• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.8
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• pp.746-753
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• 2001

In this paper, we review the basic concept of Evolvable Hardware first. And we examine genetic algorithm processor and hardware reconfiguration method and implementation. By considering complexity and performance of hardware at the same time, we design genetic algorithm processor using modularization and parallel processing method. And we design frame that has connection structure and logic block on FPGA, and embody reconfigurable hardware that do so that this frame may be reconstructed by RAM. Also we implemented ECANS that information processing system such as living creatures'brain using this hardware reconfiguration method. And we apply ECANS which is implemented using the concept of Evolvable Hardware to time-series prediction problem in order to verify the effectiveness.

• Journal of KIISE:Computing Practices and Letters
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• v.11 no.6
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• pp.465-476
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• 2005

In this paper, we propose a new dynamic reconfiguration method using application-level checkpointing in a grid computing environment with Cactus and Globus. The existing dynamic reconfiguration methods have been dependent on a specific hardware and operating system. But the proposed method performs a dynamic reconfiguration without supporting specific hardwares and operating systems and, an application is programmed without considering a dynamic reconfiguration. In the proposed method, the job starts with an initial configuration of Computing resources and the job restarts including new resources dynamically found at run-time. The proposed method determines whether to include the newly found idle sites by considering processor performance and available memory of the sites. Our method writes the intermediate results of the job on the disks using system-independent application-level checkpointing for real-time visualization during the job runs. After reconfiguring idle sites and idle processors newly found, the job resumes using checkpointing files. The proposed dynamic reconfiguration method is proved to be valid by decreasing total execution time In K*Grid.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.899-906
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• 2004

In this paper, fault tolerant algorithm is presented for a servo manipulator system. For fault tolerance of a servo manipulator system, reconfiguration algorithm accommodating a motor's failure has been presented. The algorithm considers a transport's degree of freedoms as redundant joints of a servo manipulator. The reconfiguration algorithm recovers the end effector's motion in spite of one motor's failure A modified pseudo inverse redistribution method has been proposed for the reconfiguration algorithm. Numerical examples and hardware tests have been presented to verify the proposed methods.

• Journal of KIISE:Computer Systems and Theory
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• v.29 no.7
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• pp.422-430
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• 2002

For a time-multiplexed FPGA, a circuit is partitioned into several subcircuits, so that they temporally share the same physical FPGA device by hardware reconfiguration. In these architectures, all the hardware reconfiguration information called contexts are generated and downloaded into the chip, and then the pre-scheduled context switches occur properly and timely. Since the maximum number of the LUT's required in the same time determines the size of the chip used in the synthesis, it needs to be minimized, if possible. Many previous work use their own approaches, which are very similar to either scheduling method in high level synthesis or multi-way circuit partitioning method, to solve the problem. In this paper, we propose a method which estimates the lower bound on the number of LUT's without performing any actual synthesis. The estimated lower bounds help to evaluate the results of the previous work. If the estimated lower bound on the number of LUT's exactly matches the number of LUT's of the result from the previous work, the result must be optimal. In contrast, if they do not match, the following two cases are expected : the more exact lower bound may exist, or we might find the new synthesis result better than the result from the previous work. Experimental results show that our lower bound estimation method is very accurate. In almost al] cases experimented, the estimated lower bounds on the number of LUT's exactly match those of the previous synthesis results respectively, implying that the best results from the previous work are optimal as well as our method predicted the exact lower bound for those examples.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.3
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• pp.206-215
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• 2005

In this paper, we propose a new design method of Genetic Algorithm Processor(GAP) and Evolvable Hardware(EHW). All sorts of creature evolve its structure or shape in order to adapt itself to environments. Evolutionary Computation based on the process of natural selection not only searches the quasi-optimal solution through the evolution process, but also changes the structure to get best results. On the other hand, Genetic Algorithm(GA) is good fur finding solutions of complex optimization problems. However, it has a major drawback, which is its slow execution speed when is implemented in software of a conventional computer. Parallel processing has been one approach to overcome the speed problem of GA. In a point of view of GA, long bit string length caused the system of GA to spend much time that clear up the problem. Evolvable Hardware refers to the automation of electronic circuit design through artificial evolution, and is currently increased with the interested topic in a research domain and an engineering methodology. The studies of EHW generally use the XC6200 of Xilinx. The structure of XC6200 can configure with gate unit. Each unit has connected up, down, right and left cell. But the products can't use because had sterilized. So this paper uses Vertex-E (XCV2000E). The cell of FPGA is made up of Configuration Logic Block (CLB) and can't reconfigure with gate unit. This paper uses Vertex-E is composed of the component as cell of XC6200 cell in VertexE

• Journal of the Korean Institute of Intelligent Systems
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• v.9 no.6
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• pp.634-643
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• 1999

This paper concerns an implementation of f~rry logic controller (FLC') on a reconfigurahle FP

• Journal of KIISE:Computer Systems and Theory
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• v.30 no.9
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• pp.512-522
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• 2003

For a time-multiplexed FPGA, a circuit is partitioned into several subcircuits, so that they temporally share the same physical FPGA device by hardware reconfiguration. In these architectures, all the hardware reconfiguration information called contexts are generated and downloaded into the chip, and then the pre-scheduled context switches occur properly and timely. Typically, the size of the chip required to implement the circuit depends on both the maximum number of the LUT blocks required to implement the function of each subcircuit and the maximum number of micro-registers to store results over context switches in the same time. Therefore, many partitioning or synthesis methods try to minimize these two factors. In this paper, we present a new estimation technique to find the lower bound on the number of micro-registers which can be obtained by any synthesis methods, respectively, without performing any actual synthesis and/or design space exploration. The lower bound estimation is very important in sense that it greatly helps to evaluate the results of the previous work and even the future work. If the estimated lower bound exactly matches the actual number in the actual design result, we can say that the result is guaranteed to be optimal. In contrast, if they do not match, the following two cases are expected: we might estimate a better (more exact) lower bound or we find a new synthesis result better than those of the previous work. Our experimental results show that there are some differences between the numbers of micro-registers and our estimated lower bounds. One reason for these differences seems that our estimation tries to estimate the result with the minimum micro-registers among all the possible candidates, regardless of usage of other resources such as LUTs, while the previous work takes into account both LUTs and micro-registers. In addition, it implies that our method may have some limitation on exact estimation due to the complexity of the problem itself in sense that it is much more complicated than LUT estimation and thus needs more improvement, and/or there may exist some other synthesis results better than those of the previous work.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1387-1391
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• 2003

The fundamental aim of this paper is to present a solution algorithm to achieve cooperative contour controlling, under joint acceleration constraint with maximum cooperative speed. Usually, the specifications like maximum velocity of cooperative trajectory are determined by the application itself. In resolving the cooperative trajectory into two complementary trajectories, an optimum task resolving strategy is employed so that the task assignment for each robot is fair under the joint acceleration constraint. The proposed algorithm of being an off-line technique, this could be effectively and conveniently extended to the existing servo control systems irrespective of the computational power of the controller implemented. Further, neither a change in hardware setup nor considerable reconfiguration of the existing system is required in adopting this technique. A simulation study has been carried out to verify that the proposed method can be realized in the generation of complementary trajectories so that they could meet the stipulated constraints in simultaneous maneuvering.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.975-976
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• 1993

This talk presents the overview of the author's research and development activities on fuzzy inference hardware. We involved it with two distinct approaches. The first approach is to use application specific integrated circuits (ASIC) technology. The fuzzy inference method is directly implemented in silicon. The second approach, which is in its preliminary stage, is to use more conventional microprocessor architecture. Here, we use a quantitative technique used by designer of reduced instruction set computer (RISC) to modify an architecture of a microprocessor. In the ASIC approach, we implemented the most widely used fuzzy inference mechanism directly on silicon. The mechanism is beaded on a max-min compositional rule of inference, and Mandami's method of fuzzy implication. The two VLSI fuzzy inference chips are designed, fabricated, and fully tested. Both used a full-custom CMOS technology. The second and more claborate chip was designed at the University of North Carolina(U C) in cooperation with MCNC. Both VLSI chips had muliple datapaths for rule digital fuzzy inference chips had multiple datapaths for rule evaluation, and they executed multiple fuzzy if-then rules in parallel. The AT & T chip is the first digital fuzzy inference chip in the world. It ran with a 20 MHz clock cycle and achieved an approximately 80.000 Fuzzy Logical inferences Per Second (FLIPS). It stored and executed 16 fuzzy if-then rules. Since it was designed as a proof of concept prototype chip, it had minimal amount of peripheral logic for system integration. UNC/MCNC chip consists of 688,131 transistors of which 476,160 are used for RAM memory. It ran with a 10 MHz clock cycle. The chip has a 3-staged pipeline and initiates a computation of new inference every 64 cycle. This chip achieved an approximately 160,000 FLIPS. The new architecture have the following important improvements from the AT & T chip: Programmable rule set memory (RAM). On-chip fuzzification operation by a table lookup method. On-chip defuzzification operation by a centroid method. Reconfigurable architecture for processing two rule formats. RAM/datapath redundancy for higher yield It can store and execute 51 if-then rule of the following format: IF A and B and C and D Then Do E, and Then Do F. With this format, the chip takes four inputs and produces two outputs. By software reconfiguration, it can store and execute 102 if-then rules of the following simpler format using the same datapath: IF A and B Then Do E. With this format the chip takes two inputs and produces one outputs. We have built two VME-bus board systems based on this chip for Oak Ridge National Laboratory (ORNL). The board is now installed in a robot at ORNL. Researchers uses this board for experiment in autonomous robot navigation. The Fuzzy Logic system board places the Fuzzy chip into a VMEbus environment. High level C language functions hide the operational details of the board from the applications programme . The programmer treats rule memories and fuzzification function memories as local structures passed as parameters to the C functions. ASIC fuzzy inference hardware is extremely fast, but they are limited in generality. Many aspects of the design are limited or fixed. We have proposed to designing a are limited or fixed. We have proposed to designing a fuzzy information processor as an application specific processor using a quantitative approach. The quantitative approach was developed by RISC designers. In effect, we are interested in evaluating the effectiveness of a specialized RISC processor for fuzzy information processing. As the first step, we measured the possible speed-up of a fuzzy inference program based on if-then rules by an introduction of specialized instructions, i.e., min and max instructions. The minimum and maximum operations are heavily used in fuzzy logic applications as fuzzy intersection and union. We performed measurements using a MIPS R3000 as a base micropro essor. The initial result is encouraging. We can achieve as high as a 2.5 increase in inference speed if the R3000 had min and max instructions. Also, they are useful for speeding up other fuzzy operations such as bounded product and bounded sum. The embedded processor's main task is to control some device or process. It usually runs a single or a embedded processer to create an embedded processor for fuzzy control is very effective. Table I shows the measured speed of the inference by a MIPS R3000 microprocessor, a fictitious MIPS R3000 microprocessor with min and max instructions, and a UNC/MCNC ASIC fuzzy inference chip. The software that used on microprocessors is a simulator of the ASIC chip. The first row is the computation time in seconds of 6000 inferences using 51 rules where each fuzzy set is represented by an array of 64 elements. The second row is the time required to perform a single inference. The last row is the fuzzy logical inferences per second (FLIPS) measured for ach device. There is a large gap in run time between the ASIC and software approaches even if we resort to a specialized fuzzy microprocessor. As for design time and cost, these two approaches represent two extremes. An ASIC approach is extremely expensive. It is, therefore, an important research topic to design a specialized computing architecture for fuzzy applications that falls between these two extremes both in run time and design time/cost. TABLEI INFERENCE TIME BY 51 RULES {{{{Time }}{{MIPS R3000 }}{{ASIC }}{{Regular }}{{With min/mix }}{{6000 inference 1 inference FLIPS }}{{125s 20.8ms 48 }}{{49s 8.2ms 122 }}{{0.0038s 6.4㎲ 156,250 }} }}