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ISSTA 2021
Sun 11 - Sat 17 July 2021 Online
co-located with ECOOP and ISSTA 2021
Mon 12 Jul 2021 14:00 - 14:30 at COP - COP

Intelligent robots need high-performance processing at low power dissipation in order to process large amount of calculations for the recognition, planning and action tasks. The reconfigurable capability of FPGA (Field Programmable Gate Array) is expected to exploit parallel processing to realize high-performance and low power at the same time by programming an optimized hardwired circuit targeting the specific application, reconfiguring the circuit depending on the context. Today the quality of High-Level Synthesis (HLS) tools have advanced much, however, the development of high-performance hardwired circuit on FPGA still depends on the hardware experts. In order to introduce FPGA into software easily, we have proposed an automated generation of an FPGA component for robot software systems, namely for ROS (Robot Operating System) and its second version ROS2. The generated ROS2/FPGA components by our tool FOrEST (FPGA-Oriented Easy Synthesizer Tool) successfully show the processing performance improvements. This research proposes a method for Context-Oriented management of the ROS2-FPGA module. In order to apply reconfiguration at runtime according to the robot situation, the issue is that the time for FPGA reconfiguration takes much more than the case of software. Methods to safely reconfigure the FPGA circuit while robots are operated is discussed.

A Method for Context-Oriented Management of ROS2-FPGA Module Reconfiguration (20210712_ECOOP-COP-Ohkawa.pdf)1.72MiB

Takeshi Ohkawa is an associate professor in Tokai University, Japan. He received his M.E. and Ph.D. from Tohoku University in 2000 and 2003 respectively, and was engaged in research on dynamically reconfigurable FPGA system at Tohoku University. He joined National Institute for Advanced Industrial Science and Technology (AIST) in 2004 and started research on distributed embedded systems. He had been working in TOPS Systems Corp since 2009 and joined Utsunomiya University in 2011. In 2019, he joined Tokai University. His current research interests are the design technology of an FPGA to realize a low power robots and vision systems.

Mon 12 Jul

Displayed time zone: Brussels, Copenhagen, Madrid, Paris change

13:00 - 17:00
COPCOP at COP
13:00
30m
Talk
[Invited Talk] Application of Context-Oriented Programming Paradigm to Automobile Driving Assistance System
COP
Kenji Hisazumi Kyushu University, Tsuneo Nakanishi
File Attached
13:30
30m
Talk
[Regular Paper] Resolving Synchronization Conflicts in Role-based Multimodel-Synchronization Environments
COP
Sebastian Ebert Technische Universität Dresden, Tim Kluge TU Dresden, Germany, Sebastian Götz Technische Universität Dresden
DOI File Attached
14:00
30m
Talk
[Invited Talk] A Method for Context-Oriented Management of ROS2-FPGA Module Reconfiguration
COP
Takeshi Ohkawa Tokai University
File Attached
14:30
15m
Talk
[Student Talk] A Language to Safely Exploit Multi-Version Modules at the Expression-level
COP
Yudai Tanabe Tokyo Institute of Technology
File Attached
14:45
15m
Talk
[Student Talk] Object-Oriented Programming with Versions
COP
File Attached
15:00
30m
Talk
[Invited Talk] Aspect-Oriented Modeling Mechanism for Ultra-Flexible Software Architecture
COP
Natsuko Noda Shibaura Institute of Technology
File Attached
15:30
30m
Talk
[Regular Paper] First-class Concepts: Reifying Architectural Knowledge Beyond the Dominant Decomposition
COP
Toni Mattis Hasso Plattner Institute, University of Potsdam, Tom Beckmann Hasso Plattner Institute, Patrick Rein Hasso Plattner Institute, Robert Hirschfeld Hasso Plattner Institute (HPI), University of Potsdam, Germany
DOI File Attached
16:00
30m
Talk
[Invited Talk] Generating Adaptations in Context-Oriented Programming using Reinforcement Learning Options
COP
Nicolás Cardozo Universidad de los Andes
Pre-print Media Attached
16:30
30m
Talk
[Regular Paper] Towards a Framework for Analyzing Context-Oriented Programming Languages
COP
Achiya Elyasaf Ben-Gurion University of the Negev, Arnon Sturm Ben-Gurion University of the Negev
DOI File Attached