FPGAs in future deep submicron fabrication process will suffer from drastic speed and yield loss caused by device variations. We propose variation-aware reconfiguration which utilizes variations for performance enhancement. To utilize random variations for performance enhancement, optimizing each device from a common initial configuration is better than producing optimized configurations according to detailed measurement results because it is very hard to measure detailed variation maps chip by chip when random uncorrelated variations are dominant. In the critical path reconfiguration scheme, an initial configuration is gradually optimized chip by chip according to the delay variations. We apply the track swapping procedure to critical path reconfiguration which obtains an optimized configuration to repeat measurement and reconfiguration. First we configure all fabricated FPGAs with a common configuration data without considering variations. The configuration of each die is optimized to reroute the critical paths by choosing a faster path. To reroute a critical path we swap a wire track on a critical path with the adjacent track. It can be realized to use switch blocks with more flexibility. We implement the track swapping to VPR and experiment performance enhancement by applying the track swapping to LGSynth93 benchmark circuits. The average speed and yield enhancements are 2.57%, 26.01% respectively when the standard deviation of random variations is 10.0%

We propose a variation-aware post-fabrication optimization scheme on FPGAs. Variation-aware optimization usually takes huge measurement cost. The proposed scheme achieves a constant optimization cost for any circuit configuration. We utilize delay detectors embedded in clustered CLBs to choose fastest paths among multiple candidates. The delay detectors enable simultaneous measurement of critical path candidates to partition all critical paths into segments. The number of measurement to choose fastest paths on all critical paths does not depends on configurations but on FPGA architectures. We confirm that a simple heuristic algorithm can find the order of measurement near the lowest bound of the measurement cost and it is almost constant regardless of circuit configurations.

Since FPGAs in future deep sub-micron processes will suffer from drastic speed and yield losses caused by device variations, we propose variation-aware reconfiguration that utilizes these variations for performance enhancement. To utilize random variations on a current deep submicron process for performance enhancement, optimizing each device from a common configuration is better than producing optimized configurations based on detailed measurement results. In this paper we apply a track swapping procedure to critical path reconfiguration. First, we configure all fabricated FPGAs with common configuration data. The configuration of each die is optimized to reroute the critical paths that do not satisfy timing specifications. The rerouting of a critical path usually causes serious topology changes that may prolong other paths and create new critical paths. In the track swapping procedure, we swap a wire track on a critical path for the adjacent track without any topology changes by switching blocks with more flexibility. We experiment on performance enhancement by applying track swapping to LGSynth93 benchmark circuits. The average speed enhancement is 2.45%, and the average yield enhancement is 32.7% when the standard deviation of the random variations is 10.0%.

When we consider a coordination of multiple mobile robots, it is difficult to know the geometric relations among them. Errors in position and orientation of each robot detected by dead reckoning system are inevitable because of the slippage between wheels and the ground. To overcome these problems, in this article, we introduce a caster-like dynamics for controlling the multiple mobile robots in coordination. By using the caster-like dynamics, multiple mobile robots could handle a single object without using the geometric relations among them and the shape of the object. The effectiveness of the caster-like dynamics is illustrated through the video in which several types mobile robots handle a single object in coordination.

In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics of the manipulator instead of force/torque sensors. These mobile manipulators handle a single object in coordination using the leader-follower type control algorithm based on the impedance dynamics. Then, the effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control algorithm.