A 75-variable MIQP solver processor for real-time autonomous robot control

Author

Nishino, Masanori ; Noguchi, Hiroki ; Shimai, Yusuke ; Izumi, Shintaro ; Kawaguchi, Hiroshi ; Yoshimoto, Masahiko

Author_Institution

Kobe Univ., Kobe, Japan

fYear

2011

fDate

20-22 Dec. 2011

Firstpage

469

Lastpage

472

Abstract

This paper describes a low-power eight-core Mixed Integer Quadric Programming (MIQP) solver processor VLSI for real-time autonomous robot control. It features an eight-core architecture with operation-level and task-level parallel processing using speculative execution to solve a 75-variable MIQP problem within 100 ms. The VLSI, containing 12.2 M transistors and occupying 2.7 × 3.0 mm² area, was designed and fabricated using 40-nm CMOS technology. It consumes 568 mW with 135 MHz operation, allowing real-time, low-power capability for a 75-variable MIQP solver.

Keywords

CMOS digital integrated circuits; VLSI; integer programming; legged locomotion; low-power electronics; microprocessor chips; multiprocessing systems; quadratic programming; 75-variable MIQP solver processor; CMOS technology; VLSI; frequency 135 MHz; low-power eight-core mixed integer quadric programming solver processor; operation-level parallel processing; real-time autonomous robot control; size 40 nm; task-level parallel processing; Computer architecture; Control systems; Process control; Random access memory; Real time systems; Robots; Very large scale integration; MIQP; multi core; real-time hybrid control;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2011 IEEE/SICE International Symposium on

Conference_Location

Kyoto

Print_ISBN

978-1-4577-1523-5

Type

conf

DOI

10.1109/SII.2011.6147494

Filename

6147494