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Full-Text Articles in Computer Engineering
Flexible Fault Tolerance For The Robot Operating System, Sukhman S. Marok
Flexible Fault Tolerance For The Robot Operating System, Sukhman S. Marok
Master's Theses
The introduction of autonomous vehicles has the potential to reduce the number of accidents and save countless lives. These benefits can only be realized if autonomous vehicles can prove to be safer than human drivers. There is a large amount of active research around developing robust algorithms for all parts of the autonomous vehicle stack including sensing, localization, mapping, perception, prediction, planning, and control. Additionally, some of these research projects have involved the use of the Robot Operating System (ROS). However, another key aspect of realizing an autonomous vehicle is a fault-tolerant design that can ensure the safe operation of …
An Investigation Into Partitioning Algorithms For Automatic Heterogeneous Compilers, Antonio M. Leija
An Investigation Into Partitioning Algorithms For Automatic Heterogeneous Compilers, Antonio M. Leija
Master's Theses
Automatic Heterogeneous Compilers allows blended hardware-software solutions to be explored without the cost of a full-fledged design team, but limited research exists on current partitioning algorithms responsible for separating hardware and software. The purpose of this thesis is to implement various partitioning algorithms onto the same automatic heterogeneous compiler platform to create an apples to apples comparison for AHC partitioning algorithms. Both estimated outcomes and actual outcomes for the solutions generated are studied and scored. The platform used to implement the algorithms is Cal Poly’s own Twill compiler, created by Doug Gallatin last year. Twill’s original partitioning algorithm is chosen …
Twill: A Hybrid Microcontroller-Fpga Framework For Parallelizing Single- Threaded C Programs, Douglas S. Gallatin
Twill: A Hybrid Microcontroller-Fpga Framework For Parallelizing Single- Threaded C Programs, Douglas S. Gallatin
Master's Theses
Increasingly System-On-A-Chip platforms which incorporate both micropro- cessors and re-programmable logic are being utilized across several fields ranging from the automotive industry to network infrastructure. Unfortunately, the de- velopment tools accompanying these products leave much to be desired, requiring knowledge of both traditional embedded systems languages like C and hardware description languages like Verilog. We propose to bridge this gap with Twill, a truly automatic hybrid compiler that can take advantage of the parallelism inherent in these platforms. Twill can extract long-running threads from single threaded C code and distribute these threads across the hardware and software domains to more …
Applied Hw/Sw Co-Design: Using The Kendall Tau Algorithm For Adaptive Pacing, Kenneth W. Chee
Applied Hw/Sw Co-Design: Using The Kendall Tau Algorithm For Adaptive Pacing, Kenneth W. Chee
Master's Theses
Microcontrollers, the brains of embedded systems, have found their way into every aspect of our lives including medical devices such as pacemakers. Pacemakers provide life supporting functions to people therefore it is critical for these devices to meet their timing constraints. This thesis examines the use of hardware co-processing to accelerate the calculation time associated with the critical tasks of a pacemaker. In particular, we use an FPGA to accelerate a microcontroller’s calculation time of the Kendall Tau Rank Correlation Coefficient algorithm. The Kendall Tau Rank Correlation Coefficient is a statistical measure that determines the pacemaker’s voltage level for heart …