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Client-server-based mobile robot control

IEEE-ASME TRANSACTIONS ON MECHATRONICS 1998年第2期3卷 82-90页

作者： Kubitz, O Berger, MO Stenzel, R Rhein Westfal TH Aachen D-52056 Aachen Germany

A control architecture for all autonomous mobile robot usually consists of two components: 1) intelligent control software and 2) an operating system for resource access. From the poind of view of a computer scientist, it is desirable to achieve a certain level abstraction from the resource (be it sensor or effector). Here, this is achieved by introducing a client-server framework for realizing abstract resource access and intelligent control, Hardware details are Ridden in a middleware layer, which is inserted in between operating system and applications. In this paper, we will present the most important features of our client-server approach. The servers decouple hardware and software dependencies, Communication is realized through the use of classes, offering a wide variety of client-server interaction, Event-driven servers and clients lead to quick responses in dynamic environments, Our approach gives reusability, portability, testability. and maintainability through data abstraction, It was successfully applied in our experimental platform AWS.

关键词： behavior-based systems client-server systems central architectures distributed control intelligent control mechatronics mobile robots multisensor systems real-time systems robot programming

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Proceedings of the 1998 24th Annual conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)

Proceedings of the 1998 24th Annual Conference of the IEEE I...

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Proceedings of the 1998 24th Annual conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)

The proceedings contains 126 papers from the 1998 IEEE 24th Annual conference of the IEEE Industrial Electronics. Topics discussed include: advanced shop floor systems;man-machine interfaces;motor fault detection and diagnosis;electric drives;object recognition for industrial applications;sensor integration for flexible manufacturing;virtual prototyping;mobile robot applications;process control and automation;intelligent mechatronics;microcooling systems;intelligent control applications;contactless measurement;robot control and navigation;and medical and rehabilitation robotics.

关键词： Industrial electronics

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Joint-FACET: The Canada-Netherlands initiative to study multi-sensor data fusion systems

Joint-FACET: The Canada-Netherlands initiative to study mult...

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conference on Signal and Data Processing of Small Targets

作者： Bosse, E Theil, A Roy, J Huizing, A van Aartsen, S Def Res Estab Valcartier Quebec City PQ G3J 1X5 Canada TNO Phys & Elect Lab NL-2509 JG The Hague Netherlands

ISBN: (纸本)0819428221

This paper presents the progress of a collaborative effort between Canada and The Netherlands in analysing multi-sensor data fusion systems, e.g. for potential application to their respective frigates. In view of the overlapping interest in studying and comparing applicability and performance of advanced state-of-the-art Multi-sensor Data Fusion (MSDF) techniques, the two research establishments involved have decided to join their efforts in the development of MSDF testbeds. This resulted in the so-called Joint-FACET (Fusion Algorithms & Concepts Exploration Testbed), a highly modular and flexible series of applications that is capable of processing both real and synthetic input data. Joint-FACET allows the user to create and edit test scenarios with multiple ships, sensors and targets, generate realistic sensor outputs, and to process these outputs with a variety of MSDF algorithms. These MSDF algorithms can also be tested using typical experimental data collected during live military exercises.

关键词： sensor fusion simulation and testbeds multiple target tracking

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A low-power smart vision system-on-a-chip design for ultra-fast machine vision applications

A low-power smart vision system-on-a-chip design for ultra-f...

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SPIE International conference on applications and Science of Computational Intelligence

作者： Fang, WC CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0819428396

In this paper, an ultra-fast smart vision system-on-a-chip design is proposed to provide effective solutions for real time machine vision applications by taking advantages of recent advances in integrated sensing/processing designs, electronic neural networks, advanced microprocessors and sub-micron VLSI technology. The smart vision system mimics what is inherent in biological vision systems. It is programmable to perform vision processing in all levels such as image acquisition, image fusion, image analysis, and scene interpretation. A system-on-a-chip implementation of this smart vision system is shown to be feasible by integrating the whole system into a 3-cm x 3-cm chip design in a 0.18-mu m CMOS technology. The system achieves one tera-operation-per-second computing power that is a two order-of-magnitude increase over the state-of-the-art microcomputer and DSP chips. Its high performance is due to massively parallel computing structures, high data throughput rates, fast learning capabilities, and advanced VLSI system-on-a-chip implementation. This highly integrated smart vision system can be used for various NASA scientific missions and other military, industrial or commercial vision applications.

关键词： vision system active pixel sensor neural processor system-on-a-chip smart sensor

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Design and development of the Smart Machine Vision sensor (SMVS)

Design and development of the Smart Machine Vision Sensor (S...

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EUROPTO conference on advanced Focal Plane Arrays and Electronic Cameras II

作者： Fischer, S Schibli, N Moscheni, F FASTCOM Technol SA Lausanne Switzerland

ISBN: (纸本)0819428620

The Smart Machine Vision sensor (SMVS) is a self-contained low-cost machine vision system that combines an image sensor, a processing unit and communication interfaces in a single unit. This paper describes the design of the SMVS, the concept of the operating system and the application software. The main characteristics of the SMVS are (1) the absence of an analog video signal and (2) the modular design concept. The signal processing is performed with the processing unit and the output consists either of image analysis results or a compressed digital image data stream. The modular design allows for easy customization for applications that require different sensor technologies, resolutions and spectral sensitivities. The modular design is made possible by the development of a generic sensor-CPU interface. This interface can be used with either CCD or CMOS sensors with a resolution of 512x512 pixels. It eliminates the need to redesign the processor board with changing sensor requirements. The SMVS is smaller and cheaper than traditional image processing systems based on desktop personal computers. It uses full-frame, non-interlaced sensors with square pixels to provide an optimal image quality, avoiding the drawbacks of an analog, interlaced video signal with fixed frame rate.

关键词： DSP camera smart machine vision sensor machine vision CCD sensor CMOS sensor industrial inspection surveillance

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sensor for particle size and number density in an engine plume

Sensor for particle size and number density in an engine plu...

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Proceedings of the 1998 IEEE Aerospace conference. Part 1 (of 5)

作者： Fegley, Ronald W. Terry, Darrell A. Northrop Grumman Military Aircraft Systems Div Pico Rivera United States

An advanced sensor is described which will allow measurement, in flight, of the size and number density of particles in an aircraft exhaust plume using a single frequency lidar system. The ratio of the extinction coefficient to the backscatter coefficient is used to determine the particle size, and the backscatter coefficient is then used to determine absolute number density. Various analytical methods are found in the literature. For example, in the case of a plume containing carbon particles with a mean particle radius covering the range from 0.01 to 10.0 micrometers, the backscatter coefficient varies over several orders of magnitude while the extinction coefficient is relatively constant. In this example we assume a constant volume density for the particles, and the size distributions have small standard deviations. To use this method, it is necessary to assume a value for the refractive index of the particles and to have a rough estimate of the expected range of particle sizes. This instrument could have additional applications such as the remote monitoring of smokestack emissions.

关键词： Optical sensors

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Comparison of piezoelectric systems and aerodynamic systems for aircraft vibration alleviation

Comparison of piezoelectric systems and aerodynamic systems ...

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conference on Smart Structures and Materials 1998 - Industrial and Commercial applications of Smart Structures Technologies

作者： Becker, J Luber, W Daimler Benz Aerosp AG Mil Aircraft MT2 D-81663 Munich Germany

ISBN: (纸本)0819427705

A comparison of active smart structure - piezoelectric control systems and aerodynamic active systems for vibration alleviation and elastic mode damping of a military aircraft structure is presented. The vibration alleviation systems which are operative at flight in turbulence or during maneuvers at high incidence corresponding to severe buffeting conditions are under investigation by DASA as a part of research study on advanced aircraft structures. The active systems for elastic mode damping (ASD) are designed as digital systems to provide vibration alleviation and have an interface to the Flight Control System (FCS) or are directly part of the FCS. The sensor concept of all different systems is the same as the sensor concept used for the FCS with the corresponding benefits of redundancy and safety. The design of systems and the comparisons of system properties are based on open and closed loop response calculations, performed with the dynamic model of the total aircraft including coupling of flight mechanics, structural dynamics, FCS dynamics and hydraulic actuator or piezo-actuator dynamics. Aerodynamic systems, like active foreplane and flap concepts, rudder and auxiliary rudder concepts, and piezoelectric systems, like piezo interface at the interconnection fin to rear fuselage and integrated piezo concepts are compared. Besides the essential effects on flexible aircraft mode stability and vibration alleviation factors system complexity and safety aspects are described.

关键词： Actuators Fluorescence correlation spectroscopy Aerodynamics Control systems Interfaces sensors Control systems design systems modeling Mechanics Aircraft structures

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IR sensors and applications: An overview of activities sponsored by the German Ministry of Defence

IR sensors and applications: An overview of activities spons...

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Proceedings of the 1998 conference on Infrared Technology and applications XXIV. Part 1 (of 2)

作者： Wolff, Hartmut Ministry of Defence Bonn Germany

During the last ten years, the impact of infrared and laser devices on surveillance and weapon systems has rapidly increased. Compared to the technology used in the first generation of devices and systems, today's technology has reached a higher level of maturity, allowing such advanced infrared and laser devices to be integrated in a variety of military applications. In Germany, the definition of infrared and laser sensors has changed in the last 10 years, and is almost used synonymously with the complete integration of sensor hardware and sophisticated signal and image processing instead of just considering `pure' device technologies. This new understanding shows the challenge for future applications and defines the basic methodology for planning the research efforts to improve the use of infrared and laser devices in military systems. This determines the basic elements for future research and development support by the German government: Next generation of infrared detectors (quantum well and superlattices);Thermal imagers;Windows for IR and radar sensors;Multifunction laser sensors;Image processing and pattern recognition;and Demonstrators for sensors.

关键词： Infrared detectors

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advanced semiconductor developments for automotive systems, part 1

Advanced semiconductor developments for automotive systems, ...

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Future Transportation Technology conference and Exposition

作者： Bannatyne, Ross Motorola SPS

The objective of this paper is to define how complex automotive electronics have become and how advanced semiconductor technology is being developed to simplify the development of these systems. Automotive systems are becoming more complex electronically than could ever be imagined. There are now many Electronic Control Units being implemented on vehicles which are each linked to separate networks and are sharing data on high speed buses. In order to handle the increasing processing bandwidth required, and to interface effectively with the many sensors and actuators on the modern motor vehicle, significant advances are being made in semiconductor technology. The types of systems which are becoming more complex will be defined along with the reasons for becoming so. 'System chips' are now being developed which can integrate together different types of semiconductor technology in order to reduce chip-count, size and increase performance and reliability. Analog, digital, Power and even sensor technologies are being merged in order to address the advanced automotive requirements. Examples will be given of system chips and their impact on advanced automotive applications. Smart sensors are being developed which will make integrating many sensors simpler than ever before. The smart sensors will allow easier sharing of information between related systems such as chassis control systems (Braking, Steering, Collision avoidance, etc.).The concept and application of such smart sensors will be discussed. Several other advances in semiconductors for automotive applications will be discussed such as Flash NV memory, power consumption issues and vehicular electronic communication protocols [1]. The impact of these technologies on simplifying development of complex systems will be made clear. © 1998 Society of Automotive Engineers, Inc.

关键词： Complex networks

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Motion camera based on a custom vision sensor and an FPGA architecture.

Motion camera based on a custom vision sensor and an FPGA ar...

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EUROPTO conference on advanced Focal Plane Arrays and Electronic Cameras II

作者： Arias-Estrada, M Univ Laval Comp Vis & Syst Lab Dept Elect & Comp Engn Quebec City PQ G1K 7P4 Canada

ISBN: (纸本)0819428620

A digital camera for custom focal plane arrays was developed. The camera allows the test and development of analog or mixed-mode arrays for focal plane processing. The camera is used with a custom sensor for motion detection to implement amotion computation system. The custom focal plane sensor detects moving edges at the pixel level using analog VLSI techniques. The sensor communicates motion events using the event-address protocol associated to a temporal reference. In a second stage, a coprocessing architecture based on a Field Programmable Gate Array (FPGA) computes the time-of-travel between adjacent pixels. The FPGA allows rapid prototyping and flexible architecture development. Furthermore, the FPGA interfaces the sensor to a compact PC computer (PC-104 standard) which is used for high level control and data communication to the local network. The camera could be used in applications such as self-guided vehicles, mobile robotics and smart surveillance systems. The programmability of the FPGA allows the exploration of further signal processing like spatial edge detection or image segmentation tasks. The article details the motion algorithm, the sensor architecture, the use of the event-address protocol for velocity vector computation and the FPGA architecture used in the motion camera system.

关键词： smart vision sensors focal plane arrays motion computation smart cameras computer vision cameras FPGA

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