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real-time smart stereo camera based on FPGA-SoC

Real-time smart stereo camera based on FPGA-SoC

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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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the Design and Implementation of an Efficient Data Consistency Mechanism for In-Memory File systems 13

The Design and Implementation of an Efficient Data Consisten...

引用

13th international conference on embedded Software and systems

作者： Chen, Xianzhang Sha, Edwin H. -M. Sun, Zhilong Zhuge, Qingfeng Jiang, Weiwen Chongqing Univ Coll Comp Sci Chongqing Peoples R China

ISBN: (纸本)9781509037278

the Non-Volatile Memory (NVM) based in-memory file systems show great potential in supporting real-time data processing for their extremely high performance. the reliability of file systems is ensured by data consistency mechanisms. the existing data consistency mechanisms, however, largely degrades the performance of the in-memory file system without fully exploiting the characteristics of NVM. In this paper, we propose an efficient data consistency mechanism, Amphibian Update Strategy (AUS), taking advantages of the virtual address space of NVM. In the proposed AUS technique, the backup spaces of file data are organized and accessed by the contiguous virtual address space of the kernel. We present the Direct-Copy and Exchanging approaches to efficiently update the primary file data for the requests with different sizes. We implemented different data consistency mechanisms in a real in-memory file system, SIMFS. Extensive experiments are conducted. the experimental results show that AUS achieves 2.4 times, 1.8 times, and 1.7 times faster than the legacy journaling, short-circuit shadow paging, and the state-of-the-art technique adaptive logging, respectively.

关键词： Non-volatile memory file systems data consistency performance copy-on-write

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mePaaS: Mobile-embedded Platform as a Service for Distributing Fog computing to Edge Nodes 17

mePaaS: Mobile-Embedded Platform as a Service for Distributi...

引用

17th international conference on Parallel and Distributed computing, applications and Technologies (PDCAT)

作者： Liyanage, Mohan Chang, Chii Srirama, Satish Narayana Univ Tartu Inst Comp Sci Tartu Estonia

ISBN: (纸本)9781509050819

the distant data centre-centric Internet of things systems face the latency issue especially in the real-time-based applications. Recently, Fog computing models have been introduced to overcome the latency issue by utilising the proximity based computational resources. However, the increasing users of Fog computing servers will cause bottleneck issues and consequently the latency issue arises again. this paper introduces the utilisation of Mist computing (Mist) model, which exploits the computational and networking resources from the devices at the very edge of IoT networks. the proposed service-oriented mobile-embedded Platform as a Service framework enables the edge IoT devices to provide a platform that allows requesters to deploy and execute their own program models. the framework supports resource-aware autonomous service configuration that can manage the availability of the functions provided by the Mist node based on the dynamically changing hardware resource availability. Additionally, the framework also supports task distribution among a group of Mist nodes. the prototype has been tested and performance evaluated on the real world devices.

关键词： Transportation Supply and demand Programming Linear programming Approximation algorithms Resource management

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A 2-Layer Component-Based Architecture for Heterogeneous CPU-GPU embedded systems 13th

引用

13th international conference on Information Technology - New Generations (ITNG)

作者： Campeanu, Gabriel Saadatmand, Mehrdad Malardalen Univ Malardalen Real Time Res Ctr MRTC Vasteras Sweden

ISBN: (纸本)9783319324678;9783319324661

Traditional embedded systems are evolving into heterogeneous systems in order to address new and more demanding software requirements. Modern embedded systems are constructed by combining different computation units, such as traditional CPUs with Graphics Processing Units (GPUs). Adding GPUs to conventional CPU-based embedded systems enhances the computation power but also increases the complexity in developing software applications. A method that can help to tackle and address the software complexity issue of heterogeneous systems is component-based development. the allocation of the software application onto the appropriate computation node is greatly influenced by the system information load. the allocation process is increased in difficulty when we use, instead of common CPU-based systems, complex CPU-GPU systems. this paper presents a 2-layer component-based architecture for heterogeneous embedded systems, which has the purpose to ease the software-to-hardware allocation process. the solution abstracts the CPU-GPU detailed component-based design into single software components in order to decrease the amount of information delivered to the allocator. the last part of the paper describes the activities of the allocation process while using our proposed solution, when applied on a real system demonstrator.

关键词： Graphics processing unit

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Design and Implementation of a Fall Detection System on a Zynq board 13

Design and Implementation of a Fall Detection System on a Zy...

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13th ieee/ACS international conference on Computer systems and applications (AICCSA)

作者： Abdelhedi, Sahar Baklouti, Mouna Bourguiba, Riad Mouine, Jaouhar Univ Turns El Manar Ecole Natl Ingenieurs Tunis Lab Anal Concept & Commande Syst LR11ES20 Tunis 1002 Tunisia TELNET Innovat Labs TELNET Grp Parc Technol El Ghazala Tunis Tunisia Prince Sattam Bin Abdulaziz Univ Al Kharj Dept Elect Engn Riyadh Saudi Arabia

ISBN: (纸本)9781509043200

Population aging has become a worldwide problem. Fall accidents are considered as one of the major health risks, especially for elderly people. Fall detection devices are the key to distinguish a fall from daily activities, automatically alert when a fall occurred and significantly decrease the time of rescue when the monitored patient falls down. the proposed prototype is composed of a tri-axial accelerometer communicating to a Zybo board through Inter-Integrated Circuit ((IC)-C-2) interface. A threshold-based algorithm has been implemented based on peaks acceleration detection and inactivity posture recognition after falling and executed as a standalone application on a Zynq Z-7010 Field Programmable Gate Array (FPGA). this first implementation using Vivado and Xilinx SDK showed prominent results in terms of power consumption and time of execution.

关键词： e-health embedded systems fall detection FPGA tri-axial accelerometer

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Minaturized Safety PLC on a Chip for Industrial Control applications 13th

引用

13th international conference on Distributed computing and Artificial Intelligence (DCAI)

作者： Hayek, Ali Boercsoek, Josef Univ Kassel Dept Elect Engn & Comp Sci Chair Comp Architecture & Syst Programming Kassel Germany

ISBN: (纸本)9783319401621;9783319401614

In this paper a safety programmable logic controller as a single chip solution is presented. the presented control system is based on a certified application specific integrated circuit for safety-critical applications according to the safety standard IEC 61508 second Edition, meeting the safety integrity level SIL3. Furthermore, SIL3 compliant operating system and middleware are also briefly presented in this paper. A further main focus of this paper is led on the graphical programming in application development is provided by graphical integrated development environment for configuring and programming the safety controller. the presented safety solution is freely configurable and programmable using graphical interface and achieves flexible, compact, low-cost and yet advanced process control and automation for safety related applications.

关键词： Safety systems Control systems real-time systems systems-on-hip

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An Organic computing Perspective on Self-Improving System Interweaving at Runtime 13

An Organic Computing Perspective on Self-Improving System In...

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13th ieee international conference on Autonomic computing (ICAC)

作者： Tomforde, Sven Rudolph, Stefan Bellman, Kirstie Wuertz, Rolf P. Univ Kassel Intelligent Embedded Syst Grp Kassel Germany Univ Augsburg Organ Comp Grp Augsburg Germany Topcy House Consulting Thousand Oaks CA USA Ruhr Univ Bochum Inst Neural Computat Bochum Germany

ISBN: (纸本)9781509016532

the complexity of today's technical systems evolves over long periods of time. For example, systems may join or split, while subsystems may change their behaviour. We often observe that subsystems not intended to interact get coupled and influence each other. Apart from ICT-based coupling, as via the Internet, we also observe both direct and indirect interaction via the physical and social world as systems explicitly react to human behaviour and environmental conditions - and influence both through their actions. thus, any two (sub-) systems coming into contact with the same part of the environment or group of users can influence each other in ways that can hardly be anticipated at design-time. Undesired effects may be the consequence of unintended, implicit interaction of elements that were not fully predictable or relevant beforehand. the existence of such effects is not a design decision, they are already present in the richness of our complex systems and components and their number is increasing. In previous work, we discussed some of the problems in continually integrating these complex systems, and in this paper, we dig deeper into both the challenges entailed in ' interwoven systems' and discuss some of the necessary aspects to developing architectures that will address these challenges.

关键词： Interwoven systems Organic computing Self-Improvement System Integration

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APPLICATION OF FORMAL MEthODS FOR VALIDATION AND VERIFICATION OF embedded SYSTEM COMMUNICATION PROTOCOL 13

APPLICATION OF FORMAL METHODS FOR VALIDATION AND VERIFICATIO...

引用

13th international Bhurban conference on Applied Sciences and Technology (IBCAST)

作者： Saghar, M. Asim Minhas Kashif Farooq, Tariq CESAT Islamabad Pakistan

ISBN: (纸本)9781467391276

there are plethora of control based embedded systems installed in domestic electronic systems. the correct working of these embedded systems is important for successful functionality of the overall system. Most of these embedded system communicate using some communication protocol. thus the protocol must be error free for successful working of overall system. this paper explains a scenario in which a communication problem occurred between two embedded components. By taking the problem in to account, the paper provides formal verification techniques to solve this communication issue. Buffers are used to read and send data for inter components communication. In some situations, when data is read from the buffers without flushing them, usually junk data is induced along with information( packets) which causes the system to be in indeterminate state. this situation might result to be a complete system failure for such critical real time systems. this paper claims that such communication problems can be easily detected by developing formal models of the communication protocol and applying formal verification tests to confirm a certain property holds or not. In case of a failure, the model checker automatically generates a trace explaining how and why the property has failed. We later confirmed our results by manually generating the scenario generated by model checker in actual code. this has been an efficient bug hunting technique and we aim to test more communication protocols in future using this technique using formal methods which is a very powerful technique for validation and verification of software system problems.

关键词： Formal Verification Software Quality Assurance Software Testing

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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...

引用

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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Data Placement Strategy for Massive Data applications based on FCA Approach 13

Data Placement Strategy for Massive Data Applications based ...

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13th ieee/ACS international conference on Computer systems and applications (AICCSA)

作者： Brahmi, Zaki Mili, Sahar Derouiche, Rihab Sousse Univ Higher Inst Comp Sci & Commun Tech Hammam Sousse Sousse Tunisia Manouba Univ RIADI Lab Manouba Tunisia Sousse Univ Natl Sch Engn Sousse Sousse Tunisia

ISBN: (纸本)9781509043200

Massive data applications such as E-science applications are characterized by complex treatments on large amounts of data which need to be stored in distributed data centers. In fact, when one task needs several datasets from different data centers, moving these data may cost a lot of time and cause energy's high consumption. Moreover, when the number of the data centers involved in the execution of tasks is high, the total data movement and the execution time increase dramatically and become a bottleneck, since the data centers have a limited bandwidth. thus, we need a good data placement strategy to minimise the data movement between data centers and reduce the energy consumed. Indeed, many researches are concerned with data placement strategy that distributes data in ways that are advantageous for application execution. In this paper, our data placement strategy aims at grouping the maximum of data and of tasks in a minimal number of data centers. It is based on the Formal Concept Analysis approach (FCA) because its notion of a concept respects our idea since it faithfully represents a group of tasks and data that are required for their execution. It is based on four steps: 1) Hierarchical organization of tasks using Formal Concepts Analysis approach, 2) Selection of candidate concepts, 3) Assigning data in the appropriate data centers and 4) Data replication. Simulations show that our strategy can effectively reduce the data movement and the average query spans compared to the genetic approach.

关键词： data placement massive data applications cloud computing concept FCA replication

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