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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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An FPGA based implementation of a flexible digital PID controller for a motion control system

An FPGA based implementation of a flexible digital PID contr...

引用

international conference on computer Communication and Informatics (ICCCI)

作者： Somsubhra Ghosh Ranjit Kumar Barai Samar Bhattarcharya Prarthana Bhattacharyya Shubhobrata Rudra Arka Dutta Rownick Pyne Department of Electrical Engineering Jadavpur University Kolkata India

ISBN: (纸本)9781467329064

Implementation of digital controllers in embedded environment suffers from the inherent problems associated with analog-digital signals interfacing in hard real-time, therefore, the control algorithms are invariantly subjected to approximations. This paper presents a novel technique for implementation of an efficient FPGA based digital Proportional-Integral-Derivative (PID) controller for the motion control of a permanent magnet DC motor. The implementation technique circumnavigates the problem of interfacing analog and digital systems in real-time. The controller is used in a speed control loop. The hardware implementation has been done on a Xilinx Spartan 3 FPGA chip. A novel technique has been adopted for the generation of the control input as a PWM signal for controlling the motor driver circuit and decoding the optical encoder data for using it for the speed feedback in the PID control loop. The VHDL algorithm for the proposed implementation has also been presented in this paper. A comparison of the experimental results with the Matlab ® based simulation shows the effectiveness of the proposed method.

关键词： Field programmable gate arrays Permanent magnet motors Motion control Pulse width modulation Mathematical model Integrated optics Computational modeling

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Evaluating the Effect of Inter Process Communication Efficiency on High Performance Distributed Scientific Computing

Evaluating the Effect of Inter Process Communication Efficie...

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IEEE/IFIP international conference on embedded and Ubiquitous Computing, EUC

作者： Ehsan Mousavi Khaneghah Seyedeh Leili Mirtaheri Mohsen Sharifi Computer Engineering Department Iran University of Science and Technology Iran

Scientific applications like weather forecasting require high performance and fast response time. But this ideal requirement has always been constrained by peculiarities of underlying platforms specially distributed platforms. One such constraint is the efficiency of communication between geographically dispersed and physically distributed processes running these applications, that is the efficiency of inter process communication (IPC) mechanisms. This paper provides hard evidence that an operating system kernel-level implementation of IPC on multi-computers reduces the execution time of a weather forecasting model by nearly half on average compared to when the IPC mechanism is implemented at library level. A well known non-hydrostatic version of the Penn state/NCAR mesoscale model, called MM5, is executed on a networked cluster. The performance of MM5 is measured with two distributed implementations of IPC, a kernel-level implementation called DIPC2006 and a renowned library level implementation called MPI. It is both shown how and argued why the performance of MM5 on a DIPC2006 configured cluster is by far better than its performance on an MPI configured similar cluster. Even ignoring the favorable points of kernel-level implementations, like safety, privilege, reliability, and primitiveness, the insight is twofold. Scientist may look for more efficient distributed implementations of IPC to run their simulations faster, and computer engineers may try harder to develop more efficient distributed implementations of IPC for scientists.

关键词： Scientific computing Weather forecasting Libraries Delay Operating systems Predictive models Safety Computational modeling computer simulation Distributed computing

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NS-3 Model of an IoT network

NS-3 Model of an IoT network

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international conference on Computing, Communication & Automation (ICCCA)

作者： Ravi Kishore Kodali Bysani Kirti National Institute of Technology Warangal WARANGAL

ISBN: (数字)9781728163246

ISBN: (纸本)9781728163253

The Internet of Things is making significant changes to the world we live in from the way we drive to how we make purchases. The Internet of Things platform is responsible for collecting diverse information from sophisticated sensors and providing a common language for devices and apps to communicate with each other. A typical IoT network consists of various embedded sensors, processors and communication hardware. To know how a designed network would perform in real-time, the need for a simulation tool arises as buying the resources necessary for experimental purposes becomes very expensive. ns-3 is one such tool used for simulating real-world networks by writing scripts in C++ and Python on a single computer. ns-3 helps to create various virtual nodes and with the help of the various Helper classes it provides, we can install the necessary devices, internet stacks, application, etc. to our nodes. This paper aims to design and construct an IoT-based network, simulate it using ns-3 and understand how the simulation results obtained can be put to use.

关键词： Computational modeling simulation Tools Writing Real-time systems Sensors Internet of Things

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Behavior-based decentralized approach for cooperative control of a multiple small scale unmanned helicopter

Behavior-based decentralized approach for cooperative contro...

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international conference on Intelligent systems Design and Applications (ISDA)

作者： Vishnu Kumar Kaliappan Hanmaro Yong Dugki Min Agus Budiyono School of computer Science and Engineering Konkuk University Seoul South Korea Department of AeroSpace Information Engineering Konkuk University Seoul South Korea

RUAV (Rotorcraft based Unmanned Aerial Vehicle) have been exploited in various fields such as surveillance, reconnaissance and search. Most of the study in this area is focused on single RUAV; however using multiple unmanned vehicles is big advantage to accomplish the mission in a short time and effective way. Moreover little amount of research has been undertaken in the development of multiple RUAV control systems. This paper proposes a behavior-based decentralized approach that allows an RUAV to carry out its own mission of flying to a specified region while the distances between RUAVs are maintained constantly to avoid collision. The main goal of the proposed controller is to make the RUAV cooperate among each other to achieve the defined task. In this research Reynold's flocking model based behavior approach has been utilized. Along with this the testing environment for multiple RUAV is developed to validate proposed control algorithm. Complete setup is implemented and run under QNX RTOS, based on PC104 embedded board. The multiple RUAV is tested and evaluated using HILS (Hardware-In-the-Loop simulation). To validate the proposed approach, simulation is performed to achieve the waypoint with multiple RUAVs.

关键词： Trajectory Computational modeling Navigation Unmanned aerial vehicles Helicopters Sensors

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simulation of a highly parallel system for word recognition

Simulation of a highly parallel system for word recognition

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international conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： M. Yoder L. Jamieson School of Electrical Engineering Purdue University West Lafayette IN USA

As the complexity of speech recognition systems increases, conventional computers are unable to perform all the operations quickly enough to process the speech input in real time. This paper examines the use of a single instruction stream - multiple data stream (SIMD) parallel architecture to reduce the computation time for a dynamic time warping template matching based isolated word recognition system. Each of the components of the recognition system was written as an SMD parallel algorithm. The component SIMD algorithms and the complete word recognition system were simulated. The simulations showed that with 100 processing elements, each an 8 MHz MC68000, the speech system can perform isolated word recognition over a large vocabulary in real time. This real-time speech system used a 20 KHz sampling rate, 16 bits per sample, 100 samples per frame, 8 LPC coefficients per frame, 16 bits per LPC coefficient, and a 1,000 word vocabulary.

关键词： Computational modeling Real time systems Speech recognition Speech processing Vocabulary Linear predictive coding Parallel architectures computer aided instruction Concurrent computing Parallel algorithms

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Wireless Sensor Networks: Trends, Power Consumption and Simulators

Wireless Sensor Networks: Trends, Power Consumption and Simu...

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Asia international conference on modeling & simulation

作者： Khawla Lahmar Rym Cheour Mohamed Abid University of Sfax National School of Engineers of Sfax Computer & Embedded Systems Sfax Tunisia

WSN technology involves a set of challenges ranging from determining resource characteristics of the wireless network, when and how to optimise energy and how much processing to do in each node, to principles for management of entire sensor networks and how the data produced by sensor networks can be managed, used and presented. A simulation environment seemed to be then essential, since the test of the hardware and software is hard and difficult. Beyond cost and time savings, the simulator offers the great opportunity to extend the potential and the features of WSN. As there are many simulators, we make an attempt in this paper to specify the important ones related to energy consumption. In fact, we discuss the performance, reliability and usefulness of each of them to better see the disadvantages of these simulators and their strong points to be able to develop a better model.

关键词： Wireless sensor networks Power demand Energy consumption Hardware Batteries Wireless communication computer architecture

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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...

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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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Sensor Failure Detection Capabilities in Low-Level Fusion: A Comparison Between Fuzzy Voting and Kalman Filtering

Sensor Failure Detection Capabilities in Low-Level Fusion: A...

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2011 IEEE international conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Sebastian Blank Thomas Pfister Karsten Berns Department of Computer Sciences Robotics Research LaboratoryKaiserslauternGermany

This paper focuses on the comparison of the low-level sensor failure detection capabilities of model-based Kalman filtering and a model-free Fuzzy voting approach. The ability to identify failing and degrading sensors is essential when dealing with error-prone data acquired in harsh application environments as can be typically found in the field of embedded systems. In order to investigate the respective performance concerning rejection of faulty data several experiments were conducted in a simulation environment. The two candidates were selected to gain more insight into the advantages and limitations of system modeling (or the lack thereof) in signallevel data fusion. The Kalman filter was selected as a typical candidate that relies on extensive models for both the system and information sources. The fuzzy approach, however, employs a heuristic that requires no modeling at all. This results in a broader field of possible applications since detailed knowledge is no longer required. Thus, it can be employed in scenarios that one would not be able to use a model-based algorithm. Such applications include scenarios with ongoing reconfiguration (e. g. wireless sensor networks) or systems with limited detail knowledge about the devices.

关键词： Robot sensing systems Kalman filters Reliability Mathematical model Computational modeling Accuracy Equations

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Extracting Neural Drives from Surface EMG: A Generative Model and simulation Studies

Extracting Neural Drives from Surface EMG: A Generative Mode...

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29th Annual international conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2007), vol.12

作者： Ning Jiang Philip A. Parker Kevin B. Englehart Institute of Biomedical Engineering Department of Electrical and Computer Engineering University of New Brunswick Canada

A generative model for the surface EMG is presented. The model is built on the assumption that motor units in synergistic muscle share neural drives from spinal level, which correspond to the activation of different degrees of freedom (DOF) of natural movements, and are embedded within surface EMG. An artificial neural network (ANN) is developed to extract these drives simultaneously from the multi-channel surface EMG. A direct application of this technique would be providing control signals to prosthetic devices that are capable of simultaneous control of multiple DOF. It also has potential applications in the diagnosis and rehabilitation of spinal cord injuries and other neuromuscular disorders.

关键词： Electromyography Muscles Control systems Prosthetics Artificial neural networks Neuromuscular Humans Independent component analysis Motor drives Computational modeling

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