Assembly language | EPFL Graph Search

In computer programming, assembly language (alternatively assembler language or symbolic machine code), often referred to simply as assembly and commonly abbreviated as ASM or asm, is any low-level programming language with a very strong correspondence between the instructions in the language and the architecture's machine code instructions. Assembly language usually has one statement per machine instruction (1:1), but constants, comments, assembler directives, symbolic labels of, e.g., memory locations, registers, and macros are generally also supported. The first assembly code in which a language is used to represent machine code instructions is found in Kathleen and Andrew Donald Booth's 1947 work, Coding for A.R.C.. Assembly code is converted into executable machine code by a utility program referred

Package Universes: Which Components Are Real Candidates?

Package universes is a component-distribution architecture based on explicitly managing the set of components visible at assembly time. The architecture is usable as is for a number of common organizations and software-engineering processes. Also, by providing a context of use for components, it allows several simplifications in the underlying component system. Experience is reported about two prototype implementations and user groups.

2006

System for generating computer processor

A method and apparatus to produce a net list of gates and Flip-Flops for one algorithm in order to find the best compromise between power consumption, speed and silicon surface by using a two step process. First the algorithm is written for a processor that has no restrictions in terms of number and size of register, core, operations set, memory handler and instructions. The program assembly of this processor fits into a two-dimensional table. To increase speed, the tables are configured to place the program operation in as many columns as possible, and to reduce silicon the tables are configured to place operations in a single column with many rows. The second stage consists of converting this virtual processor with its program tables into an HDL file ready for synthesis.

2010

Optimisation de la conception du robot parallèle Delta cube de très haute précision

Tiavina Niaritsiry

In the high-precision industry, most operations require the use of robots able to accomplish highly accurate and repeatable motions. In order to meet the desired level of absolute accuracy, one has to limit or even suppress the effects of different sources of inaccuracy by means of an appropriate calibration. However, calibration techniques cannot be applied to compensate inaccuracies occuring along passive (non-actuated) degrees of freedom (e.g orientation errors on the end-effector of a 3 degrees-of-freedom (DOF) in translation robot). The main goal of this thesis is to evaluate and benchmark the effects of these different sources of inaccuracy. Moreover, a set of design rules are proposed in order to optimize flexure parallel robots regarding their absolute accuracy. The robots studied in this work are of "Delta Cube" type, having their kinematic chains composed of translational stages and space parallelograms (acting as universal joints). These robots have the following features: their 3 DOF are the (x, y, z) translations on the Euclidean space, the stroke of each DOF goes from ±1 mm to ± 4 mm, their repeatabilities are at the nanometre range (thanks to the absence of dry friction and mechanical play), their resolutions are within a few nanometers (only limited by the captors used), their small sizes go from 1,5 dm3 to 13 dm3. The analysis of the effects of the different sources of inaccuracy has been focused on the following points: the basic elements composing the robot structure (translational stage, space parallelogram). Studying the influence on the absolute accuracy caused by a variation of a given geometric dimension provides knowledge on how to optimize the overall robot dimensions regarding absolute accuracy; the assembly of the different basic elements on the kinematic chain (in particular their relative orientation) is also critical for the absolute accuracy of the robot since it may cause parasitic effects such as orientation errors in the end-effector; the type and location of the different captors, motors and the frame can also influence accuracy. The analysis of the influence of each source of inaccuracy (manufacturing tolerances, temperature variations, assembly defaults, effect of external loads) and their coupling has been mainly performed numerically by means of Finite-Element Models. Theoretical results have been verified by experimental data. Considering the simulation results for each basic structure as well as the comparison of different assembly variants, general design rules have been proposed in order to optimize a given flexure parallel robot regarding absolute accuracy and considering also the application the robot is made for. This work is a contribution to the design of high-precision flexure parallel robots regarding absolute accuracy. It is also an important tool for the engineer in order to make the calibration work easier.

EPFL2006

Optimisation de la conception du robot parallèle Delta cube de très haute précision

Tiavina Niaritsiry

EPFL2006