Christian Lienen - Kontakt (Universität Paderborn)

Christian Lienen, M.Sc.

Kontakt

Publikationen

Technische Informatik

Mitglied - Wissenschaftlicher Mitarbeiter

VCard

Telefon:

+49 5251 60-4447

E-Mail:

christian.lienen(at)upb(dot)de

Büro:

O3.116

Web:

Homepage

Besucher:

Pohlweg 51
33098 Paderborn

Liste im Research Information System öffnen

2023

fpgaDDS: An Intra-FPGA Data Distribution Service for ROS 2 Robotics Applications

C. Lienen, S.H. Middeke, M. Platzner, 2023

2022

ReconROS Executor: Event-Driven Programming of FPGA-accelerated ROS 2 Applications

C. Lienen, M. Platzner, 2022

Task Mapping for Hardware-Accelerated Robotics Applications using ReconROS

C. Lienen, M. Platzner, 2022

Event-Driven Programming of FPGA-accelerated ROS 2 Robotics Applications

C. Lienen, M. Platzner, in: 2022 25th Euromicro Conference on Digital System Design (DSD), 2022

DOI

2021

Design of Distributed Reconfigurable Robotics Systems with ReconROS

C. Lienen, M. Platzner, ACM Transactions on Reconfigurable Technology and Systems (2021), pp. 1-20

Abstract

DOI

Robotics applications process large amounts of data in real time and require compute platforms that provide high performance and energy efficiency. FPGAs are well suited for many of these applications, but there is a reluctance in the robotics community to use hardware acceleration due to increased design complexity and a lack of consistent programming models across the software/hardware boundary. In this article, we present ReconROS, a framework that integrates the widely used robot operating system (ROS) with ReconOS, which features multithreaded programming of hardware and software threads for reconfigurable computers. This unique combination gives ROS 2 developers the flexibility to transparently accelerate parts of their robotics applications in hardware. We elaborate on the architecture and the design flow for ReconROS and report on a set of experiments that underline the feasibility and flexibility of our approach.

Design of Distributed Reconfigurable Robotics Systems with ReconROS

C. Lienen, M. Platzner, in: arXiv:2107.07208, 2021

Abstract

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Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the robotics community to use hardware acceleration due to increased design complexity and a lack of consistent programming models across the software/hardware boundary. In this paper we present ReconROS, a framework that integrates the widely-used robot operating system (ROS) with ReconOS, which features multithreaded programming of hardware and software threads for reconfigurable computers. This unique combination gives ROS2 developers the flexibility to transparently accelerate parts of their robotics applications in hardware. We elaborate on the architecture and the design flow for ReconROS and report on a set of experiments that underline the feasibility and flexibility of our approach.

https://arxiv.org/abs/2107.07208

2020

ReconROS: Flexible Hardware Acceleration for ROS2 Applications

C. Lienen, M. Platzner, B. Rinner, in: Proceedings of the 2020 International Conference on Field-Programmable Technology (FPT), 2020

2019

Implementing a Real-time System on a Platform FPGA operated with ReconOS

C. Lienen, Masterarbeit, Universität Paderborn, 2019

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thesis_main.pdf -

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