Cyber-Physical Systems are experiencing a paradigm shift in which processing has been relocated to the distributed sensing layer and is no longer performed in a centralized manner. This approach, usually referred to as Edge Computing, demands the use of hardware platforms that are able to manage the steadily increasing requirements in computing performance, while keeping energy efficiency and the adaptability imposed by the interaction with the physical world. In this context, SRAM-based FPGAs and their inherent run-time reconfigurability, when coupled with smart power management strategies, are a suitable solution. However, they usually fail in user accessibility and ease of development. In this paper, an integrated framework to develop FPGA-based high-performance embedded systems for Edge Computing in Cyber-Physical Systems is presented. This framework provides a hardware-based processing architecture, an automated toolchain, and a runtime to transparently generate and manage reconfigurable systems from high-level system descriptions without additional user intervention. Moreover, it provides users with support for dynamically adapting the available computing resources to switch the working point of the architecture in a solution space defined by computing performance, energy consumption and fault tolerance. Results show that it is indeed possible to explore this solution space at run time and prove that the proposed framework is a competitive alternative to software-based edge computing platforms, being able to provide not only faster solutions, but also higher energy efficiency for computing-intensive algorithms with significant levels of data-level parallelism.

Hyperspectral data processing is a computationally intensive task that is usually performed in high-performance computing clusters. However, in remote sensing scenarios, where communications are expensive, a compression stage is required at the edge of data acquisition before transmitting information to ground stations for further processing. Moreover, hyperspectral image compressors need to meet minimum performance and energy-efficiency levels to cope with the real-time requirements imposed by the sensors and the available power budget. Hence, they are usually implemented as dedicated hardware accelerators in expensive space-grade electronic devices. In recent years though, these devices have started to coexist with low-cost commercial alternatives in which unconventional techniques, such as run-time hardware reconfiguration are evaluated within research-oriented space missions (e.g., CubeSats). In this paper, a run-time reconfigurable implementation of a low-complexity lossless hyperspectral compressor (i.e., CCSDS 123) on a commercial off-the-shelf device is presented. The proposed approach leverages an FPGA-based on-board processing architecture with a data-parallel execution model to transparently manage a configurable number of resource-efficient hardware cores, dynamically adapting both throughput and energy efficiency. The experimental results show that this solution is competitive when compared with the current state-of-the-art hyperspectral compressors and that the impact of the parallelization scheme on the compression rate is acceptable when considering the improvements in terms of performance and energy consumption. Moreover, scalability tests prove that run-time adaptation of the compression throughput and energy efficiency can be achieved by modifying the number of hardware accelerators, a feature that can be useful in space scenarios, where requirements change over time (e.g., communication bandwidth or power budget).

This paper describes a reconfigurable architecture for an on-board processor to be used in space exploration critical systems. It relies on ARTICo3, a dynamically reconfigurable multi-accelerator hardware architecture that provides transparent reconfiguration and scalable performance, dependability, and power consumption, at run-time. The architecture is integrated under an RTEMS operating system, which manages reconfiguration and fault mitigation in a fully-compatible way with space requirements. In this work, the proposed processor is used to implement a vision-based navigation system, providing fully autonomous adaptation to different phases of a space mission timeline or events that the spacecraft may encounter during its lifespan. Results show that reconfigurability enables the practical usage of Commercial Off-The-Shelf (COTS) Multiprocessor Systems-on-Chips (MPSoCs) in real scenarios.

This paper describes a novel hardware implementation of a lossy multispectral and hyperspectral image compressor for on-board operation in space missions. The compression algorithm is a lossy extension of the Consultative Committee for Space Data Systems (CCSDS) 123.0-B-1 lossless standard that includes a bit-rate control stage, which in turn manages the losses the compressor may introduce to achieve higher compression ratios without compromising the recovered image quality. The algorithm has been implemented using High-Level Synthesis (HLS) techniques to increase design productivity by raising the abstraction level. The proposed lossy compression solution is deployed onto ARTICo³, a dynamically reconfigurable multi-accelerator architecture, obtaining a run-time adaptive solution that enables user-selectable performance (i.e., load more hardware accelerators to transparently increase throughput), power consumption, and fault tolerance (i.e., group hardware accelerators to transparently enable hardware redundancy). The whole compression solution is tested on a Xilinx Zynq UltraScale+ Field-Programmable Gate Array (FPGA)-based MPSoC using different input images, from multispectral to ultraspectral. For images acquired by the Airborne Visible/Infrared Imaging Spectrometer (AVIRIS), the proposed implementation renders an execution time of approximately 36 s when 8 accelerators are compressing concurrently at 100 MHz, which in turn uses around 20% of the LUTs and 17% of the dedicated memory blocks available in the target device. In this scenario, a speedup of 15.6× is obtained in comparison with a pure software version of the algorithm running in an ARM Cortex-A53 processor.

This paper presents a run-time solver for the inverse kinematics of a robotic arm implemented on a heterogeneous Multi-Processor System-on-Chip (MPSoC). The solver has been formulated as an optimization problem, in which two levels of algorithmic parallelism are proposed: i) the Nelder-Mead derivative-free method used as the optimization engine is modified to allow the evaluation of the cost function in multiple vertices simultaneously, ii) the trajectory is divided into non-overlapping segments, in which all the points are solved concurrently. Algorithmic parallelism is supported by a variable number of parallel instances of a custom hardware accelerator, which speeds up the computation of the forward kinematics equations of the robot required during the resolution of the inverse kinematics. This adaptable scheme provides run-time scalability in terms of trajectory accuracy, logic resources, dependability, and execution time. New design methodologies are used to unify the modeling of the software and hardware partitions of the controller while transparently providing adaptability. They are based on the dataflow Model of Computation (MoC), supported by the PREESM prototyping tool. This tool has been extended to support the use of dynamically reconfigurable hardware accelerators implemented using the ARTICo 3 framework. The proposal has been validated with a python-based robotic arm simulator. Experimental results show how the proposed parallelism, combined with hardware acceleration, enables the run-time resolution of the trajectory with adaptable performance using a Xilinx Zynq UltraScale+ MPSoC device.