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    Runtime Abstraction for Autonomous Adaptive Systems on Reconfigurable Hardware

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    Type
    Conference Paper
    Authors
    Bucknall, Alex R.
    Fahmy, Suhaib A.
    KAUST Department
    King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia
    Date
    2021-02-01
    Permanent link to this record
    http://hdl.handle.net/10754/666831
    
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    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.
    Sponsors
    This work was supported by the UK Engineering and Physical Sciences Research Council, grant EP/N509796/1.
    Publisher
    IEEE
    Conference/Event name
    Design, Automation and Test in Europe Conference
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