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Computer Engineering Group
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Team

Christian Lienen, M.Sc.

Contact
Publications
Christian Lienen, M.Sc.

Computer Engineering

Member - Research Associate

VCard

Phone:
+49 5251 60-4447
E-mail:
christian.lienen(at)upb(dot)de
Office:
O3.116
Web:
Homepage
Visitor:
Pohlweg 51
33098 Paderborn

Open list in Research Information System

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.


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, Master's thesis, Universität Paderborn, 2019

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Open list in Research Information System

Awards

Publications


Open list in Research Information System

Conferences

Task Mapping for Hardware-Accelerated Robotics Applications using ReconROS

C. Lienen, M. Platzner, 2022

Citation (Bibtex)

@inproceedings{Lienen_Platzner, title={Task Mapping for Hardware-Accelerated Robotics Applications using ReconROS}, author={Lienen, Christian and Platzner, Marco} }


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

Citation (Bibtex)
DOI

@inproceedings{Lienen_Platzner, title={Event-Driven Programming of FPGA-accelerated ROS 2 Robotics Applications}, DOI={10.1109/DSD57027.2022.00088}, booktitle={2022 25th Euromicro Conference on Digital System Design (DSD)}, author={Lienen, Christian and Platzner, Marco} }


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

Citation (Bibtex)

@inproceedings{Lienen_Platzner_Rinner_2020, title={ReconROS: Flexible Hardware Acceleration for ROS2 Applications}, booktitle={Proceedings of the 2020 International Conference on Field-Programmable Technology (FPT)}, author={Lienen, Christian and Platzner, Marco and Rinner, Bernhard}, year={2020} }


Journal Articles

Design of Distributed Reconfigurable Robotics Systems with ReconROS

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

Abstract
Citation (Bibtex)
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.

@article{Lienen_Platzner_2021, title={Design of Distributed Reconfigurable Robotics Systems with ReconROS}, DOI={10.1145/3494571}, journal={ACM Transactions on Reconfigurable Technology and Systems}, author={Lienen, Christian and Platzner, Marco}, year={2021}, pages={1–20} }


Master's Theses

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

C. Lienen, Master's thesis, Universität Paderborn, 2019

Citation (Bibtex)
Download

@book{Lienen, title={Implementing a Real-time System on a Platform FPGA operated with ReconOS}, publisher={Universität Paderborn}, author={Lienen, Christian} }


Preprint

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

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

Citation (Bibtex)

@article{Lienen_Middeke_Platzner_2023, title={fpgaDDS: An Intra-FPGA Data Distribution Service for ROS 2 Robotics Applications}, author={Lienen, Christian and Middeke, Sorel Horst and Platzner, Marco}, year={2023} }


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

C. Lienen, M. Platzner, 2022

Citation (Bibtex)

@article{Lienen_Platzner_2022, title={ReconROS Executor: Event-Driven Programming of FPGA-accelerated ROS 2 Applications}, author={Lienen, Christian and Platzner, Marco}, year={2022} }


Design of Distributed Reconfigurable Robotics Systems with ReconROS

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

Abstract
Citation (Bibtex)
Download

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.

@article{Lienen_Platzner_2021, title={Design of Distributed Reconfigurable Robotics Systems with ReconROS}, journal={arXiv:2107.07208}, author={Lienen, Christian and Platzner, Marco}, year={2021} }


Open list in Research Information System

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