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检索条件"任意字段=International Conference on Embedded Computer Systems: Architectures, Modeling and Simulation"

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Which landmark is useful? Learning selection policies for navigation in unknown environments

Which landmark is useful? Learning selection policies for na...

引用

IEEE international conference on Robotics and Automation (ICRA)

作者： Hauke Strasdat Cyrill Stachniss Wolfram Burgard Department of Computing Imperial College London UK Department of Computer Science University of Freiburg Germany

In general, a mobile robot that operates in unknown environments has to maintain a map and has to determine its own location given the map. This introduces significant computational and memory constraints for most autonomous systems, especially for lightweight robots such as humanoids or flying vehicles. In this paper, we present a novel approach for learning a landmark selection policy that allows a robot to discard landmarks that are not valuable for its current navigation task. This enables the robot to reduce the computational burden and to carry out its task more efficiently by maintaining only the important landmarks. Our approach applies an unscented Kalman filter for addressing the simultaneous localization and mapping problems and uses Monte-Carlo reinforcement learning to obtain the selection policy. Based on real world and simulation experiments, we show that the learned policies allow for efficient robot navigation and outperform handcrafted strategies. We furthermore demonstrate that the learned policies are not only usable in a specific scenario but can also be generalized towards environments with varying properties.

关键词： Navigation Simultaneous localization and mapping Mobile robots embedded system Memory management Humanoid robots Learning Computational modeling embedded computing Robotics and automation

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TRAP: Test Generation Driven Classification of Analog/RF ICs Using Adaptive Probabilistic Clustering Algorithm

TRAP: Test Generation Driven Classification of Analog/RF ICs...

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international conference on VLSI Design

作者： Sabyasachi Deyati Barry J. Muldrey Abhijit Chatterjee Electrical & Computer Engineering Georgia Institute of Technology Atlanta Georgia USA

In production testing of analog/RF ICs, application of standard specification-based tests for IC classification is not always an attractive option due to the high costs and test times involved. In this paper, a new test generation algorithm for IC classification is first developed that has the property that the corresponding DUT response signatures for devices from diverse process corners are maximally separable. In other words, the process space can be partitioned into a maximally large number of partitions and each tested IC can be uniquely diagnosed to lie in one such partition from its response to the applied test stimulus. Boolean zed representations of analog/RF circuits are used to facilitate rapid test stimulus generation. Next, the responses of ICs tested in production to the applied classification test are used to adaptively classify the ICs into clusters of "good", "bad" and "marginal" devices (TRAP). This is done through the use of probabilistic neural networks that do not require complete network retraining every time an IC with different input-output behavior is observed. The classification test applied helps in determining if a new device being tested is from a different process corner than encountered before, thereby aiding IC classification. simulation experiments show that the learning process is rapid and minimizes device misclassification with significant savings in test time.

关键词： Integrated circuit modeling Testing Mathematical model Training Classification algorithms Standards

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A new fault-tolerant scheduling technique for real-time multiprocessor systems

A new fault-tolerant scheduling technique for real-time mult...

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IEEE international conference on embedded and Real-Time Computing systems and Applications (RTCSA)

作者： T. Tsuchiya Y. Kakuda T. Kikuno Department of Information and Computer Sciences Faculty of Engineering Science Osaka University Toyonaka Osaka Japan

In multiprocessors used for implementing real-time applications, it is strongly required to ensure that tasks' deadlines are met in spite of faults. In this paper, we discuss fault-tolerant task scheduling techniques in real-time multiprocessor systems where aperiodic tasks arrive dynamically. For fault-tolerance, multiple copies of each task have to be scheduled on distinct processors in such systems. The authors propose a new technique for efficiently scheduling copies of tasks having small laxity. Then, we integrate our technique with previous work and develop a new scheduling algorithm, removing the assumption on task laxity. simulation results show the effectiveness of our technique.

关键词： Fault tolerant systems Real time systems Multiprocessing systems Processor scheduling Scheduling algorithm Fault tolerance Fault detection Application software Dynamic scheduling Computational modeling

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Toward adaptable distributed real-time computer systems

Toward adaptable distributed real-time computer systems

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IEEE international conference on embedded and Real-Time Computing systems and Applications (RTCSA)

作者： M.D. Baba H. Ekiz A. Kutlu E.T. Powner School of Engineering Institute Technology MARA Shah Alam Selangor Darul Ehsan Malaysia School of Engineering University of Sussex Brighton UK

A distributed real-time computer system consists of several processing nodes which are interconnected by communication channel. For a safety critical application the real-time computer system should maintains timely and dependable services despite component failures or environmental changes. In this paper we present a framework of an adaptable distributed real-time computer system which can adjusts its operating strategies in response to changing application environments or variation in the fault patterns. The proposed adaptable real-time system (ARTS) is based on the integration of the scheduling strategy using imprecise technique (IT) with the fault tolerance mechanism. In our simulation study the performance of an ARTS of a controller area network (CAN) based distributed system is evaluated as to whether the timing constraints of the automotive benchmark signals can be satisfied for normal, overload, and degraded operational modes. Our investigation also shows that the quality of service maintained by the ARTS can be further improve by varying the workload.

关键词： Real time systems Distributed computing Subspace constraints Application software Communication channels Safety computer applications Processor scheduling Fault tolerant systems Computational modeling

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Performance evaluation of a software architecture for real-time call processing

Performance evaluation of a software architecture for real-t...

引用

international conference on Communication systems

作者： Ting-Chao Hou Department ofElectrical Engineering National Chung Cheng University Taiwan

ISBN: (纸本)0780320468

computers running under the UNIX operating system are used as adjunct processors to a switch to share call-processing responsibilities. In this architecture, call-processing tasks inside the adjunct processors are embedded in UNIX user processes. The author built a discrete-event driven, C-based, UNIX simulation model at a level of detail that allows one to obtain the statistics of many system task overheads. The model can give an accurate estimate of the system capacity by providing the breakdown of CPU time spent in context switches, I/O, IPC system calls, and user processes. In addition, the author found that the system can be trapped in a deadlock or "livelock" situation if not properly controlled. Causes and solutions to the deadlock/livelock condition were investigated.< >

关键词： Software architecture Switches System recovery Operating systems computer architecture Computational modeling Statistics Context modeling Electric breakdown Central Processing Unit

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Formal semantics and verification of AADL modes in Timed Abstract State Machine

Formal semantics and verification of AADL modes in Timed Abs...

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IEEE international conference on Progress in Informatics and Computing (PIC)

作者： Zhibin Yang Kai Hu Dianfu Ma Lei Pi Jean-Paul Bodeveix School of Computer Science and Engineering Beihang University Beijing China IRIT University of Toulouse III Toulouse France

AADL (Architectural Analysis & Design Language) is an architecture description language standard for embedded real-time systems, and it is widely used in aerospace and other safety-critical applications. However, the AADL standard lacks at present a formal semantics. This paper proposes a formal semantics and a verification framework of AADL models with regard to mode change. The precise semantics of AADL mode change protocol is defined by a translation into the TASM (Timed Abstract State Machine) formalism. Then the translational semantics is automated in the AADL2TASM tool, which provides model checking and simulation for AADL models. Finally, the approach is validated with a case study of an automotive cruise control system.

关键词： Automation Manuals Computational modeling Engines Software Synchronization Wheels

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Verification of Triple Redundant Flight Control computer System Integration with Hardware-in the-Loop simulation

Verification of Triple Redundant Flight Control Computer Sys...

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international Automatic Testing conference, AUTOTESTCON

作者： Barış Karkar Fatih Gökmenoğlu HIL Simulator Systems DEICO Ankara Turkey

ISBN: (数字)9798350349436

ISBN: (纸本)9798350349443

The Flight Control computer (FCC) is a crucial component of modern aircraft that is responsible for managing control surfaces and ensuring flight stability. Due to the critical nature of its functions, FCCs are often utilized in redundant configurations. However, developing a FCC is a complex task, as it involves modeling the managed element, operating on potentially noisy and incomplete sensor data, adjusting to disturbances, optimizing resource usage, and more. With the increasing design complexity, verifying the functionality of FCCs is becoming more difficult and time-consuming, requiring scalable and reliable verification solutions. Traditional test methods are unlikely to meet all the expectations for a comprehensive and reliable solution that does not increase cost or create a burden for running tests. One such solution is the Hardware in the Loop (HIL) test technique. HIL test technique involves verifying a controller and its embedded software with a test system that simulates the operational environment of the controller over a model, including relevant signal conditioning hardware. Based on the method, this paper designs the structure and parameters of a HIL simulation test system for the verification of triple redundant flight control computer system integration.

关键词： Computational modeling System integration FCC Hardware Stability analysis Software reliability Safety System analysis and design Aerospace control Testing

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MRCC: A Multi-Resolution Cooperative Control Agent Architecture 07

MRCC: A Multi-Resolution Cooperative Control Agent Architect...

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IEEE/WIC/ACM international conference on Intelligent Agent Technology (IAT)

作者： Enrique González Adith Perez Juan Cruz César Bustacara SIDRe Research Group Pontificia Universidad Javeriana Bogota Colombia SIDRe Research Group-Bogotá Pontificia Universidad Javeriana Bogota Colombia

ISBN: (纸本)9780769530277

The cooperation problem in a complex robotic environment requires the use of explicit mechanisms and control architectures specifically designed to manage the cooperation. Powerful ways of structuring cooperation complexity are required, including models, methodologies, software architectures, information systems and frameworks. In this paper the intentional cooperation control model MRCC, multi-resolution cooperation control is presented; in particular, the internal agent architecture is studied in detail. The model takes advantage of the multi agent systems (MAS) benefits in order to provide an integral and flexible architecture. The main idea of the MRCC model is based on a hierarchical decomposition of the MAS cooperative control, where each layer manages the decisions at different granularity and abstraction levels. Higher levels take into account general aspects of the system control and generate influences over lower ones. Lower levels manage negotiation mechanism to achieve cooperative actions and control of individual agents. The internal agent architecture is built using a concurrent approach, where several behaviors interact to integrate in a coherent way the operation and contribution of the different MRCC levels. The preliminary simulation results demonstrate that the model can be applied in different multi robot tasks.

关键词： Multiresolution analysis computer architecture Power system modeling Robot kinematics Intelligent robots Collaboration Orbital robotics Management information systems Intelligent agent Communication system control

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modeling and Optimizing the 5G RRC State Machine to Reduce Terminal Energy Consumption

Modeling and Optimizing the 5G RRC State Machine to Reduce T...

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international conference on computer and Communications (ICCC)

作者： Jingbo Yang Yantai Vocational College Yantai China

ISBN: (数字)9798331507077

ISBN: (纸本)9798331507084

With the popularization and wide application of mobile terminals, addressing the issues of substantial energy consumption, low utilization of radio resources, and lackluster compatibility of conventional energy management strategies becomes significantly important. In this paper, we propose an enhanced Radio Resource Control (RRC) state machine, eRRC, to reduce the energy consumption of 5G user equipment. The basic idea is to dynamically configure the state parameters in real time according to the traffic behaviors when transmission. Specifically, we self-develop an energy monitor embedded in the terminal operation system, which can meticulously record the nuanced energy consumption patterns during each traffic transmission stage. Further, eRRC adapts the parameter setup and the activation time of each state when state machine transition. simulation experiments illustrate that compared with the prevailing terminal energy management methods, eRRC can realize an average energy conservation of 8.26%. Also, its lightweight implementation is suitable for other Internet of Things devices.

关键词： Energy consumption Adaptation models 5G mobile communication Computational modeling Energy conservation Real-time systems Internet of Things Monitoring

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Benchmark Analysis of YOLOv8 for Edge AI Video-Surveillance Applications

Benchmark Analysis of YOLOv8 for Edge AI Video-Surveillance ...

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IEEE/ASME international conference on Mechtronic and embedded systems and Applications, MESA

作者： Daniele Berardini Lucia Migliorelli Lorenzo Cardoni Christian Parente Alessandro Rongoni Daniele Sergiacomi Adriano Mancini Department of Information Engineering Polytechnic University of Marche Ancona Italy

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

Video surveillance systems (VSSs) are crucial for identifying crimes involving handheld weapons, but their effectiveness is limited by high operational costs and the need for continuous human monitoring. To overcome these challenges, research has turned to deep learning (DL) to automate weapon detection. Early efforts focused on detecting weapons in images using resource-intensive frameworks – and, thus, unaffordable – and relying on datasets that poorly represent real-world settings. Given the state-of-the-art limitations, this work introduces an edge artificial intelligence (AI)-based approach which explores the YOLOv8 architecture across different variants (nano, small, medium, large, extra-large), evaluated on a custom built dataset (WeaponSenseV2). Using the NVIDIA Jetson Nano as an edge device, the proposed study evaluates performance of the architectures on the custom-built WeaponSenseV2 dataset, which is designed to more accurately reflect real-world scenarios than existing datasets. By focusing on the intersection of edge computing and DL, this research aims to reduce the operational costs and computational demands associated with traditional VSSs. The results enrich the ongoing discussions on leveraging technological advancements to enhance public safety, providing valuable perspectives on the real-world deployment of scalable and efficient systems for detecting weapons.

关键词： Performance evaluation Costs Weapons Computational modeling Image edge detection computer architecture Edge AI Video surveillance Nanoscale devices Monitoring

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