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IEEE-RAS international conference on Humanoid Robots

作者： Soenke Michalik Soeren Michalik Jamin Naghmouchi Mladen Berekovic TU Braunschweig Braunschweig Germany

ISBN: (纸本)9781538646793

Stereo image processing is one of the most demanding tasks in the field of 3D computer vision and robot vision requiring high-performance computing capabilities within embedded systems. real-time constraints for autonomous vehicles such as humanoid robots, lead to hardware acceleration approaches for high resolution stereo imaging in human-like vision systems, where commonly FPGA device are employed to handle very high sensor data rates. this work presents a realtime smart stereo camera system implementation resembling the full stereo processing pipeline in a single FPGA device. We introduce the novel memory optimized stereo processing algorithm ”Sparse Retina Census Correlation” (SRCC) that embodies a combination of two well established window based stereo matching approaches. We have leveraged a Sum of Absolute Difference (SAD) of Sobel-filtered images and a Sum of Hamming Distance (SHD) using a modified Retina based Census Transform for increased robustness to lighting variations and for high accuracy. A color rectification module has been implemented to cope with the high frame rate of the stereo pipelining calculating image transformations and rectified pixel coordinates in real-time using parameters for camera intrinsic, image rotation, image distortion and image projection. In addition multiple post-processing algorithms like texture filtering, uniqueness filtering, speckle removal and disparity to depth conversion have been implemented to further enhance the output results. the presented smart camera solution has demonstrated real-time stereo processing of 1280×720 pixel depth images with 256 disparities on a Zynq XC7Z030 FPGA device at 60fps. Due to the universal USB3.0 UVC interface and the onboard depth calculation it is a replacement for RGBD 3D-Sensors with improved image quality and outdoor performance. the camera can easily be used in conjunction with ROS-enabled robots and in automotive or industrial applications.

关键词： Field programmable gate arrays Cameras Robot sensing systems Correlation Transforms real-time systems

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Sliding-Window Aggregation Algorithms: Tutorial 17

Sliding-Window Aggregation Algorithms: Tutorial

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Proceedings of the 11th ACM international conference on Distributed and Event-based systems

作者： Martin Hirzel Scott Schneider Kanat Tangwongsan IBM Research Mahidol University International College

ISBN: (纸本)9781450350655

Stream processing is important for analyzing continuous streams of data in real time. Sliding-window aggregation is both needed for many streaming applications and surprisingly hard to do efficiently. Picking the wrong aggregation algorithm causes poor performance, and knowledge of the right algorithms and when to use them is scarce. this paper was written to accompany a tutorial, but can be read as a stand-alone survey that aims to better educate the community about fast sliding-window aggregation algorithms for a variety of common aggregation operations and window types.

关键词： Survey incremental algorithms aggregation windows

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Hardware locks for a real-time Java chip multiprocessor

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CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE 2017年第6期29卷

作者： Strom, Torur Biskopsto Puffitsch, Wolfgang Schoeberl, Martin Tech Univ Denmark Dept Appl Math & Comp Sci DK-2800 Lyngby Denmark

A software locking mechanism commonly protects shared resources for multithreaded applications. this mechanism can, especially in chip-multiprocessor systems, result in a large synchronization overhead. For real-time systems in particular, this overhead increases the worst-case execution time and may void a task set's schedulability. this paper presents 2 hardware locking mechanisms to reduce the worst-case time required to acquire and release synchronization locks. these solutions are implemented for the chip-multiprocessor version of the Java Optimized Processor. the 2 hardware locking mechanisms are compared with a software locking solution as well as the original locking system of the processor. the hardware cost and performance are evaluated for all presented locking mechanisms. the performance of the better-performing hardware locks is comparable with that of the original single global lock when contending for the same lock. When several noncontending locks are used, the hardware locks enable true concurrency for critical sections. Benchmarks show that using the hardware locks yields performance ranging from no worse than the original locks to more than twice their best performance. this improvement can allow a larger number of real-time tasks to be reliably scheduled on a multiprocessor real-time platform. Copyright (C) 2016 John Wiley & Sons, Ltd.

关键词： chip multiprocessor hardware locks real-time Java real-time systems

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Camera Pose Estimation Suitable for Smart Cameras 2017

Camera Pose Estimation Suitable for Smart Cameras

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Proceedings of the 11th international conference on Distributed Smart Cameras

作者： Abiel Aguilar-González Miguel Arias-Estrada François Berry Instituto Nacional de Astrofíosica Óptica y Electrónica (INAOE) Tonantzintla Mexico and Université Clermont Auvergne (UCA) Institut Pascal Clermont-Ferrand France Instituto Nacional de Astrofíosica Óptica y Electrónica (INAOE) Tonantzintla Mexico Université Clermont Auvergne (UCA) Institut Pascal Clermont-Ferrand France

ISBN: (纸本)9781450354875

Camera pose estimation across video sequences is an important issue under several computer vision applications. In previous work, the most popular approach consists on optimization techniques applied over 2D/3D point correspondences for two consecutive frames from a video sequence. Unfortunately, these optimization techniques are iterative and depend on nonlinear optimizations applied over some geometric constraint. For real-time embedded applications, another approach, more efficient in terms of computational size and cost, could be a linear or closed-form solution for the camera pose estimation problem. In this work, we introduce a new approach for camera pose estimation, this approach uses 2D visual features displacements as linear/dependent parameters for the camera pose estimation so, camera pose can be estimated without iterative behavior and without geometric constraints. As result, the proposed algorithm could be implemented inside a small FPGA device, suitable for smart cameras. Preliminary results are encourageous and show the viability of the proposed approach.

关键词： embedded systems FPGA Camera pose

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Dynamic Load Balancing Techniques for Distributed Complex Event Processing systems 1

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16th IFIP WG 6.1 international conference on Distributed applications and Interoperable systems (DAIS) held as part of the 11th international Federated conference on Distributed computing Techniques (DisCoTec)

作者： Zacheilas, Nikos Zygouras, Nikolas Panagiotou, Nikolaos Kalogeraki, Vana Gunopulos, Dimitrios Athens Univ Econ & Business Athens Greece Univ Athens Athens Greece

ISBN: (数字)9783319395777

ISBN: (纸本)9783319395777;9783319395760

Applying real-time, cost-effective Complex Event processing (CEP) in the cloud has been an important goal in recent years. Distributed Stream Processing systems (DSPS) have been widely adopted by major computing companies such as Facebook and Twitter for performing scalable event processing in streaming data. However, dynamically balancing the load of the DSPS' components can be particularly challenging due to the high volume of data, the components' state management needs, and the low latency processing requirements. systems should be able to cope with these challenges and adapt to dynamic and unpredictable load changes in real-time. Our approach makes the following contributions: (i) we formulate the load balancing problem in distributed CEP systems as an instance of the job-shop scheduling problem, and (ii) we present a novel framework that dynamically balances the load of CEP engines in real-time and adapts to sudden changes in the volume of streaming data by exploiting two balancing policies. Our detailed experimental evaluation using data from the Twitter social network indicates the benefits of our approach in the system's throughput.

关键词： Cost effectiveness

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FORK: fine grained occupancy estimatoR using kinect on ARM embedded platforms 17

FORK: fine grained occupancy estimatoR using kinect on ARM e...

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Proceedings of the 4th ACM international conference on systems for Energy-Efficient Built Environments

作者： Sirajum Munir Le Tran Jonathan Francis Charles Shelton Ripudaman Singh Arora Craig Hesling Matias Quintana Anand Krishnan Prakash Anthony Rowe Mario Berges Bosch Research and Technology Center Pittsburgh PA University of Michigan Carnegie Mellon University Pittsburgh PA

ISBN: (纸本)9781450355445

Occupancy estimation is very useful for a wide range of smart building applications including energy efficiency, safety, and security. In this demonstration, we present a novel solution called FORK, which uses a Kinect depth sensor for estimating occupancy in real-time. Unlike other camera-based solutions, FORK is much less privacy invasive (even if the sensor is compromised) and it does not require a powerful machine like a Microsoft XBOX or an Intel® Core™ i7 processor to process the depth data. Our system performs the entire depth data processing on a cheaper and lower-power ARM processor, in real-time. In order to do that, FORK uses a novel lightweight human model by leveraging anthropometric properties of human bodies for detecting individuals. We will show how FORK detects, tracks, and counts occupants accurately in real-time.

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Advances in Self-Organizing Maps and Learning Vector Quantization 1st ed. 2016

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丛书名： Advances in Intelligent systems and computing

2016年

作者： Erzsébet Merényi Michael J. Mendenhall Patrick O'Driscoll

ISBN: (数字)9783319285184

ISBN: (纸本)9783319285177

this book contains the articles from the international conference 11th Workshop on Self-Organizing Maps 2016 (WSOM 2016), held at Rice University in Houston, Texas, 6-8 January 2016. WSOM is a biennial international conference series starting with WSOM'97 in Helsinki, Finland, under the guidanceand direction of Professor Tuevo Kohonen (Emeritus Professor, Academy of Finland). WSOM brings together the state-of-the-art theory and applicationsin Competitive Learning Neural Networks: SOMs, LVQs and related paradigmsof unsupervised and supervised vector quantization. the current proceedings present the expert body of knowledge of 93 authors from15 countries in 31 peer reviewed contributions. It includes papers and abstractsfrom the WSOM 2016 invited speakers representing leading researchers in thetheory and real-world applications of Self-Organizing Maps and Learning Vector Quantization: Professor Marie Cottrell (Universite Paris 1 Pantheon Sorbonne, France), Professor Pablo Estevez (University of Chile and Millennium Instituteof Astrophysics, Chile), and Professor Risto Miikkulainen (University of Texasat Austin, USA). the book comprises a diverse set of theoretical works on Self-Organizing Maps, Neural Gas, Learning Vector Quantization and related topics,and an excellent variety of applications to data visualization, clustering, classification, language processing, robotic control, planning, and to the analysis ofastronomical data, brain images, clinical data, time series, and agricultural data.

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A New MARTE Extension to Address Adaptation Mechanisms in Scheduling View 11th

A New MARTE Extension to Address Adaptation Mechanisms in Sc...

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11th international conference on Evaluation of Novel Software Approaches to Software Engineering

作者： Naija, Mohamed Ben Ahmed, Samir INSAT Lab Comp Ind Syst Tunis Tunisia

ISBN: (纸本)9783319563909;9783319563893

the modeling of real-time embedded systems (RTES) is one of the biggest challenges facing designers of such systems. these systems are considered high-assurance since errors during execution could result in injury, loss of life, environmental impact, and financial loss. the addition of adaptability to RTES further hardens and delays their modeling and validating especially with the current lack of design models and tools for adaptive RTES. the profile for Modeling and Analysis of real-time and embedded systems (MARTE) defines a framework for annotating non-functional properties of embedded systems. In particular, the SAM (Schedulability Analysis Model) sub-profile offers stereotypes for annotating UML models with the needed information which will be extracted to fulfil a scheduling phase. However, SAM does not allow designers to specify data to be used in the context of adaptive systems development. It is in this context that we propose an extension for the MARTE profile, and especially the sub-profile Schedulability Analysis Modeling, to include adaptation mechanisms in scheduling view.

关键词： Adaptability real-time & embedded systems MDE MARTE Scheduling analysis

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Smart parking systems: A Survey 11

Smart parking Systems: A Survey

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11th international conference on Intelligent systems - theories and applications (SITA)

作者： Hassoune, Khaoula Dachry, Wafaa Moutaouakkil, Fouad Medromi, Hicham Hassan II Univ ENSEM Syst Architecture Casablanca Morocco

ISBN: (纸本)9781509057818

Not finding a parking space for you sometimes is indeed a critical issue. the number of vehicles is also increasing daily adding to the parking vows at public places. Cities noticed that their drivers had real problems to find a parking space easily especially during peak hours, the difficulty roots from not knowing where the parking spaces are available at the given time. Even if this is known, many vehicles may pursue a small number of parking spaces which in turn leads to traffic congestion. the traffic on roads and parking space has been an area of concern in majority of cities. So, parking monitoring is an important solution. To avoid these problems, recently many new technologies have been developed that help in solving the parking problems to a great extent. Firstly, this paper gives an overview about the concept of smart parking system, their categories and different functionalities. then we present the latest developments in parking infrastructures. We describe the technologies around parking availability monitoring, parking reservation and dynamic pricing and see how they are utilized in different settings. In addition, a theoretical comparison is presented to show advantages and drawbacks of each different smart parking system to discuss results and open directions for future research.

关键词： Smart parking systems sensors Smart parking Technologies Smart parking services Internet of things (IOT) Multi-agent systems Expert systems

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Proceedings - 19th IEEE international conference on Computational Science and Engineering, 14th IEEE international conference on embedded and Ubiquitous computing and 15th international Symposium on Distributed computing and applications to Business, Engineering and Science, CSE-EUC-DCABES 2016

Proceedings - 19th IEEE International Conference on Computat...

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19th IEEE international conference on Computational Science and Engineering, 14th IEEE international conference on embedded and Ubiquitous computing and 15th international Symposium on Distributed computing and applications to Business, Engineering and Science, CSE-EUC-DCABES 2016

ISBN: (纸本)9781509035939

the proceedings contain 118 papers. the topics discussed include: MIC: enabling efficient concurrent use of multiple network interfaces on mobile systems;improving always-on gesture recognition power efficiency for android devices using sensor hubs;request-size aware flash translation layer based on page-level mapping;ruleset minimization in multi-tenant smart buildings;optimal multiprocessor real-time scheduling based on RUN for practical imprecise computation with harmonic periodic task sets;DockerCap: a software-level power capping orchestrator for docker containers;a partitional approach for genomic-data clustering combined with K-means algorithm;and a multi-sensor process for in-situ monitoring of water pollution in rivers or lakes for high-resolution quantitative and qualitative water quality data.

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