並列処理を用いた局所パタ-ン処理用LSIとその触覚センサへの応用

概要

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A parallel processing LSI for the purpose of realization of intelligent sensors and its application to a tactile sensor are described.The LSI, which is called "SPE-8", is located as a special purpose processor for sensors in hierarchical sensing and control systems. The parallel processing of the SPE-8 has special features which is different from normal parallel processing. Each processing element has a direct input from a sensor. As the arithmetic and logical unit of the SPE-8 uses bit serial processing, the circuit of processing elements is so compact that eight processing elements including functions of scanning and transmission are integrated in one chip.A tactile sensor using the SPE-8 is also described. The sensor has 8×8 detective matrix using pressure-conductive rubber and realizes high speed pattern processing and data transmission. The sensor can be called an integrated parallel processing tactile sensor or a high performance intelligent sensor.In this paper, the design concept, functional features, and the structure of the SPE-8 are shown. In addition, the structure of the tactile sensor using the SPE-8 and basic sensing and processing results of the sensor are shown.
公益社団法人計測自動制御学会の論文