Automatic Generation Tool of FPGA Components for Robots
In order to realize intelligent robot system, it is required to process large amount of data input from complex and different kinds of sensors in a short time. FPGA is expected to improve process performance of robots due to better performance per power consumption than high performance CPU, but it...
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| Published in | IEICE Transactions on Information and Systems Vol. E102.D; no. 5; pp. 1012 - 1019 |
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| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Tokyo
The Institute of Electronics, Information and Communication Engineers
01.05.2019
Japan Science and Technology Agency |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0916-8532 1745-1361 |
| DOI | 10.1587/transinf.2018RCP0004 |
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| Abstract | In order to realize intelligent robot system, it is required to process large amount of data input from complex and different kinds of sensors in a short time. FPGA is expected to improve process performance of robots due to better performance per power consumption than high performance CPU, but it has lower development productivity than software. In this paper, we discuss automatic generation of FPGA components for robots. A design tool, developed for easy integration of FPGA into robots, is proposed. The tool named cReComp can automatically convert circuit written in Verilog HDL into a software component compliant to a robot software framework ROS (Robot Operation System), which is the standard in robot development. To evaluate its productivity, we conducted a subject experiment. As a result, we confirmed that the automatic generation is effective to ease the development of FPGA components for robots. |
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| AbstractList | In order to realize intelligent robot system, it is required to process large amount of data input from complex and different kinds of sensors in a short time. FPGA is expected to improve process performance of robots due to better performance per power consumption than high performance CPU, but it has lower development productivity than software. In this paper, we discuss automatic generation of FPGA components for robots. A design tool, developed for easy integration of FPGA into robots, is proposed. The tool named cReComp can automatically convert circuit written in Verilog HDL into a software component compliant to a robot software framework ROS (Robot Operation System), which is the standard in robot development. To evaluate its productivity, we conducted a subject experiment. As a result, we confirmed that the automatic generation is effective to ease the development of FPGA components for robots. |
| Author | OHKAWA, Takeshi YAMASHINA, Kazushi OOTSU, Kanemitsu MATSUMOTO, Takuya YOKOTA, Takashi |
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| References | [20] cReComp, https://github.com/kazuyamashi/cReComp [2] K. Tamura, and K. Naruse, “Unsmooth field sweeping by Balistic random walk of multiple robots in unsmooth terrain,” 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems (SCIS) and 15th International Symposium on Advanced Intelligent Systems (ISIS), Kitakyushu, pp.585-589, 2014. doi: 10.1109/SCIS-ISIS.2014.7044837 10.1109/SCIS-ISIS.2014.7044837 [6] J. Boren and S. Cousins, “Exponential growth of ros [ros topics],” IEEE Robot. Autom. Mag., vol.18, no.1, pp.19-20, 2011. 10.1109/mra.2010.940147 [8] K. Yamashina, T. Matsumoto, T. Ohkawa, K. Ootsu, and T. Yokota, “Componentizing of FPGA processing for robot, and its evaluation in design productivity,” IEICE Tech. Report, SIG Cloud-Network-Robot (CNR), vol.116, no.461, pp.23-28, 2017. [10] Open Source Robotics Foundation, http://www.osrfoundation.org [17] J. Ou and V.K. Prasanna, “PyGen: a MATLAB/Simulink based tool for synthesizing parameterized and energy efficient designs using FPGAs,” 12th Annual IEEE Symposium on Field-Programmable Custom Computing Machines (FCCM), pp.47-56, 2004. 10.1109/fccm.2004.47 [3] E.S. Chung, P.A. Milder, J.C. Hoe, and K. Mai, “Single-chip heterogeneous computing: Does the future include custom logic, FPGAs, and GPGPUs?,” Proc. 2010 43rd Annual IEEE/ACM International Symposium on Microarchitecture, IEEE Computer Society, pp.225-236, 2010. 10.1109/micro.2010.36 [9] T. Ohkawa, K. Yamashina, H. Kimura, K. Ootsu, and T. Yokota, “FPGA Component Technology for Easy Integration of FPGA into Robot Systems,” IEICE Trans. Inf. & Syst. (Special Section on Reconfigurable Systems), vol.E101-D, no.2, pp.363-375, Feb. 2018. DOI: 10.1587/transinf.2017RCP0011 10.1587/transinf.2017RCP0011 [11] ROS Wiki, http://wiki.ros.org [15] Xillybus, http://xillybus.com/ (accessed July 27, 2018) [1] R. Siegwart, I.R. Nourbakhsh, and D. Scaramuzza, Introduction to autonomous mobile robots, MIT Press, 2011. [18] Y. Ishida, T. Morie, and H. Tamukoh, “A Hardware Accelerated Robot Middleware Package for Intelligent Processing on Robots,” 2018 IEEE International Symposium on Circuits and Systems (ISCAS), Florence, Italy, pp.1-5, 2018. doi: 10.1109/ISCAS.2018.8351722 10.1109/ISCAS.2018.8351722 [4] M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, and A.Y. Ng, “ROS: an open-source Robot Operating System,” ICRA Workshop on Open Source Software, vol.3, no.3.2, p.5, 2009. [19] S. Takamaeda-Yamazaki, “Pyverilog: A python-based hardware design processing toolkit for verilog hdl,” International Symposium on Applied Reconfigurable Computing, vol.9040, pp.451-460, April 2015. 10.1007/978-3-319-16214-0_42 [5] R. Mamat, A. Jawawi, N. Dayang, and S. Deris, “A component-oriented programming for embedded mobile robot software,” International Journal of Advanced Robotic Systems, pp.371-380, 2007. [7] K. Yamashina, H. Kimura, T. Ohkawa, K. Ootsu, and T. Yokota, “cReComp: Automated Design Tool for ROS-Compliant FPGA Component,” Proc. IEEE 10th International Symposium on Embedded Multicore/Many-core Systems-on-Chip (MCSoC-16), pp.138-145, 2016. 10.1109/mcsoc.2016.47 [14] V. Kathail, J. Hwang, W. Sun, Y. Chobe, T. Shui, and J. Carrillo, “SDSoC: A Higher-level Programming Environment for Zynq SoC and Ultrascale+ MPSoC,” Proc. 2016 ACM/SIGDA International Symposium on Field-Programmable Gate Arrays, p.4, ACM, Feb. 2016. 10.1145/2847263.2847284 [16] Q. Zhao, T. Nakamichi, M. Amagasaki, M. Iida, M. Kuga, and T. Sueyoshi, “hCODE: An open-source platform for FPGA accelerators.” Proc. 2016 International Conference on Field-Programmable Technology (FPT), pp.205-208, Dec. 2016. 10.1109/fpt.2016.7929534 [13] L.H. Crockett, R.A. Elliot, M.A. Enderwitz, and R.W. Stewart, The Zynq Book, Strathclyde Academic Media, 2014. [12] ROS message, http://wiki.ros.org/msg 11 12 13 14 15 16 17 18 19 1 2 3 4 5 6 7 8 9 20 10 |
| References_xml | – reference: [15] Xillybus, http://xillybus.com/ (accessed July 27, 2018) – reference: [5] R. Mamat, A. Jawawi, N. Dayang, and S. Deris, “A component-oriented programming for embedded mobile robot software,” International Journal of Advanced Robotic Systems, pp.371-380, 2007. – reference: [6] J. Boren and S. Cousins, “Exponential growth of ros [ros topics],” IEEE Robot. Autom. Mag., vol.18, no.1, pp.19-20, 2011. 10.1109/mra.2010.940147 – reference: [12] ROS message, http://wiki.ros.org/msg – reference: [3] E.S. Chung, P.A. Milder, J.C. Hoe, and K. Mai, “Single-chip heterogeneous computing: Does the future include custom logic, FPGAs, and GPGPUs?,” Proc. 2010 43rd Annual IEEE/ACM International Symposium on Microarchitecture, IEEE Computer Society, pp.225-236, 2010. 10.1109/micro.2010.36 – reference: [11] ROS Wiki, http://wiki.ros.org – reference: [19] S. Takamaeda-Yamazaki, “Pyverilog: A python-based hardware design processing toolkit for verilog hdl,” International Symposium on Applied Reconfigurable Computing, vol.9040, pp.451-460, April 2015. 10.1007/978-3-319-16214-0_42 – reference: [18] Y. Ishida, T. Morie, and H. Tamukoh, “A Hardware Accelerated Robot Middleware Package for Intelligent Processing on Robots,” 2018 IEEE International Symposium on Circuits and Systems (ISCAS), Florence, Italy, pp.1-5, 2018. doi: 10.1109/ISCAS.2018.8351722 10.1109/ISCAS.2018.8351722 – reference: [8] K. Yamashina, T. Matsumoto, T. Ohkawa, K. Ootsu, and T. Yokota, “Componentizing of FPGA processing for robot, and its evaluation in design productivity,” IEICE Tech. Report, SIG Cloud-Network-Robot (CNR), vol.116, no.461, pp.23-28, 2017. – reference: [10] Open Source Robotics Foundation, http://www.osrfoundation.org/ – reference: [4] M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, and A.Y. Ng, “ROS: an open-source Robot Operating System,” ICRA Workshop on Open Source Software, vol.3, no.3.2, p.5, 2009. – reference: [17] J. Ou and V.K. Prasanna, “PyGen: a MATLAB/Simulink based tool for synthesizing parameterized and energy efficient designs using FPGAs,” 12th Annual IEEE Symposium on Field-Programmable Custom Computing Machines (FCCM), pp.47-56, 2004. 10.1109/fccm.2004.47 – reference: [13] L.H. Crockett, R.A. Elliot, M.A. Enderwitz, and R.W. Stewart, The Zynq Book, Strathclyde Academic Media, 2014. – reference: [14] V. Kathail, J. Hwang, W. Sun, Y. Chobe, T. Shui, and J. Carrillo, “SDSoC: A Higher-level Programming Environment for Zynq SoC and Ultrascale+ MPSoC,” Proc. 2016 ACM/SIGDA International Symposium on Field-Programmable Gate Arrays, p.4, ACM, Feb. 2016. 10.1145/2847263.2847284 – reference: [7] K. Yamashina, H. Kimura, T. Ohkawa, K. Ootsu, and T. Yokota, “cReComp: Automated Design Tool for ROS-Compliant FPGA Component,” Proc. IEEE 10th International Symposium on Embedded Multicore/Many-core Systems-on-Chip (MCSoC-16), pp.138-145, 2016. 10.1109/mcsoc.2016.47 – reference: [1] R. Siegwart, I.R. Nourbakhsh, and D. Scaramuzza, Introduction to autonomous mobile robots, MIT Press, 2011. – reference: [20] cReComp, https://github.com/kazuyamashi/cReComp – reference: [2] K. Tamura, and K. Naruse, “Unsmooth field sweeping by Balistic random walk of multiple robots in unsmooth terrain,” 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems (SCIS) and 15th International Symposium on Advanced Intelligent Systems (ISIS), Kitakyushu, pp.585-589, 2014. doi: 10.1109/SCIS-ISIS.2014.7044837 10.1109/SCIS-ISIS.2014.7044837 – reference: [16] Q. Zhao, T. Nakamichi, M. Amagasaki, M. Iida, M. Kuga, and T. Sueyoshi, “hCODE: An open-source platform for FPGA accelerators.” Proc. 2016 International Conference on Field-Programmable Technology (FPT), pp.205-208, Dec. 2016. 10.1109/fpt.2016.7929534 – reference: [9] T. Ohkawa, K. Yamashina, H. Kimura, K. Ootsu, and T. Yokota, “FPGA Component Technology for Easy Integration of FPGA into Robot Systems,” IEICE Trans. Inf. & Syst. (Special Section on Reconfigurable Systems), vol.E101-D, no.2, pp.363-375, Feb. 2018. DOI: 10.1587/transinf.2017RCP0011 10.1587/transinf.2017RCP0011 – ident: 17 – ident: 18 doi: 10.1109/ISCAS.2018.8351722 – ident: 3 doi: 10.1109/MICRO.2010.36 – ident: 9 doi: 10.1587/transinf.2017RCP0011 – ident: 2 doi: 10.1109/SCIS-ISIS.2014.7044837 – ident: 4 – ident: 6 doi: 10.1109/MRA.2010.940147 – ident: 1 – ident: 12 – ident: 11 – ident: 19 doi: 10.1007/978-3-319-16214-0_42 – ident: 10 – ident: 7 doi: 10.1109/MCSoC.2016.47 – ident: 13 – ident: 16 – ident: 15 – ident: 5 doi: 10.5772/5678 – ident: 8 – ident: 14 doi: 10.1145/2847263.2847284 – ident: 20 |
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| SubjectTerms | automatic generation Automation Circuits component oriented development Field programmable gate arrays FPGA Power consumption Productivity robot Robots ROS ROS-compliant FPGA component Software |
| Title | Automatic Generation Tool of FPGA Components for Robots |
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