5 results about "Recursive functions" patented technology

Technologies for compilers that implement non-power of two Fast Fourier Transform (FFT) algorithms are described. The non-power of two FFT algorithm uses a recursive function to generate a hardware design of a set of compute blocks of a fixed-point digital signal processor (DSP) and routing data between the compute blocks. The compiler receives input specifying a sequence of indexes and a bit width of the fixed-point DSP and performs a process. The process splits the sequence using a recursive loop, determines a number of multiplications in the hardware design, and generates a trace graph of the non-power of two FFT algorithm. The process is entered via the recursive function and exists when the recursive loop decrements to a specified value corresponding to a Radix-3 or Radix-2. The compiler outputs data, including the hardware design, the number of multiplications in the hardware design, and the trace graph.

The embodiment of the invention provides a processor, a chip, electronic equipment and an instruction processing method, and belongs to the technical field of chips. The processor comprises an instruction processing unit and a stack. The instruction processing unit is used for generating current instruction execution information and storing the current instruction execution information to the stack in the current instruction execution process; the current instruction execution information comprises address information of a next instruction to be executed, address information of a convergent point instruction and recursive depth information; the recursion depth information represents a difference value between the executed times of the function call instruction and the executed times of the return instruction; after the current instruction is executed, instruction execution information is read from the stack; and if it is determined that the next instruction address to be executed is the same as the convergent point instruction address and the difference value is 0, performing a stack-out operation on the stack, and returning to the operation of reading the instruction execution information from the stack until the stack is empty. According to the method and the device, the problem of calculation error of a thread program counter in a recursive function nesting scene can be avoided.

The embodiment of the invention provides a dual-loop adaptive CTU division prediction method and device based on coding cost perception, and is applied to the technical field of video coding. The method comprises the following steps: acquiring image data of a current video frame, preprocessing the image data to obtain a feature tensor of each CTU of the current video frame, acquiring an actual coding cost of each CTU of a historical video frame based on an outer loop mechanism to generate a time domain attention map, weighting the feature tensor of each CTU to obtain a corresponding weighted feature tensor, and obtaining a time domain attention map of each CTU of the historical video frame based on an inner loop mechanism. And inputting the weighted feature tensor of each CTU into a recursive function, performing evaluation and correction based on coding cost perception to obtain a division decision corresponding to each CTU, generating a division decision diagram, inputting the division decision diagram into a video encoder to obtain a compressed video code stream, and updating a time domain attention diagram according to the actual coding cost, so that the coding time is shortened, the coding complexity is reduced, and the coding efficiency is improved. Real-time video coding is realized, the prediction accuracy is improved, the misjudgment rate is reduced, and the coding stability is guaranteed.

The application discloses a kind of based on recursive sliding mode's automatic driving vehicle trajectory tracking control method and system, method includes the following steps: using vehicle kinematics model and vehicle dynamics model determines the state quantity of vehicle;Lateral error and heading error are combined to form mapping error, and the second derivative of mapping error is solved to obtain the state quantity required by intelligent controller;Power integral sliding mode function and recursive function are combined to obtain recursive sliding surface;Error control parameters on recursive sliding surface are adjusted online using adaptive control algorithm;Exponential approach law is used to design recursive sliding mode controller.Compared with existing sliding mode control method, the application not only can effectively suppress the interference of external unknown environment on automatic driving vehicle, but also can combine adaptive control algorithm to realize online adjustment of error control parameters on sliding surface, so as to ensure that automatic driving vehicle can realize accurate trajectory tracking and lateral stability when subjected to external unknown interference.

This application discloses a control method and related products for a drumming robot. The method includes: acquiring a musical measure to be played; calling a recursive function to divide the musical measure, obtaining the division result; the recursive function is used to recursively divide the musical measure according to a preset rule; the division result includes multiple equal division positions; assigning beats to the musical measure based on the division result according to a strong / weak beat allocation rule, obtaining the allocated musical measure; the strong / weak beat allocation rule is based on the sequence number of each equal division position and the time value of the corresponding note in the division result; generating a control sequence based on the allocated musical measure, and using the control sequence to control the drumming robot. This application breaks through the limitations of traditional fixed-mode control, enabling the drumming robot to accurately reproduce the rhythmic layers of music.