The Experts below are selected from a list of 708 Experts worldwide ranked by ideXlab platform
A.a. Jerraya - One of the best experts on this subject based on the ideXlab platform.
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hardware abstraction layer – Introduction and Overview
2009Co-Authors: K. Popovici, A.a. JerrayaAbstract:Embedded software is playing an increasing role in heterogeneous Multi-Processor System-on-Chip (MPSoC) architectures due to its high complexity. In order to reduce the long and fastidious design process, embedded software needs to be reused over several MPSoCs. Thus, software portability becomes a key challenge. In this chapter, we present a clear separation between the hardware independent and the hardware dependent software layers, through adopting a multi-layered organization of the software stack. We introduce a component based software design flow, which allows the gradual generation and validation of the various software layers to obtain the final software stack. Then, by changing the hardware abstraction layer (HAL), the software stack can be executed on different MPSoC architectures. The HAL represents the lowest software layer, which totally depends on the target architecture. The HAL abstraction, through the use of well defined HAL APIs, makes easier the software portability and enables flexibility. The paper shows that the HAL APIs allow early software development before the hardware architecture is available, but also architecture exploration. The proposed methodology is applied to design the software stack for the Motion JPEG multimedia application and to execute it on diverse processors by changing the HAL and preserving the HAL APIs.
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hardware abstraction layer
2009Co-Authors: K. Popovici, A.a. JerrayaAbstract:Embedded software is playing an increasing role in heterogeneous Multi-Processor System-on-Chip (MPSoC) architectures due to its high complexity. In order to reduce the long and fastidious design process, embedded software needs to be reused over several MPSoCs. Thus, software portability becomes a key challenge.
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Introduction to hardware abstraction layers for SoC
2003 Design Automation and Test in Europe Conference and Exhibition, 2003Co-Authors: A.a. JerrayaAbstract:In this paper, the hardware abstraction layer (HAL) is explained in the context of SoC design. First, a HAL definition is given and the difference between HAL and other similar concepts is explained. Existing HALs are examined and the role of the HAL is explained for SoC design. Finally, a proposal for a standard HAL is presented.
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Building fast and accurate SW simulation models based on hardware abstraction layer and simulation environment abstraction layer
2003Co-Authors: I. Bacivarov, A. Bouchhima, Y. Paviot, A.a. JerrayaAbstract:As a fast and accurate SW simulation model, we present a model called fast timed SW model. The model enables fast simulation by native execution of application SW and OS. It gives simulation accuracy by timed SW and HW simulation. When building fast timed SW models, we need to solve two problems: (1) how to enable timing synchronization between the native execution and HW simulation and (2) how to obtain the portability of native execution (that needs multi-tasking from simulation environments to emulate its multi-tasking operation) on different simulation environments (that give different types of multi-tasking). In this paper, to enable the synchronization, we present a synchronization function. To enable the portability, we present an adaptation layer called simulation environment abstraction layer. We present our case studies in building fast timed SW models
Zhang Hong-guang - One of the best experts on this subject based on the ideXlab platform.
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An extensible digital television middleware architecture based on hardware abstraction layer
2004 IEEE International Conference on Multimedia and Expo (ICME) (IEEE Cat. No.04TH8763), 2004Co-Authors: Zhang Hong-guangAbstract:China is drafting the digital television (DTV) interactive standard itself, aiming to make it more suitable for the Chinese market. This paper presents a modular layer-oriented and extensible middleware solution compatible with the future standards. Furthermore this paper discusses the concept of hardware abstraction layer (HAL) that is the base of upper software. A resource management model based on HAL is also given, which serves to guide upper applications competing for limited resources in the set-top box such as an embedded platform
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ICME - An extensible digital television middleware architecture based on hardware abstraction layer
2004 IEEE International Conference on Multimedia and Expo (ICME) (IEEE Cat. No.04TH8763), 2004Co-Authors: Zhang Hong-guangAbstract:China is drafting the digital television (DTV) interactive standard itself, aiming to make it more suitable for the Chinese market. This paper presents a modular layer-oriented and extensible middleware solution compatible with the future standards. Furthermore this paper discusses the concept of hardware abstraction layer (HAL) that is the base of upper software. A resource management model based on HAL is also given, which serves to guide upper applications competing for limited resources in the set-top box such as an embedded platform
Nikos G. Tsagarakis - One of the best experts on this subject based on the ideXlab platform.
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IRC - Towards a Robot hardware abstraction layer (R-Hal) Leveraging the XBot Software Framework
2018 Second IEEE International Conference on Robotic Computing (IRC), 2020Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:In this paper we present a new Robot hardware abstraction layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practise the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware. Furthermore, it is shown that the implementation and integration of the R-HAL within the XBot framework does not generate additional computational overheads for the robot computational units.
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A mixed real-time robot hardware abstraction layer (R-HAL)
Encyclopedia with Semantic Computing and Robotic Intelligence, 2018Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:The rapid advances in robotics have recently led to the developments of a wide range of robotic platforms that exhibit significant differences at the hardware components level. Consequently, this poses a significant challenge to robot software developers since they have to know how every hardware device in the robot works to ensure their software’s compatibility when transferring/reusing their code on different robots. In this paper we present a new Robot hardware abstraction layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practice the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware.
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a mixed real time robot hardware abstraction layer r hal
Encyclopedia with Semantic Computing and Robotic Intelligence, 2018Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:The rapid advances in robotics have recently led to the developments of a wide range of robotic platforms that exhibit significant differences at the hardware components level. Consequently, this p...
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Towards a Robot hardware abstraction layer (R-Hal) Leveraging the XBot Software Framework
2018 Second IEEE International Conference on Robotic Computing (IRC), 2018Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:We present a new Robot hardware abstraction layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practise the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware. Furthermore, it is shown that the implementation and integration of the R-HAL within the XBot framework does not generate additional computational overheads for the robot computational units.
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towards a robot hardware abstraction layer r hal leveraging the xbot software framework
2018 Second IEEE International Conference on Robotic Computing (IRC), 2018Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:In this paper we present a new Robot hardware abstraction layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practise the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware. Furthermore, it is shown that the implementation and integration of the R-HAL within the XBot framework does not generate additional computational overheads for the robot computational units.
Kazuhiko Kato - One of the best experts on this subject based on the ideXlab platform.
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unified hardware abstraction layer with device masquerade
ACM Symposium on Applied Computing, 2018Co-Authors: Iori Yoneji, Takaaki Fukai, Takahiro Shinagawa, Kazuhiko KatoAbstract:Device drivers are a major concern for existing and new operating systems (OSs) in terms of the development cost and code quality. Unfortunately, the OS-dependent nature of device drivers makes their reuse or unification complicated because the execution environments of device drivers are tightly coupled with the hosting OS kernel. Previous studies of porting device drivers from major OSs suffer from various conflicts and engineering cost, and unmodified reuse of device drivers with virtual machines (VMs) incurs non-negligible overhead. In this paper, we present the design and implementation of a unified hardware abstraction layer that uses a thin hypervisor, on which an OS kernel runs with a single device driver for each device class, thereby reducing the development costs of device drivers for OSs that run on bare-metal machines. Our key technique is device masquerade; rather than virtualizing devices with fat software layers, a thin hypervisor converts physical devices into standardized abstract devices with minimum efforts. We exploit a de facto standard interface to hardware devices that allows clean separation of the abstraction layer implementation from OS kernels and easy deployment in practical use. To reduce virtualization overhead, the hypervisor supports only a single VM and allows pass-through access to already standardized devices such as interrupt controllers. The experimental results confirmed that the performance of our system was comparable to that on a bare-metal machine without any hypervisors.
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SAC - Unified hardware abstraction layer with device masquerade
Proceedings of the 33rd Annual ACM Symposium on Applied Computing - SAC '18, 2018Co-Authors: Iori Yoneji, Takaaki Fukai, Takahiro Shinagawa, Kazuhiko KatoAbstract:Device drivers are a major concern for existing and new operating systems (OSs) in terms of the development cost and code quality. Unfortunately, the OS-dependent nature of device drivers makes their reuse or unification complicated because the execution environments of device drivers are tightly coupled with the hosting OS kernel. Previous studies of porting device drivers from major OSs suffer from various conflicts and engineering cost, and unmodified reuse of device drivers with virtual machines (VMs) incurs non-negligible overhead. In this paper, we present the design and implementation of a unified hardware abstraction layer that uses a thin hypervisor, on which an OS kernel runs with a single device driver for each device class, thereby reducing the development costs of device drivers for OSs that run on bare-metal machines. Our key technique is device masquerade; rather than virtualizing devices with fat software layers, a thin hypervisor converts physical devices into standardized abstract devices with minimum efforts. We exploit a de facto standard interface to hardware devices that allows clean separation of the abstraction layer implementation from OS kernels and easy deployment in practical use. To reduce virtualization overhead, the hypervisor supports only a single VM and allows pass-through access to already standardized devices such as interrupt controllers. The experimental results confirmed that the performance of our system was comparable to that on a bare-metal machine without any hypervisors.
Giuseppe F. Rigano - One of the best experts on this subject based on the ideXlab platform.
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IRC - Towards a Robot hardware abstraction layer (R-Hal) Leveraging the XBot Software Framework
2018 Second IEEE International Conference on Robotic Computing (IRC), 2020Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:In this paper we present a new Robot hardware abstraction layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practise the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware. Furthermore, it is shown that the implementation and integration of the R-HAL within the XBot framework does not generate additional computational overheads for the robot computational units.
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A mixed real-time robot hardware abstraction layer (R-HAL)
Encyclopedia with Semantic Computing and Robotic Intelligence, 2018Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:The rapid advances in robotics have recently led to the developments of a wide range of robotic platforms that exhibit significant differences at the hardware components level. Consequently, this poses a significant challenge to robot software developers since they have to know how every hardware device in the robot works to ensure their software’s compatibility when transferring/reusing their code on different robots. In this paper we present a new Robot hardware abstraction layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practice the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware.
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a mixed real time robot hardware abstraction layer r hal
Encyclopedia with Semantic Computing and Robotic Intelligence, 2018Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:The rapid advances in robotics have recently led to the developments of a wide range of robotic platforms that exhibit significant differences at the hardware components level. Consequently, this p...
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Towards a Robot hardware abstraction layer (R-Hal) Leveraging the XBot Software Framework
2018 Second IEEE International Conference on Robotic Computing (IRC), 2018Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:We present a new Robot hardware abstraction layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practise the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware. Furthermore, it is shown that the implementation and integration of the R-HAL within the XBot framework does not generate additional computational overheads for the robot computational units.
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towards a robot hardware abstraction layer r hal leveraging the xbot software framework
2018 Second IEEE International Conference on Robotic Computing (IRC), 2018Co-Authors: Giuseppe F. Rigano, Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, Nikos G. TsagarakisAbstract:In this paper we present a new Robot hardware abstraction layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practise the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware. Furthermore, it is shown that the implementation and integration of the R-HAL within the XBot framework does not generate additional computational overheads for the robot computational units.
