Related papers: Engineering the Hardware/Software Interface for Ro…
Large Language Models (LLMs) have demonstrated significant potential in various engineering tasks, including software development, digital logic generation, and companion document maintenance. However, their ability to perform board-level…
The design of distributed autonomous systems for operation beyond reliable ground contact presents a fundamental tension: as round-trip communication latency grows, the set of decisions delegable to ground operators shrinks. This paper…
Robotic computing has reached a tipping point, with a myriad of robots (e.g., drones, self-driving cars, logistic robots) being widely applied in diverse scenarios. The continuous proliferation of robotics, however, critically depends on…
The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design…
The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined, tactile…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
Selecting the optimal LLM inference configuration requires evaluation across hardware, serving engines, attention backends, and model architectures, since no single choice performs best across all workloads. Profile-based simulators are the…
Portability of hardware designs between Programmable Logic Devices (PLD) can be accomplished through the use of device-agnostic hardware description languages (HDL) such as Verilog or VHDL. Hardware designers can use HDLs to migrate…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Emulating firmware of microcontrollers is challenging due to the lack of peripheral models. Existing work finds out how to respond to peripheral read operations by analyzing the target firmware. This is problematic because the firmware…
We develop an interface-modeling framework for quality and resource management that captures configurable working points of hardware and software components in terms of functionality, resource usage and provision, and quality indicators…
Today's landscape of robotics is dominated by vertical integration where single vendors develop the final product leading to slow progress, expensive products and customer lock-in. Opposite to this, an horizontal integration would result in…
Modern Integrated Circuits (ICs) are becoming increasingly complex, and so is their development process. Hardware design verification entails a methodical and disciplined approach to the planning, development, execution, and sign-off of…
Robotic systems are complex and safety-critical software systems. As such, they need to be tested thoroughly. Unfortunately, robot software is intrinsically hard to test compared to traditional software, mainly since the software needs to…
Embedded Systems combine one or more processor cores with dedicated logic running on an ASIC or FPGA to meet design goals at reasonable cost. It is achieved by profiling the application with variety of aspects like performance, memory…
Hardware heterogeneity is here to stay for high-performance computing. Large-scale systems are currently equipped with multiple GPU accelerators per compute node and are expected to incorporate more specialized hardware in the future. This…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
Complex natural or engineered systems comprise multiple characteristic scales, multiple spatiotemporal domains, and even multiple physical closure laws. To address such challenges, we introduce an interface learning paradigm and put forth a…
The rule technological landscape is becoming ever more complex, with an extended number of specifications and products. It is therefore becoming increasingly difficult to integrate rule-driven components and manage interoperability in…