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Runtime abstraction for autonomous adaptive systems on reconfigurable hardware
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Bucknall, Alex and Fahmy, Suhaib A. (2021) Runtime abstraction for autonomous adaptive systems on reconfigurable hardware. In: Design, Automation and Test in Europe Conference, Virtual Event- Grenoble (France), 1–5 Feb 2021. Published in: Proceedings of the Design, Automation and Test in Europe Conference (In Press)
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WRAP-Runtime-abstraction-autonomous-adaptive-reconfigurable-hardware-Fahmy-2020.pdf - Accepted Version - Requires a PDF viewer. Download (812Kb) | Preview |
Abstract
Autonomous systems increasingly rely on on-board computation to avoid the latency overheads of offloading to more powerful remote computing. This requires the integration of hardware accelerators to handle the complex computations demanded by date-intensive sensors. FPGAs offer hardware acceleration with ample flexibility and interfacing capabilities when paired with general purpose processors, with the ability to reconfigure at runtime using partial reconfiguration. Managing dynamic hardware is complex and has been left to designers to address in an ad-hoc manner without first-class integration in autonomous software frameworks. This paper presents an abstracted runtime for managing adaptation of FPGA accelerators, including partial reconfiguration and parametric changes, that presents as a typical interface used in autonomous software systems. We present a demonstration using the Robot Operating System (ROS), showing negligible latency overhead as a result of the abstraction.
| Item Type: | Conference Item (Paper) | ||||||
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| Subjects: | Q Science > QA Mathematics > QA76 Electronic computers. Computer science. Computer software T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering |
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| Divisions: | Faculty of Science > Engineering | ||||||
| Library of Congress Subject Headings (LCSH): | Intelligent control systems, Intelligent agents (Computer software) , Field programmable gate arrays, Field programmable gate arrays -- Computer-aided design, Robots -- Control systems, Robots -- Programming | ||||||
| Journal or Publication Title: | Proceedings of the Design, Automation and Test in Europe Conference | ||||||
| Publisher: | IEEE | ||||||
| Official Date: | 2021 | ||||||
| Dates: |
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| Date of first compliant deposit: | 18 December 2020 | ||||||
| Status: | Peer Reviewed | ||||||
| Publication Status: | In Press | ||||||
| Publisher Statement: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | ||||||
| Access rights to Published version: | Restricted or Subscription Access | ||||||
| RIOXX Funder/Project Grant: |
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| Conference Paper Type: | Paper | ||||||
| Title of Event: | Design, Automation and Test in Europe Conference | ||||||
| Type of Event: | Conference | ||||||
| Location of Event: | Virtual Event- Grenoble (France) | ||||||
| Date(s) of Event: | 1–5 Feb 2021 |
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