Related papers: Performance-Portable Optimization and Analysis of …
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…
Gauge fixing is an essential step in lattice QCD calculations, particularly for studying gauge-dependent observables. Traditional iterative algorithms are computationally expensive and often suffer from critical slowing down and scaling…
In this paper we present a motion planner for LIMMS, a modular multi-agent, multi-modal package delivery platform. A single LIMMS unit is a robot that can operate as an arm or leg depending on how and what it is attached to, e.g., a…
The technique that was used to build the EigCG algorithm for sparse symmetric linear systems is extended to the nonsymmetric case using the BiCG algorithm. We show that, similarly to the symmetric case, we can build an algorithm that is…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
Mobile edge computing (MEC) has been regarded as a promising technique to support latencysensitivity and computation-intensive serves. However, the low offloading rate caused by the random channel fading characteristic becomes a major…
In this paper, we explore optimization-based and data-driven solutions in a reconfigurable intelligent surface (RIS)-aided multi-user mobile edge computing (MEC) system, where the user equipment (UEs) can partially offload their computation…
We propose an algorithm to compute the dynamics of articulated rigid-bodies with different sensor distributions. Prior to the on-line computations, the proposed algorithm performs an off-line optimisation step to simplify the computational…
Mobile edge computing (MEC) and millimeter wave (mmWave) communications are capable of significantly reducing the network's delay and enhancing its capacity. In this paper we investigate a mmWave and device-to-device (D2D) assisted MEC…
The exponential proliferation of mobile devices and data-intensive applications in future wireless networks imposes substantial computational burdens on resource-constrained devices, thereby fostering the emergence of over-the-air…
As rapidly growing AI computational demands accelerate the need for new hardware installation and maintenance, this work explores optimal data center resource management by balancing operational efficiency with fault tolerance through…
Optimization algorithms for wireless systems play a fundamental role in improving their performance and efficiency. However, it is known that the complexity of conventional optimization algorithms in the literature often exponentially…
The performance of lattice-Boltzmann solver implementations usually depends mainly on memory access patterns. Achieving high performance requires then complex code which handles careful data placement and ordering of memory transactions. In…
This study presents a computational optimisation framework of a hip implant through the development of a functionally graded biomimetic lattice structure, whose design was structurally optimised to limit stress shielding. The optimisation…
The computational cost of many signal processing and machine learning techniques is often dominated by the cost of applying certain linear operators to high-dimensional vectors. This paper introduces an algorithm aimed at reducing the…
A new approach is discussed for solving large nonsymmetric systems of linear equations with multiple right-hand sides. The first system is solved with a deflated GMRES method that generates eigenvector information at the same time that the…
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…
Today's world of scientific software for High Energy Physics (HEP) is powered by x86 code, while the future will be much more reliant on accelerators like GPUs and FPGAs. The portable parallelization strategies (PPS) project of the High…
We present different methods to increase the performance of Hybrid Monte Carlo simulations of the Hubbard model in two-dimensions. Our simulations concentrate on a hexagonal lattice, though can be easily generalized to other lattices. It is…
In recent years the computational capacity of single Field Programmable Gate Arrays (FPGA) devices as well as their versatility has increased significantly. Adding to that the High Level Synthesis frameworks allowing to program such…