An FPGA based Node-on-Chip Architecture, for Rapid Robotics Research

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Abstract

One of the major costs and inhibitors to practical robotics research is the time invested in design, implementation, integration, adjusting and debugging of the embedded control systems, that implement the discrete event control in experimental robots and robot systems. Usually researchers can choose between very highly integrated customized controllers, that carry a very high cost in man-hours; or instrumentation through standardized modular controllers that offer less flexibility and integration. The two traditional approaches are typically represented by the wide-spread polarity between high-level (software) experts, and low-level (hardware) experts, experienced in most R&D organizations. Advances in reconfigurable electronics, like Field Programmable Gate Arrays – FPGAs, have opened a third option, where the flexibility, modularity and re-use associated with software, is combined with the compactness and integration associated with customized hardware. In this paper we present an FPGA based architecture and a framework of template modules for modular embedded control that has: • Dramatically reduced the time we spend on instrumentation of experimental robots. • Increased the quality, flexibility and integration of embedded solutions. • Reduced the gap between high- and low-level system experts.
Original languageEnglish
Publication date2010
Publication statusPublished - 2010
EventThe 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems - Taipei, Taiwan, Province of China
Duration: 18. Oct 201022. Oct 2010

Conference

ConferenceThe 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems
CountryTaiwan, Province of China
CityTaipei
Period18/10/201022/10/2010

Cite this

Falsig, S., & Sørensen, A. S. (2010). An FPGA based Node-on-Chip Architecture, for Rapid Robotics Research. Paper presented at The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei, Taiwan, Province of China.
Falsig, Simon ; Sørensen, Anders Stengaard. / An FPGA based Node-on-Chip Architecture, for Rapid Robotics Research. Paper presented at The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei, Taiwan, Province of China.
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abstract = "One of the major costs and inhibitors to practical robotics research is the time invested in design, implementation, integration, adjusting and debugging of the embedded control systems, that implement the discrete event control in experimental robots and robot systems. Usually researchers can choose between very highly integrated customized controllers, that carry a very high cost in man-hours; or instrumentation through standardized modular controllers that offer less flexibility and integration. The two traditional approaches are typically represented by the wide-spread polarity between high-level (software) experts, and low-level (hardware) experts, experienced in most R&D organizations. Advances in reconfigurable electronics, like Field Programmable Gate Arrays – FPGAs, have opened a third option, where the flexibility, modularity and re-use associated with software, is combined with the compactness and integration associated with customized hardware. In this paper we present an FPGA based architecture and a framework of template modules for modular embedded control that has: • Dramatically reduced the time we spend on instrumentation of experimental robots. • Increased the quality, flexibility and integration of embedded solutions. • Reduced the gap between high- and low-level system experts.",
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Falsig, S & Sørensen, AS 2010, 'An FPGA based Node-on-Chip Architecture, for Rapid Robotics Research', Paper presented at The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei, Taiwan, Province of China, 18/10/2010 - 22/10/2010.

An FPGA based Node-on-Chip Architecture, for Rapid Robotics Research. / Falsig, Simon; Sørensen, Anders Stengaard.

2010. Paper presented at The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei, Taiwan, Province of China.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

TY - CONF

T1 - An FPGA based Node-on-Chip Architecture, for Rapid Robotics Research

AU - Falsig, Simon

AU - Sørensen, Anders Stengaard

PY - 2010

Y1 - 2010

N2 - One of the major costs and inhibitors to practical robotics research is the time invested in design, implementation, integration, adjusting and debugging of the embedded control systems, that implement the discrete event control in experimental robots and robot systems. Usually researchers can choose between very highly integrated customized controllers, that carry a very high cost in man-hours; or instrumentation through standardized modular controllers that offer less flexibility and integration. The two traditional approaches are typically represented by the wide-spread polarity between high-level (software) experts, and low-level (hardware) experts, experienced in most R&D organizations. Advances in reconfigurable electronics, like Field Programmable Gate Arrays – FPGAs, have opened a third option, where the flexibility, modularity and re-use associated with software, is combined with the compactness and integration associated with customized hardware. In this paper we present an FPGA based architecture and a framework of template modules for modular embedded control that has: • Dramatically reduced the time we spend on instrumentation of experimental robots. • Increased the quality, flexibility and integration of embedded solutions. • Reduced the gap between high- and low-level system experts.

AB - One of the major costs and inhibitors to practical robotics research is the time invested in design, implementation, integration, adjusting and debugging of the embedded control systems, that implement the discrete event control in experimental robots and robot systems. Usually researchers can choose between very highly integrated customized controllers, that carry a very high cost in man-hours; or instrumentation through standardized modular controllers that offer less flexibility and integration. The two traditional approaches are typically represented by the wide-spread polarity between high-level (software) experts, and low-level (hardware) experts, experienced in most R&D organizations. Advances in reconfigurable electronics, like Field Programmable Gate Arrays – FPGAs, have opened a third option, where the flexibility, modularity and re-use associated with software, is combined with the compactness and integration associated with customized hardware. In this paper we present an FPGA based architecture and a framework of template modules for modular embedded control that has: • Dramatically reduced the time we spend on instrumentation of experimental robots. • Increased the quality, flexibility and integration of embedded solutions. • Reduced the gap between high- and low-level system experts.

M3 - Paper

ER -

Falsig S, Sørensen AS. An FPGA based Node-on-Chip Architecture, for Rapid Robotics Research. 2010. Paper presented at The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei, Taiwan, Province of China.