  Time synchronization is a critical task in robotic computing such as
autonomous driving. In the past few years, as we developed advanced robotic
applications, our synchronization system has evolved as well. In this paper, we
first introduce the time synchronization problem and explain the challenges of
time synchronization, especially in robotic workloads. Summarizing these
challenges, we then present a general hardware synchronization system for
robotic computing, which delivers high synchronization accuracy while
maintaining low energy and resource consumption. The proposed hardware
synchronization system is a key building block in our future robotic products.
