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A parallel computation method for large-size Fresnel computer-generated hologram (CGH) is reported. The method was introduced by us in an earlier report as a technique for calculating Fourier CGH from 2D object data. In this paper we extend the method to compute Fresnel CGH from 3D object data. The scale of the computation problem is also expanded to 2 gigapixels, making it closer to real application requirements. The significant feature of the reported method is its ability to avoid communication overhead and thereby fully utilize the computing power of parallel devices. The method exhibits three layers of parallelism that favor small to large scale parallel computing machines. Simulation and optical experiments were conducted to demonstrate the workability and to evaluate the efficiency of the proposed technique. A two-times improvement in computation speed has been achieved compared to the conventional method, on a 16-node cluster (one GPU per node) utilizing only one layer of parallelism. A 20-times improvement in computation speed has been estimated utilizing two layers of parallelism on a very large-scale parallel machine with 16 nodes, where each node has 16 GPUs.

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SUMMARYA component-oriented FPGA design platform is proposed for robot system integration. FPGAs are known to be a power-efficient hardware platform, but the development cost of FPGA-based systems is currently too high to integrate them into robot systems. To solve this problem, we propose an FPGA component that allows FPGA devices to be easily integrated into robot systems based on the Robot Operating System (ROS). ROS-compliant FPGA components offer a seamless interface between the FPGA hardware and software running on the CPU. Two experiments were conducted using the proposed components. For the first experiment, the results show that the execution time of an FPGA component for image processing was 1.7 times faster than that of the original software-based component and was 2.51 times more power efficient than an ordinary PC processor, despite substantial communication overhead. The second experiment showed that an FPGA component for sensor fusion was able to process multiple sensor inputs efficiently and with very low latency via parallel processing.

A method has been proposed to reduce the communication overhead in computer-generated hologram (CGH) calculations on parallel and distributed computing devices. The method uses the shifting property of Fourier transform to decompose calculations, thereby avoiding data dependency and communication. This enables the full potential of parallel and distributed computing devices. The proposed method is verified by simulation and optical experiments and can achieve a 20 times speed improvement compared to conventional methods, while using large data sizes.

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