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We present a customizable soft architecture which allows for the execution of GPGPU code on an FPGA without the need to recompile the design. Issues related to scaling the overlay architecture to multiple GPGPU multiprocessors are…
The emerging need for fast and power-efficient AI/ML deployment on-board spacecraft has forced the space industry to examine specialized accelerators, which have been successfully used in terrestrial applications. Towards this direction,…
There is a growing necessity for edge training to adapt to dynamically changing environment. Neuromorphic computing represents a significant pathway for high-efficiency intelligent computation in energy-constrained edges, but existing…
Development of modern integrated circuit technologies makes it feasible to develop cheaper, faster and smaller special purpose signal processing function circuits. Digital Signal processing functions are generally implemented either on…
Modern multicore systems are migrating from homogeneous systems to heterogeneous systems with accelerator-based computing in order to overcome the barriers of performance and power walls. In this trend, FPGA-based accelerators are becoming…
This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse kinematics to obtain valid workspace data and corresponding actuator lengths for the moving…
Graphics Processing Unit, or GPUs, have been successfully adopted both for graphic computation in 3D applications, and for general purpose application (GP-GPUs), thank to their tremendous performance-per-watt. Recently, there is a big…
Rigid body dynamics is a key technology in the robotics field. In trajectory optimization and model predictive control algorithms, there are usually a large number of rigid body dynamics computing tasks. Using CPUs to process these tasks…
In this work, we survey the role of GPUs in real-time systems. Originally designed for parallel graphics workloads, GPUs are now widely used in time-critical applications such as machine learning, autonomous vehicles, and robotics due to…
One of the current challenges in physically-based simulations, and, more specifically, fluid simulations, is to produce visually appealing results at interactive rates, capable of being used in multiple forms of media. In recent times, a…
With their widespread availability, FPGA-based accelerators cards have become an alternative to GPUs and CPUs to accelerate computing in applications with certain requirements (like energy efficiency) or properties (like fixed-point…
Autonomous robots are increasingly prevalent in our society, emerging in medical care, transportation vehicles, and home assistance. These robots rely on motion planning and collision detection to identify a sequence of movements allowing…
This paper describes the design and simulation of an 8-bit dedicated processor for calculating the Sine and Cosine of an Angle using CORDIC Algorithm (COordinate Rotation DIgital Computer), a simple and efficient algorithm to calculate…
Graph algorithms are increasingly used in applications that exploit large databases. However, conventional processor architectures are inadequate for handling the throughput and memory requirements of graph computation. Lincoln Laboratory's…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
The main goal of this research is to develop the concepts of a revolutionary processor system called Functional Processor System. The fairly novel work carried out in this proposal concentrates on decoding of function pipelines and…
Deep learning (DL) has emerged as a rapidly developing advanced technology, enabling the performance of complex tasks involving image recognition, natural language processing, and autonomous decision-making with high levels of accuracy.…
Graph is a well known data structure to represent the associated relationships in a variety of applications, e.g., data science and machine learning. Despite a wealth of existing efforts on developing graph processing systems for improving…
Kernel functions may be used in robotics for comparing different poses of a robot, such as in collision checking, inverse kinematics, and motion planning. These comparisons provide distance metrics often based on joint space measurements…
The success of AI/ML in terrestrial applications and the commercialization of space are now paving the way for the advent of AI/ML in satellites. However, the limited processing power of classical onboard processors drives the community…