Field programmable gate array (FPGA) is ubiquitous nowadays and is applied to many areas. Dynamic partial reconfiguration (DPR) is introduced to most modern FPGAs, enabling changing the function of a part of the FPGA by dynamically loading new bitstreams to the logic regions without affecting the function of other parts of the FPGA. However, delivering the powerful capacity of the DPR FPGA to the user depends on the efficient partitioning and scheduling technology. This article proposes the module merging technique for the partitioning and scheduling problem to reduce the reconfiguration overhead and improve the schedule performance. An exact approach based on the integer linear programming (ILP) for the partitioning and scheduling problem with module merging is proposed. The ILP-based approach is capable of solving the problem optimally, and can be used to further improve the performance of schedules produced by other non-optimal algorithms; however, it is time-consuming to solve large-scale problems. Therefore, a K-sliced-ILP algorithm based on the methodology of divide-and-conquer is proposed, which is able to reduce the time complexity significantly with the solution quality being degraded marginally. Experiments are carried out with a set of real-life applications, and the result demonstrates the effectiveness of the proposed methods.

Unmanned aerial vehicle (UAV) has been witnessed as a promising approach for offering extensive coverage and additional computation capability to smart mobile devices (SMDs), especially in the scenario without available infrastructures. In this paper, a UAV-assisted mobile edge computing system with stochastic computation tasks is investigated. The system aims to minimize the average weighted energy consumption of SMDs and the UAV, subject to the constraints on computation offloading, resource allocation, and flying trajectory scheduling of the UAV. Due to nonconvexity of the problem and the time coupling of variables, a Lyapunov-based approach is applied to analyze the task queue, and the energy consumption minimization problem is decomposed into three manageable subproblems. Furthermore, a joint optimization algorithm is proposed to iteratively solve the problem. Simulation results demonstrate that the system performance obtained by the proposed scheme can outperform the benchmark schemes, and the optimal parameter selections are concluded in the experimental discussion.

The distributed mobile robotic network consists of a group of mobile nodes, such as mobile sensors, unmanned vehicles, unmanned submarines, unmanned air vehicles, or mobile robots. The mobile robotic network keeping a regular topology can utilize efficient network protocols and is also promising in many application scenarios. We propose a distributed algorithm that controls multiple distributed robotic nodes to form regular topology, including straight line, ring, triangular lattice, and square lattice. Our algorithm generates artificial forces, including the attractive force towards a reference point to gather the distributed nodes, the repulsive force from neighboring nodes to keep the desirable distance among them, the formation force to form a specific shape, and the obstacle avoidance force to avoid possible obstacles, such that each node simply follows the resultant force to move. The algorithm works in a fully distributed manner, converges fast, and is easy to deploy, requiring only one-hop local network geometry information. And, it is effective under both 2D and 3D scenarios. A computer demo is developed to demonstrate the effectiveness of the algorithm for large numbers of robotic nodes.

This article studies the scheduling of real-time streaming applications on multiprocessor systems-on-chips with predictable memory hierarchy. An iteration-based task-FIFO co-scheduling framework is proposed for this problem. We obtain FIFO size distributions using Pareto space searching, based on which the task-to-processor mapping is obtained with the potential FIFO allocation being taken into account; then, the FIFO-to-memory allocation is optimized to minimize the total memory access cost; finally, a self-timed throughput analysis method that considers memory and direct memory access controller contention is utilized to analyze the throughput. Our methods are validated by a set of synthesized and practical applications on different platforms.

Many applications such as streaming applications are both computation and communication intensive. The Multi-Processor System-on-Chip (MPSoC) based on Network-on-Chip (NoC) outperforms the multiprocessors with bus-based networking architecture in communication bandwidth and scalability, making it a better choice for implementing systems running these applications. It's important to schedule both the computation and communication onto processors and the networking architecture so as to satisfy the stringent timing requirements. To reduce or avoid inter-processor communication, task duplication has been employed in scheduling. Most of the available techniques for the duplication-based scheduling problem use heuristics to solve the problem, and seldom has any work studied further improving the schedule performance, despite the fact that the heuristic cannot provide quality guarantee. To fill in this gap, this paper introduces a duplication and mapping constrained task-communication co-scheduling problem that assumes the duplication strategy and task-to-processor mapping are known a priory, and proposes two Integer Linear Programming (ILP) formulations, i.e., CF-ILP and CA-ILP, to solve two editions of this problem, i.e., the contention-free problem and the contention-aware problem. The proposed ILP formulations optimize the ordering and timing of the communication and computation, thus improving the performance. Both synthesized and real applications are tested on a set of platforms to evaluate the performance of the proposed methods. The experimental results demonstrate the effectiveness of the proposed methods.