| 宗片 吉史 | M, 2回目発表 | コンピューティング・アーキテクチャ | 中島 康彦 | 林 優一 | 張 任遠 | KAN Yirong | PHAM HOAI LUAN | Le Vu Trung Duong |
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title: *** Mapping Forward Kinematics and Jacobian Computation onto a CGLA for Multi-Start Inverse Kinematics ***
abstract: *** Multi-start inverse kinematics requires repeated forward kinematics and Jacobian computation across many joint configurations. We implement these operations on IMAX3, a general-purpose CPU-Grounded Linear Array (CGLA) accelerator, using register forwarding and local-memory retention. Evaluation with batches of 2,048 and 4,096 joint configurations shows lower end-to-end latency than a single-core CPU on the FPGA prototype. ASIC projections indicate lower energy than the GPU baseline, while latency and energy-delay trade-offs depend on batch size and memory configuration. *** language of the presentation: *** English *** | ||||||||