ABSTRACT We present a method for implementing hardware intelligent processing accelerator on domestic service robots. These domestic service robots support human life; therefore, they are required to recognize environments using intelligent processing. Moreover, the intelligent processing requires large computational resources. Therefore, standard personal computers (PCs) with robot middleware on the robots do not have enough resources for this intelligent processing. We propose a ‘connective object for middleware to an accelerator (COMTA),’ which is a system that integrates hardware intelligent processing accelerators and robot middleware. Herein, by constructing dedicated architecture digital circuits, field-programmable gate arrays (FPGAs) accelerate intelligent processing. In addition, the system can configure and access applications on hardware accelerators via a robot middleware space; consequently, robotic engineers do not require the knowledge of FPGAs. We conducted an experiment on the proposed system by utilizing a human-following application with image processing, which is commonly applied in the robots. Experimental results demonstrated that the proposed system can be automatically constructed from a single-configuration file on the robot middleware and can execute the application 5.2 times more efficiently than an ordinary PC. GRAPHICAL ABSTRACT

中文翻译：

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一种家用服务机器人硬件智能处理加速器

摘要 我们提出了一种在家庭服务机器人上实现硬件智能处理加速器的方法。这些家政服务机器人支撑着人类的生活；因此，他们需要使用智能处理来识别环境。此外，智能处理需要大量的计算资源。因此，机器人上带有机器人中间件的标准个人计算机 (PC) 没有足够的资源来进行这种智能处理。我们提出了“中间件到加速器（COMTA）的连接对象”，这是一个集成硬件智能处理加速器和机器人中间件的系统。在这里，通过构建专用架构数字电路，现场可编程门阵列 (FPGA) 加速了智能处理。此外，该系统可以通过机器人中间件空间配置和访问硬件加速器上的应用程序；因此，机器人工程师不需要 FPGA 的知识。我们通过利用具有图像处理的人类跟随应用程序对所提出的系统进行了实验，该应用程序通常应用于机器人。实验结果表明，所提出的系统可以从机器人中间件上的单个配置文件自动构建，并且执行应用程序的效率是普通 PC 的 5.2 倍。图形概要 实验结果表明，所提出的系统可以从机器人中间件上的单个配置文件自动构建，并且执行应用程序的效率是普通 PC 的 5.2 倍。图形概要 实验结果表明，所提出的系统可以从机器人中间件上的单个配置文件自动构建，并且执行应用程序的效率是普通 PC 的 5.2 倍。图形概要