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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…
Data movement is the dominating factor affecting performance and energy in modern computing systems. Consequently, many algorithms have been developed to minimize the number of I/O operations for common computing patterns. Matrix…
In recent years, utilization of heterogeneous hardware other than small core CPU such as GPU, FPGA or many core CPU is increasing. However, when using heterogeneous hardware, barriers of technical skills such as OpenMP, CUDA and OpenCL are…
Flexibility at hardware level is the main driving force behind adaptive systems whose aim is to realise microarhitecture deconfiguration 'online'. This feature allows the software/hardware stack to tolerate drastic changes of the workload…
Software is everywhere. The increasing requirement of supporting a wide variety of domains has rapidly increased the complexity of software systems, making them hard to maintain and the training process harder for end-users, which in turn…
ROS (Robot Operating System) packages have become increasingly popular as a type of software artifact that can be effectively reused in robotic software development. Indeed, finding suitable ROS packages that closely match the software's…
We introduce a general-purpose framework for interconnecting scientific simulation programs using a homogeneous, unified software interface. Our framework is intrinsically parallel, and conveniently separates all components in memory. It…
Typical constraints on embedded systems include code size limits, upper bounds on energy consumption and hard or soft deadlines. To meet these requirements, it may be necessary to improve the software by applying various kinds of…
A unified mathematical model for synchronisation and swarming has recently been proposed. Each system entity, called a "swarmalator", coordinates its internal phase and location with the other entities in a way that these two attributes are…
With advances in informatics applied to materials science, predicting the physical properties of numerous materials has become increasingly feasible, creating a growing demand for their experimental validation. It has been expected that the…
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The default Data Distribution Service (DDS) communication stack in…
For distributed applications to take full advantage of cloud computing systems, we need middleware systems that allow developers to build elasticity management components right into the applications. This paper describes the design and…
This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
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. This shift in the…
In an increasingly automated world -- from warehouse robots to self-driving cars -- streamlining the development and deployment process and operations of robotic applications becomes ever more important. Automated DevOps processes and…
Decreasing hardware feature sizes and increasing heterogeneity in multicore hardware require software that can adapt to these platforms' properties. We implemented ROMAIN, an OS service providing redundant multithreading on top of the…
Real-time scheduling in commoditized component-oriented real-time systems, such as ROS 2 systems on Linux, has been studied under nested scheduling: OS thread scheduling and middleware layer scheduling (e.g., ROS 2 Executor). However, by…
Automated Driving Systems (ADS) have rapidly evolved in recent years and their architecture becomes sophisticated. Ensuring robustness, reliability and safety of performance is particularly important. The main challenge in building an ADS…
Checking software application suitability using automated software tools has become a vital element for most organisations irrespective of whether they produce in-house software or simply customise off-the-shelf software applications for…