Related papers: A Faster and More Reliable Middleware for Autonomo…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
As an alternative sensing paradigm, dynamic vision sensors (DVS) have been recently explored to tackle scenarios where conventional sensors result in high data rate and processing time. This paper presents a hybrid event-frame approach for…
To empower mobile robots with usable maps as well as highest state estimation accuracy and robustness, we present OKVIS2-X: a state-of-the-art multi-sensor Simultaneous Localization and Mapping (SLAM) system building dense volumetric…
Processing-In-Memory (PIM) is a novel approach that augments existing DRAM memory chips with lightweight logic. By allowing to offload computations to the PIM system, this architecture allows for circumventing the data-bottleneck problem…
The second-order training methods can converge much faster than first-order optimizers in DNN training. This is because the second-order training utilizes the inversion of the second-order information (SOI) matrix to find a more accurate…
The integration of reconfigurable intelligent surfaces (RIS) into future wireless communication systems offers promising capabilities in dynamic environment shaping and spectrum efficiency. In this work, we present a consistent…
Homomorphic encryption (HE) allows direct computations on encrypted data. Despite numerous research efforts, the practicality of HE schemes remains to be demonstrated. In this regard, the enormous size of ciphertexts involved in HE…
Stacked intelligent metasurfaces (SIMs) have recently gained attention as a paradigm for wave-domain signal processing with reduced reliance on costly radio-frequency (RF) chains. However, conventional SIMs rely on uniform inter-layer…
In this study, we evaluate the performance of current automotive communication middlewares under various operating conditions. Specifically, we examine FastDDS, a widely used open-source middleware, the newly developed Zenoh middleware, and…
Current Artificial Intelligence (AI) computation systems face challenges, primarily from the memory-wall issue, limiting overall system-level performance, especially for Edge devices with constrained battery budgets, such as smartphones,…
Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…
Neural networks (NNs) are growing in importance and complexity. A neural network's performance (and energy efficiency) can be bound either by computation or memory resources. The processing-in-memory (PIM) paradigm, where computation is…
The widespread integration of embedded systems across various industries has facilitated seamless connectivity among devices and bolstered computational capabilities. Despite their extensive applications, embedded systems encounter…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
Memory security and reliability are two of the major design concerns in cloud computing systems. State-of-the-art memory security-reliability co-designs (e.g. Synergy) have achieved a good balance on performance, confidentiality, integrity,…
eSIM(embedded SIM) is an advanced alternative to traditional physical SIM cards initially developed by the GSM Association(GSMA) in 2013 [1][2]. The eSIM technology has been deployed in many commercial products such as mobile devices.…
In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…
Advanced Driver Assistance Systems (ADAS) have made driving safer over the last decade. They prepare vehicles for unsafe road conditions and alert drivers if they perform a dangerous maneuver. However, many accidents are unavoidable because…
This paper presents a fully autonomous robotic system that performs sim-to-real transfer in complex long-horizon tasks involving navigation, recognition, grasping, and stacking in an environment with multiple obstacles. The key feature of…
This paper summarizes the ideas and key concepts in MISE (Memory Interference-induced Slowdown Estimation), which was published in HPCA 2013 [97], and examines the work's significance and future potential. Applications running concurrently…