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Recent works have introduced task-based parallelization schemes to accelerate graph search and sparse data-structure traversal, where some solutions scale up to thousands of processing units (PUs) on a single chip. However parallelizing…
We study the application of emerging chiplet-based Neural Processing Units to accelerate vehicular AI perception workloads in constrained automotive settings. The motivation stems from how chiplets technology is becoming integral to…
We present a new output feedback fault tolerant control strategy for continuous-time linear systems. The strategy combines a digital nominal controller under controller-driven (varying) sampling with virtual-actuator (VA)-based controller…
We present GPU-SLS, a GPU-parallelized framework for safe, robust nonlinear model predictive control (MPC) that scales to high-dimensional uncertain robotic systems and long planning horizons. Our method jointly optimizes an…
Silicon spin qubits are a promising platform for scalable quantum computing due to their compatibility with industrial semiconductor fabrication and the recent scaling to multi-qubit devices. Control fidelities above the 99% fault-tolerant…
Pocket-sized autonomous nano-drones can revolutionize many robotic use cases, such as visual inspection in narrow, constrained spaces, and ensure safer human-robot interaction due to their tiny form factor and weight -- i.e., tens of grams.…
With transistor scaling reaching its limits, interposer-based integration of dies (chiplets) is gaining traction. Such an interposer-based integration enables finer and tighter interconnect pitch than traditional system-on-packages and…
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…
Recently, hardware technology has rapidly evolved pertaining to domain-specific applications/architectures. Soon, processors may be composed of a large collection of vendor-independent IP specialized for application-specific algorithms,…
We present a roadmap for open-source chiplet-based RISC-V systems targeting high-performance computing and artificial intelligence, aiming to close the performance gap to proprietary designs. Starting with Occamy, the first open,…
Solving motion tasks autonomously and accurately is a core ability for intelligent real-world systems. To achieve genuine autonomy across multiple systems and tasks, key challenges include coping with unknown dynamics and overcoming the…
High-performance computing systems are moving towards 2.5D and 3D memory hierarchies, based on High Bandwidth Memory (HBM) and Hybrid Memory Cube (HMC) to mitigate the main memory bottlenecks. This trend is also creating new opportunities…
We present a DevIce-to-System Performance EvaLuation (DISPEL) workflow that integrates transistor and interconnect modeling, parasitic extraction, standard cell library characterization, logic synthesis, cell placement and routing, and…
Synchronization is likely the most critical performance killer in shared-memory parallel programs. With the rise of multi-core and many-core processors, the relative impact on performance and energy overhead of synchronization is bound to…
In state-of-the-art superconducting quantum processors, each qubit is controlled by at least one control line that delivers control pulses generated at room temperature to qubits operating at millikelvin temperatures. While this strategy…
Next-generation mixed-criticality Systems-on-chip (SoCs) for robotics, automotive, and space must execute mixed-criticality AI-enhanced sensor processing and control workloads, ensuring reliable and time-predictable execution of critical…
Most control systems run on digital hardware with limited communication resources. This work develops self-triggered control for linear systems where sensors update independently (asynchronous measurements). The controller computes an…
With present-day detectors in high energy physics one often faces fast analog pulses of a few nanoseconds length which cover large dynamic ranges. In many experiments both amplitude and timing information have to be measured with high…
Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We…
We present an algorithm for cluster dynamics to efficiently simulate large systems on MIMD parallel computers with large numbers of processors. The method divides physical space into rectangular cells which are assigned to processors and…