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The adoption of heterogeneous computing systems based on diverse architectures to achieve exascale computing power has worsened the performance portability problem of scientific applications that were designed to run on these platforms. To…
To use heterogeneous hardware, programmers needed sufficient technical skills such as OpenMP, CUDA, and OpenCL. Therefore, I have proposed environment-adaptive software that enables high-performance operation by automatically converting and…
Executing distributed cyber-physical software processes on edge devices that maintains the resiliency of the overall system while adhering to resource constraints is quite a challenging trade-off to consider for developers. Current…
With the increasing demands for new data and real-time services, wireless networks should support calls with different traffic characteristics and different Quality of Service (QoS)guarantees. In addition, various wireless technologies and…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…
The growing popularity of bike-sharing systems around the world has motivated recent attention to models and algorithms for their effective operation. Most of this literature focuses on their daily operation for managing asymmetric demand.…
This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major…
Mixed-consistency programming models assist programmers in designing applications that provide high availability while still ensuring application-specific safety invariants. However, existing models often make specific system assumptions,…
With the advent of modern embedded systems, logging as a process is becoming more and more prevalent for diagnostic and analytic services. Traditionally, storage and managing of the logged data are generally kept as a part of one entity…
Transfer learning has recently become the dominant paradigm of machine learning. Pre-trained models fine-tuned for downstream tasks achieve better performance with fewer labelled examples. Nonetheless, it remains unclear how to develop…
In this paper, we demonstrate a formulation for optimizing coupled submodular maximization problems with provable sub-optimality bounds. In robotics applications, it is quite common that optimization problems are coupled with one another…
This survey of heterogeneous computing systems will help in analyzing the technological trends that will be at the basis of heterogeneous computing systems, highlighting the major opportunities and challenges such technologies will bring…
In order to accommodate the ever-growing data from various, possibly independent, sources and the dynamic nature of data usage rates in practical applications, modern cloud data storage systems are required to be scalable, flexible, and…
We consider the problem of managing a dynamic heterogeneous storage system in a distributed way so that the amount of data assigned to a host in that system is related to its capacity. Two central problems have to be solved for this: (1)…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
In topology optimization of compliant mechanisms, the specific placement of boundary conditions strongly affects the resulting material distribution and performance of the design. At the same time, the most effective locations of the loads…
This paper describes a way to improve the scalability of program synthesis by exploiting modularity: larger programs are synthesized from smaller programs. The key issue is to make each "larger-created-from-smaller" synthesis sub-problem be…
Robustness, the ability of a system to maintain performance under significant and unanticipated environmental changes, is a critical property for robotic systems. While biological systems naturally exhibit robustness, there is no…
The interdependency between different network layers is commonly observed in Cyber Physical Systems and communication networks adopting the dissociation of logic and hardware implementation, such as Software Defined Networking and Network…