A five-stage pipeline has stage delays of 150, 120, 150, 160 and 140 nanoseconds. The registers that are used between the pipeline stages have a delay of 5 nanoseconds each. The total time to execute 100 independent instructions on this pipeline, assuming there are no pipeline stalls, is _____ nanoseconds.

To find the total execution time on the pipeline:

1. Determine the clock cycle time ($t_{\text{clk}}$): The clock period is determined by the maximum stage delay plus the register delay (overhead):

   $$t_{\text{clk}} = \max(150, 120, 150, 160, 140) + 5 = 160 + 5 = 165\text{ ns}$$

2. Calculate the total time for $n$ instructions: For a $k$-stage pipeline executing $n$ instructions with no stalls:

   $$\text{Total Cycles} = k + n - 1$$

   Given $k = 5$ stages and $n = 100$ instructions:

   $$\text{Total Cycles} = 5 + 100 - 1 = 104\text{ cycles}$$

3. Calculate the total execution time:

   $$\text{Total Time} = \text{Total Cycles} \times t_{\text{clk}} = 104 \times 165\text{ ns} = 17160\text{ ns}$$

Thus, the total time required is 17160 nanoseconds.