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Phase-change memory (PCM) devices have multiple banks to serve memory requests in parallel. Unfortunately, if two requests go to the same bank, they have to be served one after another, leading to lower system performance. We observe that a…
Many robotic platforms expose an API through which external software can command their actuators and read their sensors. However, transitioning from these low-level interfaces to high-level autonomous behaviour requires a complicated…
Non-Uniform Memory Access (NUMA) architecture imposes numerous performance challenges to today's cloud workloads. Due to the complexity and the massive scale of modern warehouse-scale computers (WSCs), a lot of efforts need to be done to…
This paper introduces Binary Acceleration At Runtime (BAAR), an easy-to-use on-the-fly binary acceleration mechanism which aims to tackle the problem of enabling existent software to automatically utilize accelerators at runtime. BAAR is…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Process mining (PM) aims to construct, from event logs, process maps that can help discover, automate, improve, and monitor organizational processes. Robotic process automation (RPA) uses software robots to perform some tasks usually…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…
In this paper, we present an approach for integrated task and motion planning based on an AND/OR graph network, which is used to represent task-level states and actions, and we leverage it to implement different classes of task and motion…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Sequence alignment is a memory bound computation whose performance in modern systems is limited by the memory bandwidth bottleneck. Processing-in-memory architectures alleviate this bottleneck by providing the memory with computing…
Embedded real-time applications in communication systems require high processing power. Manual scheduling devel-oped for single-processor applications is not suited to multi-core architectures. The Algorithm Architecture Matching (AAM)…
Despite the impressive search rate of one key per clock cycle, the update stage of a random-access-memory-based content-addressable-memory (RAM-based CAM) always suffers high latency. Two primary causes of such latency include: (1) the…
Traditional Identity and Access Management (IAM) systems, primarily designed for human users or static machine identities via protocols such as OAuth, OpenID Connect (OIDC), and SAML, prove fundamentally inadequate for the dynamic,…
Cyber-physical systems (CPSs) in modern real-time applications integrate numerous control units linked through communication networks, each responsible for executing a mix of real-time safety-critical and non-critical tasks. To ensure…
Quantum random access memory (QRAM) promises simultaneous data queries at multiple memory locations, with data retrieved in coherent superpositions, essential for achieving quantum speedup in many quantum algorithms. We introduce a…
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
This paper focuses on Passable Obstacles Aware (POA) planner - a novel navigation method for two-wheeled robots in a highly cluttered environment. The navigation algorithm detects and classifies objects to distinguish two types of obstacles…
Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…
Edge-AI applications still face considerable challenges in enhancing computational efficiency in resource-constrained environments. This work presents RAMAN, a resource-efficient and approximate posit(8,2)-based Multiply-Accumulate (MAC)…