1. Mauricio A Dias , Daniel O Sales and Fernando S Osorio IEEE CERMA 2010 A Profile-Based Method for Hardware/Software Co-designApplied in Evolutionary Robotics Using Reconfigurable Computing

2. OVERVIEW Introduction Computational Tools Method Experiment Analysis Conclusions

3. Introduction How to apply hardware/software codesign on robotics? Projects should use soft-processors? What soft-processor is the better choice for each situation? Hardware modules for specific functions are needed?

4. Computational Tools Micro Genetic Algorithms Benchmark Functions for Genetic Algorithms

5. Computational Tools Profile-Based Hardware/Software Codesign Techniques Altera Software: Quartus II Nios II IDE FPGA Altera Cyclone III Terasic DE2-70 Board

6. Method

7. Experiment Nine different Nios II Soft-Processors Differences Between Nios II Processors Four Different Benchmark Functions All experiments executed in hardware

8. Analysis

9. Analysis

10. Analysis

11. Implemented Future Works Hardware Acceleration for Crossover Shuffle Crossover NIOS II Custom Instruction Better Results But this is another work….

12. Conclusions Micro Genetic Algorithm is a good choice Codesigns achieved acceptable execution times compared to all-software implementation Soft-processors can be used, but be careful!!! Hardware acceleration for functions are really important Lots of future works

13. Thank you!!!!!! Questions?