes scalable computing, a flexible I/O bus, and multi-hop data networking. But two things will ultimately give our wireless infrastructure its novelty: a dual-baseband communications layer and the embedded virtual machine. The dual-baseband communications layer augments the standard data communication layer with a secondary, sub-millisecond synchronization layer to permit high-fidelity, deterministic, distributed control across the network. The determinism of this dual-baseband communications layer, in turn, enables the creation of the embedded virtual machine, which is a programming construct that abstracts away the physical sensor/actuator/control nodes. With this infrastructure, programming will not be done at the node level, as in conventional wireless sensor networks. Instead, programming will be done at the task level with port-based objects distributed across physical resources as necessary at either compile-time or run-time. At compile-time, the system can assist in the specification of the physical network, while at run-time the system can react to changes in configuration, such as nodes exhausting their batteries or losing connectivity. This paper describes progress todate on developing this scalable infrastructure, specifically the RecoNode high-performance, dynamicallyreconfigurable computational node for the Terminator-Bot crawling robot and the FireFly mid-performance node, as well as their real-time software. Abstract -Search and rescue robots can benefit from small size as it facilitates access to voids and movement in cramped quarters. Yet, small robots cannot b...

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Section: A Morphing Busmentioning

confidence: 99%

RecoNode: A reconfigurable node for heterogeneous multi-robot search and rescue

Voyles

Povilus

Mangharam

et al. 2010

2010 IEEE Safety Security and Rescue Robotics

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“…The design of rst PCA implementation is ongoing [2], and follows the processor-based strategy. Discussions on the signal transport CA are also ongoing [7].…”

Section: Discussionmentioning

confidence: 99%

“…Plastic Cell Architecture is an architectural reference for designing an autonomously recongurable device: it is a uniform array of cells (1) and each cell consists of two parts(2).…”

mentioning

confidence: 99%

Plastic cell architecture: towards reconfigurable computing for general-purpose

Nagami

Oguri²,

Shiozawa³

et al.

Proceedings. IEEE Symposium on FPGAs for Custom Computing Machines (Cat. No.98TB100251)

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We propose a new architectural reference based on programmable logic devices that we call Plastic Cell Architecture (PCA). PCA is a reference for implementing a mechanism of a fully autonomous recongurability, which is also introduced in this paper. This recongurability is a further step toward general-purpose recongurable computing, introducing variable-and programmable-grain parallelism to wired logic computing.The PCA architecture is a fusion of an SRAMbased FPGA and cellular automata, where the cellular automata are dedicated to support the run time activities of the circuits congured on the architecture. PCA computing follows the object-oriented p aradigm, in that the circuits are r egarded as objects. These objects can be described in a hardware description language that features the semantics of dynamic module instantiation.Following the discussions on our research direction, this paper mainly focuses on the mechanism of autonomous recongurability and the PCA architecture.

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