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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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A fuzzy approach to low level sensor fusion with limited system knowledge

A fuzzy approach to low level sensor fusion with limited sys...

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international conference on Information Fusion

作者： Sebastian Blank Tobias Föhst Karsten Berns Robotics Research Laboratory Department of Computer Sciences University of Kaiserslautern Kaiserslautern Germany

When facing the need to perform low-level sensor fusion with only very limited knowledge available one has to come up with an alternative to the well known and proven Kalman filter. A very interesting candidate for such applications is the so called fuzzy (or soft) voter. This algorithm makes use of fuzzy logic principles to fuse signals in an efficient way and provides a figure of merit as well as sensor monitoring capabilities with very moderate demand for computation performance and memory. In this paper a computational efficient alternative implementation of soft voting for embedded applications is described. Furthermore, its performance is examined using scenarios typical to harsh operations environments using simulation.

关键词： Sensitivity Accuracy Fuzzy sets Kalman filters Sensor fusion Robot sensing systems Computational modeling

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Tele-autonomous systems: Methods and architectures for intermingling autonomous and telerobotic technology

Tele-autonomous systems: Methods and architectures for inter...

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IEEE international conference on Robotics and Automation (ICRA)

作者： L. Conway R. Volz M. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Michigan

As a result of recent advances in artificial intelligence, human cognitive modelling, autonomous systems and telerobotics, there is an opportunity to broaden our concepts of technology for projecting action at a distance. We draw on these advances to develop a conceptual and architectural framework that enables efficient projection in time and space of intermingled manipulation and cognition tasks. Where AI-based autonomous systems have previously been concerned with human supervisory intervention primarily at a cognitive level, we add methods for rendezvous, capture and rehandoff of embedded manipulation tasks. Where telerobotics has been concerned with the projection of sensory-motor manipulation, we add the projection of cognitive processing. Thus extended, the two technologies mirror one another and merge into one of "tele-autonomous systems". We introduce notions of how the sensory, cognitive and motor functions of tele-autonomous systems can be factored and transferred back and forth between human and machine. We illustrate how the times to complete tele-autonomous tasks can be reduced through time and space constraint relaxations effected through simple controls: We employ the concepts of forward simulation and predictor display, augmented by "time and position clutches", "time ratio controls" and "time brakes", to control the resulting manipulation paths and event transitions. We sketch some generic architectural and human interface implications of these methods. Finally, we describe our environment for exploring these methods and the results of some recent experiments.

关键词： Telerobotics Humans Space technology Artificial intelligence Cognition Mirrors Time factors Predictive models Discrete event simulation Displays

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Demo abstract — Hexacopters for everyone: Online access to advanced robotics platforms for your research

Demo abstract — Hexacopters for everyone: Online access to ...

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IEEE/ACM international conference on Cyber-Physical systems (ICCPS)

作者： Peiyi Chen Sebastian Fischmeister Thomas Reidemeister Yassir Rizwan Steven Waslander Department of Elect. and Computer Engineering University of Waterloo Canada Department of Mechanical and Mechatronics Engineering University of Waterloo Canada

We will present our approach to remote experimentation. The system provides access to a well-maintained, high-fidelity hardware-in-the-loop simulation of a flight-validated hexacopter with an autopilot. The whole system has already received the Special Flight Operations Certificate (SFOC) and was used during several missions such as sensor deployment on icebergs, terrain mapping, and structural integrity checks. The system is easily accessible to remote users, and in active use for research and teaching. Users will be able to connect through a remote connection and gain access to the system. Several scenarios are available which mimic different flight conditions and flight paths. The platform supports research from the operating system up to arbitrary application software and thus enables case studies on software and system design, modeling, programming, validation, and verification, as well as robotic operations, mission planning, and simultaneous localization and mapping.

关键词： Educational institutions Abstracts Mechatronics embedded systems Communities Robot sensing systems

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Process Planning with embedded Scheduling for Multi-Parts Production in Reconfigurable Manufacturing systems

Process Planning with Embedded Scheduling for Multi-Parts Pr...

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international conference on computer Graphics,simulation and modeling(ICGSM’2012);international conference on Production,Materials and Automobile Engineering(ICPMAE2012);international conference on Advances in Transformers and Electronics Engineering(ICATEE’2012);international conference on Chemical,Environmental Science and Engineering(ICEEBS’2012);international conference on Business Intelligence and Humanities(ICBEBS’2012);international conference on Biological,Biomedical and Pharmaceutical Sciences(ICCEPS’2012)

作者： Farayi Musharavati Department of Mechanical and Industrial Engineering Qatar University

Todate it has been shown that reconfigurable manufacturing systems (RMSs) have advantages over other production systems in dynamic manufacturing environments. However, the operations of RMSs are complex and hence require unique manufacturing support systems. In this paper, we examine the process planning function for RMSs in an attempt to develop a process planning function that is suitable for operating RMSs. We explore the propects of a process planning function that embeddes strongly related scheduling sub-functions in order to avoid sub-optimal operating performance. The uniqueness of this approach lies in optimizing process plans for RMSs in a bid to exploit the potential of production flexibility and reconfigurability in dynamic manufacturing environments. A simulated annealing algorithm is developed and tasked to provide solutions to the proposed process planning model. Evaluation of the obtained process plans indicates that they retain routing and processing flexibility which allows for logical reconfiguration of the manufacturing system.

关键词： Logical reconfiguration, optimization, process planning, reconfigurable manufacturing systems, scheduling, simulated annealing

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Bipolar ReRAM Based non-volatile flip-flops for low-power architectures

Bipolar ReRAM Based non-volatile flip-flops for low-power ar...

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Annual IEEE Northeast Workshop on Circuits and systems (NEWCAS)

作者： Santhosh Onkaraiah Marina Reyboz Fabien Clermidy Jean-Michel Portal Marc Bocquet Chritophe Muller Hraziia Costin Anghel Amara Amara Cea-leti Minatec Grenoble France IM2NP UMR CNRS 6242 Aix Marseille Université Marseilles France ISEP Paris France

Resistive Random Access Memories (ReRAMs) fabricated in the back-end-of-line are a promising breakthrough for including permanent retention mechanisms in embedded systems. This low-cost solution opens the way to advanced power management schemes. In this paper, we propose novel design architecture of a non-volatile flip-flop based on Bipolar ReRAMs (Bi-RNVFF). Compared to state-of-the-art Data-Retention flip-flop (with Balloon latch), the proposed design is 25% smaller due to 6T structure compared to the 8T structure of Data-Retention flip-flop. Moreover, being non-volatile, the proposed architecture exhibits a zero leakage compared to a Data-Retention Flip-Flop, which consumes ~3.2μW in sleep mode (leakage) for a 10K Flip-Flop design implemented in 22nm FDSOI technology. Our simulation results show that Bi-RNVFF is a true alternative for future “Power-on, Power-off” application adding Non-Volatility without significant burdening of the existing architectures.

关键词： Nonvolatile memory Flip-flops computer architecture Latches Transistors Switches Delay

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simulation of High-Performance Memory Allocators

Simulation of High-Performance Memory Allocators

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Euromicro Symposium on Digital System Design

作者： Jose L. Risco-Martín J. Manuel Colmenar David Atienza J. Ignacio Hidalgo Dept. of Computer Architecture and Automation Complutense University of Madrid Madrid Spain C.E.S. Felipe II Complutense University of Madrid Aranjuez Spain Embedded Systems Laboratory (ESL) EPFL Lausanne Switzerland

Current general-purpose memory allocators do not provide sufficient speed or flexibility for modern high-performance applications. To optimize metrics like performance, memory usage and energy consumption, software engineers often write custom allocators from scratch, which is a difficult and error-prone process. In this paper, we present a flexible and efficient simulator to study Dynamic Memory Managers (DMMs), a composition of one or more memory allocators. This novel approach allows programmers to simulate custom and general DMMs, which can be composed without incurring any additional runtime overhead or additional programming cost. We show that this infrastructure simplifies DMM construction, mainly because the target application does not need to be compiled every time a new DMM must be evaluated. Within a search procedure, the system designer can choose the "best" allocator by simulation for a particular target application. In our evaluation, we show that our scheme will deliver better performance, less memory usage and less energy consumption than single memory allocators.

关键词： Memory management Resource management Energy consumption Dynamic scheduling Software Computational modeling Algorithm design and analysis

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Sensing, Tracking and Contextualizing Entities in Ubiquitous Computing 12

Sensing, Tracking and Contextualizing Entities in Ubiquitous...

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ACM international Workshop on modeling, Analysis and simulation of Wireless and Mobile systems

作者： Antonio A.F. Loureiro Department of Computer Science Universidade Federal de Minas Gerais Belo Horizonte Minas Gerais Brazil

ISBN: (纸本)9781450316286

Information and Communications Technology is increasingly becoming a part of our daily activities. Nowadays, we are able to sense a broad range of entities in the world: from physical entities that comprise the Internet of Things (IoT) to social entities that include people in social networks. We can expect, to have a ubiquitous sensing infrastructure in different environments, with varying needs and complexities. While these sensors/entities are mostly static, smart phones are taking center stage as the most widely adopted and ubiquitous computing device. Smart phones have enormous potential for the study of human social networks and human behavior "in vivo," in a natural context outside laboratories. Besides their computing power, smart phones are currently available with an increasing rich set of embedded sensors, such as GPS, accelerometer, microphone, camera, gyroscope and digital compass. Sensing vast areas becomes more feasible when people carrying their portable devices collect data and collaborate among themselves. systems that enable sensed data in this way are named participatory sensing systems (PSSs). In those networks, the shared data is not limited to sensor readings passively generated by the device, but also includes proactive user observations. A challenge is how to obtain meaningful information from this large amount of data at different scales along the time. Some of the traditional techniques that have been used to process those distinct data sources are information fusion, data mining and machine learning. Notice that the consumers of such information can be, in one extreme, a large set of cooperating or non-cooperating entities, and, in the other, an individual or a "thing", for instance. Two important attributes of the sensed data are the location and time where they are collected. Localization and tracking play a key role in ubiquitous computing due to the fact that a wide variety of envisioned applications that collect sensed data rely on t

关键词： Sensing tracking context ubiquitous computing Ubiquitous computing tracking Smartphone Social Networks information Speaking

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Spatiotemporal Traffic Flow Prediction Using CNN-LSTM architectures

Spatiotemporal Traffic Flow Prediction Using CNN-LSTM Archit...

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international conference on Intelligent Computing in Data Sciences (ICDS)

作者： Yassine Ennaji Nada Faqir Jaouad Boumhidi LISAC Laboratory Sidi Mohamed Ben Abdellah University Fez Morocco

ISBN: (数字)9798350351200

ISBN: (纸本)9798350351217

In this paper, we present a spatiotemporal model for traffic flow prediction using a CNN-LSTM architecture. The proposed method integrates multivariate inputs, including position, velocity, and traffic light states, into a deep learning framework. Our approach leverages the simulation capabilities of SUMO to generate realistic traffic data, which is then used to train the CNN-LSTM model. We evaluate the performance of the model using standard error metrics such as Mean Squared Error (MSE) and Root Mean Squared Error (RMSE). The results demonstrate the effectiveness of the CNN-LSTM model in capturing the complex dynamics of urban traffic and its potential for real-time traffic prediction applications in smart cities.

关键词： Measurement Smart cities Computational modeling Transportation computer architecture Predictive models Data models Real-time systems Spatiotemporal phenomena Standards

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Multirate Kalman filtering approach for optimal two-dimensional signal reconstruction from noisy subband systems

Multirate Kalman filtering approach for optimal two-dimensio...

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IEEE international conference on Image Processing

作者： J.Q. Ni K.L. Ho K.W. Tse J.S. Ni M.H. Shen Department of Electrical and Electronic Engineering University of Hong Kong Hong Kong China Wuhan University of Hydraulic and Electrical Engineering Wuhan China

Conventional synthesis filters in subband systems lose their optimality when additive noise due, for example, to signal quantization, disturbs the subband components. The multichannel representation of the subband signal is combined with the statistical model of the input signal to derive the multirate state-space model for a filter bank system with additive noise. Thus the signal reconstruction problem in the subband system can be formulated as the process of optimal state estimation in the equivalent multirate state-space model. With the input signal embedded in the state vector, the multirate Kalman filtering provides the minimum-variance reconstruction of the input signal. Using the powerful Kronecker product notation, the results and derivations can then be extended to the 2-D cases. Incorporated with the vector dynamical model, the 2-D multirate state-space model for 2-D Kalman filtering is developed. computer simulation with the proposed 2-D multirate Kalman filter gives favorable results.

关键词： Kalman filters Filtering Filter bank Additive noise Signal synthesis Quantization Signal reconstruction State estimation Power system modeling computer simulation

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Optimal Proportional Navigation Guidance Using Pseudo Sensor Enhancement Method (PSEM) for Flexible Interceptor Applications

Optimal Proportional Navigation Guidance Using Pseudo Sensor...

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international conference on computer modeling and simulation, UKSIM

作者： Yasser M. Madany El-Sayed A. El-Badawy Adel M. Soliman Alexandria University Alexandria EG

ISBN: (纸本)9781509008896

Proportional navigation (PN) is the guidance law used by most missiles in operational use today. This method of guidance generates missile acceleration commands in proportion to the line-of-sight (LOS) rate. Flexible interceptor defines as a fast maneuverable fighter plane. So, optimal homing missile guidance must be required to improve realism in missile behavior. In the case of sensor(s) transient faults, the disconnection of the readings causes inappropriate actions. So the need for sensor fault detecting and estimating multiple sensor faults becomes an important issue to optimize and enhance the system performance. Redundant sensors can provide highly accurate sensor data and also reconfigure sensor network systems if some sensors failed. In this paper, optimal sensor configurations are investigated using a new proposed pseudo sensor enhancement method (PSEM). Fault detection prediction analysis of multi-sensor architecture is introduced to study different number of sensors with different arrangement architectures and to detect transient faults in each sensor. Then, the proposed PSEM is investigated to isolate and compensate for the transient faults. Finally, the optimal inertial navigation multi-sensor configurations using PSEM have been applied to the proportional navigation guidance (PNG) laws to investigate the optimal proportional navigation guidance. The simulation results of different sensor architecture configurations with applying the PSEM and PNG have been obtained and analyzed to demonstrate the performance. The comparison between the traditional (without PSEM) and the proposed (with PSEM) methods has been introduced to illustrate the enhancement in operational performance of the proposed method to meet the requirements for flexible interceptor applications.

关键词： Missiles Transient analysis Fault detection Inertial navigation simulation Acceleration

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