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With the richness of present-day hardware architectures, tightening the synergy between hardware and software has attracted a great attention. The interest in unified approaches paved the way for newborn frameworks that target hardware and…
The complexity of multimedia applications in terms of intensity of computation and heterogeneity of treated data led the designers to embark them on multiprocessor systems on chip. The complexity of these systems on one hand and the…
With FPGAs now being deployed in the cloud and at the edge, there is a need for scalable design methods which can incorporate the heterogeneity present in the hardware and software components of FPGA systems. Moreover, these FPGA systems…
There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…
Real-time embedded platforms with resource constraints can take the benefits of mixed-criticality system where applications with different criticality-level share computational resources, with isolation in the temporal and spatial domain. A…
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2…
We introduce a general-purpose framework for interconnecting scientific simulation programs using a homogeneous, unified interface. Our framework is intrinsically parallel, and conveniently separates all component numerical modules in…
Vision-language-action (VLA) models and LLM agents have advanced rapidly, yet reliable deployment on physical robots is often hindered by an interface mismatch between agent tool APIs and robot middleware. Current implementations typically…
Our middleware approach, Context-Oriented Software Middleware (COSM), supports context-dependent software with self-adaptability and dependability in a mobile computing environment. The COSM-middleware is a generic and platform-independent…
Although software and firmware co-simulation is gaining popularity, it is still not widely used in the FPGA designs. This work presents easy and structured approach for software and firmware co-simulation for bus centric designs. The…
In this paper, we present a framework for moving compute and data between processing elements in a distributed heterogeneous system. The implementation of the framework is based on the LLVM compiler toolchain combined with the UCX…
Message oriented and robotics middleware play an important role in facilitating robot control, abstracting complex functionality, and unifying communication patterns between sensors and devices. However, using multiple middleware frameworks…
The evolution of automotive technologies towards more integrated and sophisticated systems requires a shift from traditional distributed architectures to centralized vehicle architectures. This work presents a novel framework that addresses…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
Requirements and code, in conventional software engineering wisdom, belong to entirely different worlds. Is it possible to unify these two worlds? A unified framework could help make software easier to change and reuse. To explore the…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
The main objective of this paper is to develop the two different ways in which round robin architecture is modified and made suitable to be implemented in real time and embedded systems. The scheduling algorithm plays a significant role in…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
In this paper, we introduce a software and hardware structure for on-line mobile robotic systems. The hardware mainly consists of a Multi-Sensor Smart Robot connected to the Internet through 3G mobile network. The system employs a…