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In this section, we discuss speed/area trade-offs for pipelined versus compact architectures and provide actual measurements from typical target technologies. All three architectures were designed with the same hardware description language (Verilog), and all used the same coding conventions. The rst target technology was a Xilinx Virtex II FPGA. The statistics are shown in Table 4.1. For comparison against the FPGA implementation, the design was also targeted to an 0.35 mm ASIC process as shown in Table 4.2. The performance metrics shown in the tables are de ned as follows: 1. LUTs: This represents the logic utilization that the AES core consumes inside the FPGA.

Like I said before, Anderson will be able to figure that out before John barely opens his mouth I shook my head How could a lawyer s salary not be enough He s got to be making plenty of money at the firm How much do you think he makes Craig asked I don t know Over one hundred He nodded John made more than one hundred his first year with the firm He s making at least two hundred right now, and he is doing well enough that he is clearly on the path to partner in a few more years and then he ll make at least five hundred grand a year That s good New York money I had never thought about it.

A topic like this would encourage the student to read literature and to apply creatively the ideas and techniques taught in the course to produce new knowledge The instructor may want to recommend appropriate literature in such cases..

Suggested course topics can be roughly divided into three categories: theory and algorithms; computer simulation; experimental (hardware) work. A project may fall into more than one category; for example, one may be assigned to develop an algorithm and validate it by theoretical analysis and a computer simulation. Examples of topics in each category are given below.

Table 4.1 Speed/Area Statistics Targeting a Xilinx Virtex II Architecture Iterative Partially Pipelined Fully Pipelined Area (Xilinx LUTs) 886 4432 5894 Best Possible Throughput (MBPS) 340 15,400 15,400 Worst-Case Throughput 340 314 15,400

1 Sensor-based motion planning for multiple mobile robots: Centralized motion planning: All or most commands to all robots come from one center Decentralized motion planning: Each robot makes its motion planning decisions on its own, without coordinating it with other robots Various options can be considered here, for example: A robot knows nothing about other robots decisions except by watching them move; or, robots may distribute their next step decisions to other robots; or, in a given pair of robots, one is required to report its planning decisions to the other but not vice versa A mathematically interesting problem is an interception problem: One robot tries to escape from a robot that attempts to intercept it; different assumptions about sensing means, speeds, and knowledge about the other robot abilities gives rise to different schemes Collective behavior of multiple robots.

I had spent a lot of time thinking about how much I made, but never very much about how much the attorneys in the firm were pulling down Of course I knew they were wealthy More than $100,000 per year meant wealthy to me But I had no idea that the attorneys back at the office considered themselves so poor That seems plenty to live on to me What One hundred two hundred five hundred Yeah Easily enough Craig looked me squarely in the eye, and said, A good trader could make that in a month on the trading floor..

Table 4.2 Speed/Area Statistics for an 0.35-mm AMI ASIC Architecture Iterative Partially Pipelined Fully Pipelined Area (ASIC Gates) 3321 15,191 25,758 Best Possible Throughput (MBPS) 788 40,064 40,064 Worst-Case Throughput 788 817 40,064

Again, different behavioristic schemes addressing motion planning can be considered here, such as making and changing formations, covering a maximum area (the Mushroom Pickers problem), etc Motion planning for tethered robots Such problems appear in some industrial settings for example, a Robot World system where tethered robots are oating above an assembly table (a two-dimensional setting); or underwater robot probes connected by tethers to the mother ship (a three-dimensional setting) Options include the tether being able, or not being able, to sense surrounding objects or other robots and tethers One may want to consult related literature Computational geometry: ef cient (static or dynamic) division of work space between a few robots (such as when vacuum cleaning a supermarket oor); the rendezvous problem for two robots.

The performance criteria may include minimizing the total path (equivalent to minimizing energy), or minimizing total time spent on the job, or minimizing wasted walks over areas that have been cleaned already or walks to charging stations 2 Hierarchical motion planning systems: combining prior knowledge (eg, a map of the area) with on-line sensor data For example, inspection of a nuclear plant after a major disaster: Some areas may be still as they were before the event, and some may be damaged by an explosion, so the robot must be able to deviate from the map using its sensing and intelligence..