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Power Consumption Characteristics Research on mobile system of Electrically Driven Large-Load-Ratio Six-Legged Robot

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 237-267页

作者： Hongchao Zhuang Ning Wang Haibo Gao Zongquan Deng School of Mechanical Engineering Tianjin University of Technology and EducationTianjin300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin300222China State Key Laboratory of Robotics and system Harbin Institute of TechnologyHarbin150001China

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical *** research the power consumption characteristics of robot mobile system is beneficial to speed up it toward *** on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set *** view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force ***,the power consumption of robot mobile system is solved under different working *** variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and *** articulated rotational zones and the ranges of body height and span are determined under the lowest power *** to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and ***,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile *** proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

关键词： Electrically driven Large-load-ratio six-legged robot Power consumption mobile system

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Hardware Acceleration for SLAM in mobile systems

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Journal of Computer Science & Technology 2023年第6期38卷 1300-1322页

作者：樊哲郝一帆支天郭崎杜子东 State Key Laboratory of Processors Institute of Computing TechnologyChinese Academy of SciencesBeijing 100190China School of Computer Science and Technology University of Chinese Academy of SciencesBeijing 100049China Cambricon Technologies Beijing 100191China

The emerging mobile robot industry has spurred a flurry of interest in solving the simultaneous localization and mapping(SLAM)***,existing SLAM platforms have difficulty in meeting the real-time and low-pow-er requirements imposed by mobile *** specialized hardware is promising with regard to achieving high per-formance and lowering the power,designing an efficient accelerator for SLAM is severely hindered by a wide variety of SLAM *** on our detailed analysis of representative SLAM algorithms,we observe that SLAM algorithms advance two challenges for designing efficient hardware accelerators:the large number of computational primitives and ir-regular control *** address these two challenges,we propose a hardware accelerator that features composable com-putation units classified as the matrix,vector,scalar,and control *** addition,we design a hierarchical instruction set for coping with a broad range of SLAM algorithms with irregular control *** results show that,com-pared against an Intel x86 processor,on average,our accelerator with the area of 7.41 mm^(2) achieves 10.52x and 112.62x better performance and energy savings,respectively,across different *** against a more energy-efficient ARM Cortex processor,our accelerator still achieves 33.03x and 62.64x better performance and energy savings,respec-tively.

关键词： hardware accelerator instruction set mobile system simultaneous localization and mapping(SLAM)algorithm

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Reducing Synchronization Cost for Single-Level Store in mobile systems

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Journal of Computer Science & Technology 2016年第4期31卷 836-848页

作者： Yuan-Chao Xu Hu Wan Ke-Ni Qiu Tao Li Wei-Gong Zhang College of Information Engineering Capital Normal University Beijing 100048 China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China Department of Electrical and Computer Engineering University of Florida Gainesville FL 32611 U.S.A.

Emerging byte-addressable non-volatile memory technologies, such as phase change memory （PCM） and spin- transfer torque RAM （STT-RAM）, offer both the byte-addressability of memory and the durability of storage, thus making it feasible to build single-level store systems. To ensure the consistency of persistent data structures in the presence of power failures or system crashes, it requires flushing cache lines to persistent memory frequently, thus incurring non-trivial synchronization overhead. To mitigate this issue, we propose two techniques. First, we use non-volatile STT-RAM as scratchpad memory on chip to store recovery information, thereby eliminating synchronization cost in the logging phase due to the avoidance of off-chip logging operations. Second, we present an adaptive synchronization policy based on caching modes in terms of data access patterns, thereby eliminating unnecessary synchronization cost in the checkpoint phase. Evaluation results indicate that the two techniques improve the overall performance from 2.15x to 2.39x compared with conventional transactional persistent memory.

关键词： crash consistency synchronization cost persistent memory power failure mobile system

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Smart phone-based context-aware augmentative and alternative communications system

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Journal of Central South University 2014年第9期21卷 3551-3558页

作者： PARK DongGyu SONG Sejun LEE DoHoon Department of Information Communication Engineering Changwon National University Department of Computer Science and Electrical Engineering University of Missouri-Kansas City Kansas CityMO 64110 USA Department of Computer Science Pusan National University

A smartphone-based context-aware augmentative and alternative communication(AAC) was applied was in order to enhance the user's experience by providing simple, adaptive, and intuitive interfaces. Various potential context-aware technologies and AAC usage scenarios were studied, and an efficient communication system was developed by combining smartphone's multimedia functions and its optimized sensor technologies. The experimental results show that context-awareness accuracy is achieved up to 97%.

关键词： augmentative alternative communication system context awareness mobile system location based services

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ETS-TEE: An Energy-Efficient Task Scheduling Strategy in a mobile Trusted Computing Environment

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Tsinghua Science and Technology 2023年第1期28卷 105-116页

作者： Hai Wang Lu Cai Xuan Hao Jie Ren Yuhui Ma School of Information Technology Northwest UniversityXi’an 710127China School of Computer Science Shaanxi Normal UniversityXi’an 710061China

A trusted execution environment(TEE)is a system-on-chip and CPU system with a wide security solution available on today’s Arm application(APP)processors,which dominate the smartphone ***,mobile APPs create a trusted application(TA)in the TEE to process sensitive information,such as payment or message encryption,which is transparent to the APPs running in the rich execution environments(REEs).In detail,the REE and TEE interact and eventually send back the results to the APP in the REE through the interface provided by the *** an operation definitely increases the overhead of mobile *** this paper,we first present a comprehensive analysis of the performance of open-source TEE encrypted *** then propose a high energy-efficient task scheduling strategy(ETS-TEE).By leveraging the deep learning algorithm,our policy considers the complexity of TA tasks,which are dynamically scheduled between modeling on the local device and offloading to an edge *** evaluate our approach on Raspberry Pi 3B as the local mobile device and Jetson TX2 as the edge *** results show that compared with the default scheduling strategy on the local device,our approach achieves an average of 38.0%energy reduction and 1.6×*** greatly reduces the performance loss caused by mobile devices in order to protect the safe execution of applications,so that the trusted execution environment has both security and high performance.

关键词： trusted execution environment mobile system task scheduling strategy optimization of energy efficiency

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