Color image segmentation: advances and prospects

Surveys the developments of the last 20 years in the area of vision for mobile robot navigation. Two major components of the paper deal with indoor navigation and outdoor navigation. For each component, we have further subdivided our treatment of the subject on the basis of structured and unstructured environments. For indoor robots in structured environments, we have dealt separately with the cases of geometrical and topological models of space. For unstructured environments, we have discussed the cases of navigation using optical flows, using methods from the appearance-based paradigm, and by recognition of specific objects in the environment.

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Vision for mobile robot navigation: a survey

IEEE transactions on computer-aided design of integrated circuits and systems : a publication of the IEEE Circuits and Systems Society

Cyberphysical systems (CPSs) are new class of engineered systems that offer close interaction between cyber and physical components. The field of CPS has been identified as a key area of research, and CPSs are expected to play a major role in the design and development of future systems. In this paper, we survey recent advancements made in the development and applications of CPSs. We classify the existing research work based on their characteristics and identify the future challenges. We also discuss the examples of prototypes of CPSs. The aim of this survey is to enable researchers and system designers to get insights into the working and applications of CPSs and motivate them to propose novel solutions for making wide-scale adoption of CPS a tangible reality.

Design Techniques and Applications of Cyberphysical Systems: A Survey

Computer communications

This paper presents several architectures and designs of low-power 4-2 and 5-2 compressors capable of operating at ultra low supply voltages. These compressor architectures are anatomized into their constituent modules and different static logic styles based on the same deep submicrometer CMOS process model are used to realize them. Different configurations of each architecture, which include a number of novel 4-2 and 5-2 compressor designs, are prototyped and simulated to evaluate their performance in speed, power dissipation and power-delay product. The newly developed circuits are based on various configurations of the novel 5-2 compressor architecture with the new carry generator circuit, or existing architectures configured with the proposed circuit for the exclusive OR (XOR) and exclusive NOR ( XNOR) [XOR-XNOR] module. The proposed new circuit for the XOR-XNOR module eliminates the weak logic on the internal nodes of pass transistors with a pair of feedback PMOS-NMOS transistors. Driving capability has been considered in the design as well as in the simulation setup so that these 4-2 and 5-2 compressor cells can operate reliably in any tree structured parallel multiplier at very low supply voltages. Two new simulation environments are created to ensure that the performances reflect the realistic circuit operation in the system to which these cells are integrated. Simulation results show that the 4-2 compressor with the proposed XOR-XNOR module and the new fast 5-2 compressor architecture are able to function at supply voltage as low as 0.6 V, and outperform many other architectures including the classical CMOS logic compressors and variants of compressors constructed with various combinations of recently reported superior low-power logic cells.

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Ultra low-voltage low-power CMOS 4-2 and 5-2 compressors for fast arithmetic circuits

The general objective of our work is to investigate the area and power-delay performances of low-voltage full adder cells in different CMOS logic styles for the predominating tree structured arithmetic circuits. A new hybrid style full adder circuit is also presented. The sum and carry generation circuits of the proposed full adder are designed with hybrid logic styles. To operate at ultra-low supply voltage, the pass logic circuit that cogenerates the intermediate XOR and XNOR outputs has been improved to overcome the switching delay problem. As full adders are frequently employed in a tree structured configuration for high-performance arithmetic circuits, a cascaded simulation structure is introduced to evaluate the full adders in a realistic application environment. A systematic and elegant procedure to scale the transistor for minimal power-delay product is proposed. The circuits being studied are optimized for energy efficiency at 0.18-/spl mu/m CMOS process technology. With the proposed simulation environment, it is shown that some survival cells in stand alone operation at low voltage may fail when cascaded in a larger circuit, either due to the lack of drivability or unsatisfactory speed of operation. The proposed hybrid full adder exhibits not only the full swing logic and balanced outputs but also strong output drivability. The increase in the transistor count of its complementary CMOS output stage is compensated by its area efficient layout. Therefore, it remains one of the best contenders for designing large tree structured arithmetic circuits with reduced energy consumption while keeping the increase in area to a minimum.

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A review of 0.18-/spl mu/m full adder performances for tree structured arithmetic circuits

The carry-select method has deemed to be a good compromise between cost and performance in carry propagation adder design. However, the conventional carry-select adder (CSL) is still area-consuming due to the dual ripple-carry adder structure. The excessive area overhead makes CSL relatively unattractive but this has been circumvented by the use of an add-one circuit introduced recently. In this paper, an area efficient square root CSL scheme based on a new first zero detection logic is proposed. The proposed CSL witnesses a notable power-delay and area-delay performance improvement by virtue of proper exploitation of logic structure and circuit technique. For 64-bit addition, our proposed CSL requires 44% fewer transistors than the conventional one. Simulation results indicate that our proposed CSL can complete 64-bit addition in 1.50 ns and dissipate only 0.35 mW at 1.8V in TSMC 0.18 /spl mu/m CMOS technology.

An area efficient 64-bit square root carry-select adder for low power applications

A novel design of a 1-bit full adder cell featuring a hybrid CMOS logic style is proposed. The simultaneous generation of XOR and XNOR outputs by pass logic is advantageously exploited in a novel complementary CMOS stage to produce full-swing and balanced outputs so that adder cells can be cascaded without buffer insertion. The increase in transistor count of the complementary CMOS stage is compensated by its reduction in layout complexity. Comparing with other 1-bit adder cells using different but uniform logic styles, simulation results show that it is very power efficient and has lower power-delay product over a wide range of voltages.

A novel hybrid pass logic with static CMOS output drive full-adder cell

Severe security threats and alerts associated with the use of smart devices have drawn increasing public attentions since the inception of Internet of Things (IoT) in late 1990s. IoT devices pose a unique and challenging scenario for hardware security because of their ubiquity and area-power cost constraints. Traditional software techniques and established cryptographic methods are either inadequate or impractical due to the computational capacity and permanent storage required to process and maintain the privacy of the secret key. In this light, Physical Unclonable Function (PUF), a burgeoning technology rooted in 2002, comes in handy as an inexpensive and yet effective security primitive to overcome the forgery tagging problem by its radically different way of generating and processing secret keys in security hardware. PUFs are hardware structures or functions designed to utilize the physical disorder of random nanoscale phenomena for the derivation of keys without having to keep any security-critical information explicitly in hardware. As we usher PUF into its 15th anniversary in 2017, it is timely to review the advancements of PUF over the past decade. Specifically, this survey addresses three fundamental questions which are at all times relevant in the security arms race. These questions are: how secure can a PUF be? what differences have PUFs brought to security applications and how do these differences impact existing security protocols? how is hardware implementation research influenced by the opportunities of nanotechnologies and new discoveries of disorder-based physical phenomena? It is hoped that this retrospective study of problems and solutions encountered in the journey of developing PUF to its current state will foreshadow the challenges and opportunities for future sustainable activities in the field.

Chip-Hong Chang

Papers

Ultra low-voltage low-power CMOS 4-2 and 5-2 compressors for fast arithmetic circuits

A review of 0.18-/spl mu/m full adder performances for tree structured arithmetic circuits

An area efficient 64-bit square root carry-select adder for low power applications

A novel hybrid pass logic with static CMOS output drive full-adder cell

A Retrospective and a Look Forward: Fifteen Years of Physical Unclonable Function Advancement