diff --git a/stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.cpp b/stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.cpp
index 5b17c33..23f8b08 100644
--- a/stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.cpp
+++ b/stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.cpp
@@ -3,12 +3,12 @@
 #include <iostream>
 #include <cstring>
 #include <vector>
-#include <sys/mman.h>
 #include <boost/system/error_code.hpp>
 #include "openClCollatingAndMeshingEngine.h"
 #include "pcloudStimulusBuffer.h"
 #include "openClKernels.h"
 #include "frameAssemblyDesc.h"
+#include "ioUringAssemblyEngine.h"
 
 namespace smo {
 namespace stim_buff {
@@ -19,14 +19,13 @@ platform(nullptr),
 device(nullptr),
 context(nullptr),
 commandQueue(nullptr),
-program(nullptr),
-kernel(nullptr),
+slotCompactorProgram(nullptr), collateProgram(nullptr),
+slotCompactorKernel(nullptr), collateKernel(nullptr),
 isSetup(false),
 clAssemblyBuffer(nullptr),
 clCollationBuffer(nullptr),
 isRunning(false),
 currentKernelEvent(nullptr),
-memoryPinned(false),
 assemblyBufferPtr(nullptr),
 assemblyBufferSize(0),
 collationBufferPtr(nullptr),
@@ -90,8 +89,6 @@ bool OpenClCollatingAndMeshingEngine::setup()
 	// Declare variables early to avoid goto crossing initialization
 	struct iovec assemblyIov;
 	struct iovec collationIov;
-	const char* kernelSource;
-	size_t kernelSourceLen;
 
 	// Get StagingBuffer memory pointers from parent
 	assemblyIov = parent.assemblyBuffer.getClEngineIovec();
@@ -102,24 +99,6 @@ bool OpenClCollatingAndMeshingEngine::setup()
 	collationBufferPtr = collationIov.iov_base;
 	collationBufferSize = collationIov.iov_len;
 
-	// Pin memory pages using mlock()
-	if (mlock(assemblyBufferPtr, assemblyBufferSize) != 0)
-	{
-		std::cerr << __func__ << ": failed to pin assembly buffer memory: "
-			<< strerror(errno) << std::endl;
-		goto cleanup;
-	}
-
-	if (mlock(collationBufferPtr, collationBufferSize) != 0)
-	{
-		std::cerr << __func__ << ": failed to pin collation buffer memory: "
-			<< strerror(errno) << std::endl;
-		munlock(assemblyBufferPtr, assemblyBufferSize);
-		goto cleanup;
-	}
-
-	memoryPinned = true;
-
 	// Create OpenCL buffers using CL_MEM_USE_HOST_PTR for zero-copy
 	clAssemblyBuffer = clCreateBuffer(
 		context,
@@ -147,46 +126,9 @@ bool OpenClCollatingAndMeshingEngine::setup()
 		goto cleanup;
 	}
 
-	// Create program and kernel from external source
-	kernelSource = slotCompactorKernelStart;
-	kernelSourceLen = slotCompactorKernelNBytes;
-	program = clCreateProgramWithSource(
-		context, 1, &kernelSource, &kernelSourceLen, &err);
-
-	if (err != CL_SUCCESS || !program)
+	// Compile and prepare both kernels
+	if (!compileAndPrepareKernels())
 	{
-		std::cerr << __func__ << ": failed to create program: "
-			<< err << std::endl;
-		goto cleanup;
-	}
-
-	err = clBuildProgram(program, 1, &device, nullptr, nullptr, nullptr);
-	if (err != CL_SUCCESS)
-	{
-		std::cerr << __func__ << ": failed to build program: "
-			<< err << std::endl;
-
-		// Print build log if available
-		size_t logSize = 0;
-		clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG,
-			0, nullptr, &logSize);
-
-		if (logSize > 0)
-		{
-			std::vector<char> log(logSize);
-			clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG,
-				logSize, log.data(), nullptr);
-			std::cerr << "Build log: " << log.data() << std::endl;
-		}
-
-		goto cleanup;
-	}
-
-	kernel = clCreateKernel(program, "slotCompactor", &err);
-	if (err != CL_SUCCESS || !kernel)
-	{
-		std::cerr << __func__ << ": failed to create kernel: "
-			<< err << std::endl;
 		goto cleanup;
 	}
 
@@ -203,19 +145,6 @@ void OpenClCollatingAndMeshingEngine::finalize()
 	// Call stop() first
 	stop();
 
-	// Unpin memory pages if they were pinned
-	if (memoryPinned)
-	{
-		if (collationBufferPtr && collationBufferSize > 0) {
-			munlock(collationBufferPtr, collationBufferSize);
-		}
-		if (assemblyBufferPtr && assemblyBufferSize > 0) {
-			munlock(assemblyBufferPtr, assemblyBufferSize);
-		}
-
-		memoryPinned = false;
-	}
-
 	// Release OpenCL buffers in reverse order
 	if (clCollationBuffer)
 	{
@@ -228,18 +157,28 @@ void OpenClCollatingAndMeshingEngine::finalize()
 		clAssemblyBuffer = nullptr;
 	}
 
-	// Release kernel
-	if (kernel)
+	// Release kernels
+	if (slotCompactorKernel)
 	{
-		clReleaseKernel(kernel);
-		kernel = nullptr;
+		clReleaseKernel(slotCompactorKernel);
+		slotCompactorKernel = nullptr;
+	}
+	if (collateKernel)
+	{
+		clReleaseKernel(collateKernel);
+		collateKernel = nullptr;
 	}
 
-	// Release program
-	if (program)
+	// Release programs
+	if (slotCompactorProgram)
 	{
-		clReleaseProgram(program);
-		program = nullptr;
+		clReleaseProgram(slotCompactorProgram);
+		slotCompactorProgram = nullptr;
+	}
+	if (collateProgram)
+	{
+		clReleaseProgram(collateProgram);
+		collateProgram = nullptr;
 	}
 
 	// Release command queue
@@ -333,66 +272,24 @@ void OpenClCollatingAndMeshingEngine::start(
 		return;
 	}
 
-	// Extract parameters for slotCompactor kernel
-	uint32_t numSlots = static_cast<uint32_t>(frameDesc->numSlots);
-	uint32_t slotStride = static_cast<uint32_t>(assemblyBuff.slotStrideNBytes);
-	uint32_t slotSize = static_cast<uint32_t>(frameDesc->slotSizeBytes);
-	uint32_t firstSlotOffset = static_cast<uint32_t>(assemblyBuff.firstSlotOffsetNBytes);
-
-	// Set kernel arguments for slotCompactor
-	cl_int err;
-	err = clSetKernelArg(kernel, 0, sizeof(cl_mem), &clAssemblyBuffer);
-	if (err != CL_SUCCESS)
-	{
-		std::cerr << __func__ << ": failed to set kernel arg 0: " << err << std::endl;
+	// Set up kernel arguments for slotCompactor
+	if (!setupSlotCompactorsArgs(assemblyBuff, nSucceeded)) {
+		return;
+	}
+	// Set up kernel arguments for collateDgrams
+	if (!setupCollateDgramsArgs(assemblyBuff)) {
 		return;
 	}
 
-	err = clSetKernelArg(kernel, 1, sizeof(uint32_t), &numSlots);
-	if (err != CL_SUCCESS)
-	{
-		std::cerr << __func__ << ": failed to set kernel arg 1: " << err << std::endl;
-		return;
-	}
-
-	err = clSetKernelArg(kernel, 2, sizeof(uint32_t), &slotStride);
-	if (err != CL_SUCCESS)
-	{
-		std::cerr << __func__ << ": failed to set kernel arg 2: " << err << std::endl;
-		return;
-	}
-
-	err = clSetKernelArg(kernel, 3, sizeof(uint32_t), &slotSize);
-	if (err != CL_SUCCESS)
-	{
-		std::cerr << __func__ << ": failed to set kernel arg 3: " << err << std::endl;
-		return;
-	}
-
-	err = clSetKernelArg(kernel, 4, sizeof(uint32_t), &firstSlotOffset);
-	if (err != CL_SUCCESS)
-	{
-		std::cerr << __func__ << ": failed to set kernel arg 4: " << err << std::endl;
-		return;
-	}
-
-	uint32_t nSucceededUint = static_cast<uint32_t>(nSucceeded);
-	err = clSetKernelArg(kernel, 5, sizeof(uint32_t), &nSucceededUint);
-	if (err != CL_SUCCESS)
-	{
-		std::cerr << __func__ << ": failed to set kernel arg 5: " << err << std::endl;
-		return;
-	}
-
-	// Enqueue kernel execution (single work item for sequential processing)
+	// Enqueue slotCompactor kernel execution (single work item for sequential processing)
 	size_t globalWorkSize = 1;
-	err = clEnqueueNDRangeKernel(
-		commandQueue, kernel, 1, nullptr, &globalWorkSize, nullptr,
+	cl_int err = clEnqueueNDRangeKernel(
+		commandQueue, slotCompactorKernel, 1, nullptr, &globalWorkSize, nullptr,
 		0, nullptr, &currentKernelEvent);
 
 	if (err != CL_SUCCESS)
 	{
-		std::cerr << __func__ << ": failed to enqueue kernel: " << err << std::endl;
+		std::cerr << __func__ << ": failed to enqueue slotCompactor kernel: " << err << std::endl;
 		return;
 	}
 
@@ -420,6 +317,219 @@ void OpenClCollatingAndMeshingEngine::start(
 	// The callback will be invoked when the kernel completes
 }
 
+bool OpenClCollatingAndMeshingEngine::compileAndPrepareKernel(
+	const char* kernelSource, size_t kernelSourceLen,
+	const char* kernelName, cl_program& program, cl_kernel& kernel)
+{
+	cl_int err;
+
+	// Create program from source
+	program = clCreateProgramWithSource(
+		context, 1, &kernelSource, &kernelSourceLen, &err);
+
+	if (err != CL_SUCCESS || !program)
+	{
+		std::cerr << __func__ << ": failed to create " << kernelName
+			<< " program: " << err << std::endl;
+		return false;
+	}
+
+	// Build program
+	err = clBuildProgram(program, 1, &device, nullptr, nullptr, nullptr);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to build " << kernelName
+			<< " program: " << err << std::endl;
+
+		// Print build log if available
+		size_t logSize = 0;
+		clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG,
+			0, nullptr, &logSize);
+
+		if (logSize > 0)
+		{
+			std::vector<char> log(logSize);
+			clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG,
+				logSize, log.data(), nullptr);
+			std::cerr << kernelName << " build log: " << log.data() << std::endl;
+		}
+
+		return false;
+	}
+
+	// Create kernel
+	kernel = clCreateKernel(program, kernelName, &err);
+	if (err != CL_SUCCESS || !kernel)
+	{
+		std::cerr << __func__ << ": failed to create " << kernelName
+			<< " kernel: " << err << std::endl;
+		return false;
+	}
+
+	return true;
+}
+
+bool OpenClCollatingAndMeshingEngine::compileAndPrepareKernels()
+{
+	// Compile slotCompactor kernel
+	if (!compileAndPrepareKernel(
+			slotCompactorKernelStart, slotCompactorKernelNBytes,
+			"slotCompactor", slotCompactorProgram, slotCompactorKernel))
+	{
+		return false;
+	}
+
+	// Compile collateDgrams kernel
+	if (!compileAndPrepareKernel(
+			collateKernelStart, collateKernelNBytes,
+			"collate", collateProgram, collateKernel))
+	{
+		return false;
+	}
+
+	return true;
+}
+
+bool OpenClCollatingAndMeshingEngine::setupSlotCompactorsArgs(
+	StagingBuffer& assemblyBuff, uint32_t nSucceeded)
+{
+	// Get FrameAssemblyDesc from assembly buffer
+	std::shared_ptr<FrameAssemblyDesc> frameDesc =
+		static_cast<std::shared_ptr<FrameAssemblyDesc>>(assemblyBuff);
+	if (!frameDesc || frameDesc->slots.empty())
+	{
+		std::cerr << __func__ << ": invalid frame descriptor" << std::endl;
+		return false;
+	}
+
+	// Extract parameters for slotCompactor kernel
+	uint32_t numSlots = static_cast<uint32_t>(frameDesc->numSlots);
+	uint32_t slotStride = static_cast<uint32_t>(assemblyBuff.slotStrideNBytes);
+	uint32_t slotSize = static_cast<uint32_t>(frameDesc->slotSizeBytes);
+	uint32_t firstSlotOffset = static_cast<uint32_t>(assemblyBuff.firstSlotOffsetNBytes);
+	uint32_t nSucceededUint = static_cast<uint32_t>(nSucceeded);
+
+	// Set kernel arguments for slotCompactor
+	cl_int err;
+	err = clSetKernelArg(slotCompactorKernel, 0, sizeof(cl_mem), &clAssemblyBuffer);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 0: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(slotCompactorKernel, 1, sizeof(uint32_t), &numSlots);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 1: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(slotCompactorKernel, 2, sizeof(uint32_t), &slotStride);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 2: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(slotCompactorKernel, 3, sizeof(uint32_t), &slotSize);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 3: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(slotCompactorKernel, 4, sizeof(uint32_t), &firstSlotOffset);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 4: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(slotCompactorKernel, 5, sizeof(uint32_t), &nSucceededUint);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 5: " << err << std::endl;
+		return false;
+	}
+
+	return true;
+}
+
+bool OpenClCollatingAndMeshingEngine::setupCollateDgramsArgs(
+	StagingBuffer& assemblyBuff)
+{
+	// Get FrameAssemblyDesc from assembly buffer
+	std::shared_ptr<FrameAssemblyDesc> frameDesc =
+		static_cast<std::shared_ptr<FrameAssemblyDesc>>(assemblyBuff);
+	if (!frameDesc || frameDesc->slots.empty())
+	{
+		std::cerr << __func__ << ": invalid frame descriptor" << std::endl;
+		return false;
+	}
+
+	// Extract parameters for collateDgrams kernel
+	uint32_t slotStride = static_cast<uint32_t>(assemblyBuff.slotStrideNBytes);
+	uint32_t firstSlotOffset = static_cast<uint32_t>(assemblyBuff.firstSlotOffsetNBytes);
+
+	// Calculate nPointsPerSlot from device return mode
+	if (!parent.device)
+	{
+		std::cerr << __func__ << ": device not available" << std::endl;
+		return false;
+	}
+	int returnMode = static_cast<int>(parent.device->currentReturnMode);
+	uint32_t nPointsPerSlot = static_cast<uint32_t>(
+		IoUringAssemblyEngine::computePointsPerDgram(returnMode));
+	uint32_t nDgramsPerFrame = static_cast<uint32_t>(frameDesc->numSlots);
+
+	// Set kernel arguments for collateDgrams
+	cl_int err;
+	err = clSetKernelArg(collateKernel, 0, sizeof(cl_mem), &clAssemblyBuffer);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 0: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(collateKernel, 1, sizeof(cl_mem), &clCollationBuffer);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 1: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(collateKernel, 2, sizeof(uint32_t), &slotStride);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 2: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(collateKernel, 3, sizeof(uint32_t), &firstSlotOffset);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 3: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(collateKernel, 4, sizeof(uint32_t), &nPointsPerSlot);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 4: " << err << std::endl;
+		return false;
+	}
+
+	err = clSetKernelArg(collateKernel, 5, sizeof(uint32_t), &nDgramsPerFrame);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 5: " << err << std::endl;
+		return false;
+	}
+
+	return true;
+}
+
 void OpenClCollatingAndMeshingEngine::stop()
 {
 	if (!isRunning) {
diff --git a/stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.h b/stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.h
index 16ac1e0..c06cdce 100644
--- a/stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.h
+++ b/stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.h
@@ -51,8 +51,10 @@ private:
 	cl_device_id device;
 	cl_context context;
 	cl_command_queue commandQueue;
-	cl_program program;
-	cl_kernel kernel;
+	cl_program slotCompactorProgram;
+	cl_program collateProgram;
+	cl_kernel slotCompactorKernel;
+	cl_kernel collateKernel;
 	bool isSetup;
 
 	// OpenCL buffers
@@ -62,9 +64,8 @@ private:
 	// State tracking
 	bool isRunning;
 	cl_event currentKernelEvent;
-	bool memoryPinned;
 
-	// Memory pinning tracking
+	// Memory tracking
 	void* assemblyBufferPtr;
 	size_t assemblyBufferSize;
 	void* collationBufferPtr;
@@ -76,6 +77,15 @@ private:
 	// Static callback for OpenCL event
 	static void CL_CALLBACK kernelEventCallback(
 		cl_event event, cl_int event_command_exec_status, void* user_data);
+
+	// Private helper methods
+	bool compileAndPrepareKernel(
+		const char* kernelSource, size_t kernelSourceLen,
+		const char* kernelName, cl_program& program, cl_kernel& kernel);
+	bool compileAndPrepareKernels();
+	bool setupSlotCompactorsArgs(
+		StagingBuffer& assemblyBuff, uint32_t nSucceeded);
+	bool setupCollateDgramsArgs(StagingBuffer& assemblyBuff);
 };
 
 } // namespace stim_buff