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IEEE international Conference on Robotics and Biomimetics

作者： Yan Zhao Liang Bai Brandon W. Gordon Control and Information Systems (CIS) Laboratory Department of Mechanical and Industrial Engineering Concordia University Montreal QUE Canada

ISBN: (纸本)9781424417612;1424417619

This paper presents a new framework and experimental setup for distributed simulation and virtual reality visualization of multi-robot receding horizon control (RHC) systems. A distributed RHC algorithm for formation control of multi-robot systems is implemented on multiple computers using a UDP/IP network and synchronization functions for real-time implementation. An object oriented virtual reality (VR) environment is also developed which can be interfaced with the distributed simulation. Several types of VR ground and air vehicles can be simulated and combined with the distributed RHC system for verification of the controller in an unstructured VR environment. Furthermore, a 6 degree of freedom motion platform is integrated with the system to allow pilot vehicle interaction studies. Together this work provides a general and useful tool for development and testing of multi-robot distributed RHC control systems.

关键词： Virtual reality Visualization Control system synthesis distributed control Computational modeling object oriented modeling Control systems Multirobot systems Computer networks distributed computing

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A cluster-based TMO-structured scalable approach for location information systems

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COMPUTER SYSTEMS SCIENCE AND ENGINEERING 2007年第3期22卷 113-123页

作者： Nah, Yunmook Kim, K. H. (Kane) Wang, Taehyung Kim, Moon Hae Dankook Univ Dept Comp Engn Seoul 140714 South Korea Univ Calif Irvine Dept Elect & Comp Engn Irvine CA 92697 USA Calif State Univ Northridge Dept Comp Sci Northridge CA 91330 USA Konkuk Univ Dept Comp Engn Seoul 143701 South Korea

Location-based service (LBS) systems have recently become a subject of active research and development. A key issue in such systems is efficient management of current and past location information of moving items. In the past two years, we have been establishing a new LBS system architecture, named the GALIS (Gracefully Aging Location Information System), which is based on the new approach of using a cluster of database server nodes and effecting efficient distributed and parallel computing in both real-time update of location records of moving items and processing of location-related queries. Each server node is dedicated to keeping records relevant to a different geographical zone and a different temporal zone. Each subsystem in GALIS is structured as a TMO network for the sake of easy analysis and expansion. A prototype implementation of GALIS has been realized only partially, and its full implementation is under way. In this paper, major features of GALIS are presented together with discussions on trade-off considerations which led to the adoption of those features. Issues remaining for further research are also briefly discussed.

关键词： location-based service moving item GALIS distributed computing TMO database scalability cluster indexing update

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MTRMS: A TMO-based Multi-Target real-time Monitoring System

MTRMS: A TMO-based Multi-Target Real-Time Monitoring System

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international Conference on Convergence Information Technology

作者： Xue Zheng Karpjoo Jeong Sang Boem Lim Department of Advanced Technology Fusion Konkuk University Seoul South Korea

ISBN: (纸本)9780769530383

With wide spread of grid technology, more and more resources which is located on remote sites are being shared over the reliable high speed network among researchers. While working at remote site, researchers need to observe, listen, control, and analyze objects of experimental resources. In some experiment, researches need to monitor multi-target resources in real time. Multi-target can be explained in two ways. One is multiple objects to monitor in several locations, and the other one is multiple observation methods like cameras, microphones and various sensors. In this paper we propose a TMO (time-triggered message-triggered object)-based multi-target real-time monitoring system, called MTRMS, for remote observation and analysis.

关键词： real time systems Traffic control Remote monitoring object oriented modeling Scanning probe microscopy Data security High definition video distributed computing Information technology High-speed networks

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Validation Support for distributed real-time Embedded Systems in VDM++

Validation Support for Distributed Real-Time Embedded System...

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IEEE international Symposim on High Assurance Systems Engineering

作者： John S. Fitzgerald Simon Tjell Peter Gorm Larsen Marcel Verhoef University of Newcastle UK Engineering College Denmark University of Aarhus Denmark Chess and Radboud University Nijmegen Netherlands

We present a tool-supported approach to the validation of system-level timing properties in formal models of distributed real-time embedded systems. Our aim is to provide system architects with rapid feedback on the timing characteristics of alternative designs in the often volatile early stages of the development cycle. The approach extends the Vienna development method (VDM++), a formal object-oriented modeling language with facilities for describing real-time applications deployed over a distributed infrastructure. A new facility is proposed for stating and checking validation conjectures (assertions concerning real-time properties) against traces derived from the execution of scenarios on VDM++ models. We define validation conjectures and outline their semantics. We describe the checking of conjectures against execution traces as a formally-defined extension of the existing VDM++ tool set, and show tools to visualise traces and validation conjecture violations. The approach and tool support are illustrated with a case study based on an in-car radio navigation system.

关键词： real time systems Embedded system Timing Radio navigation Computer architecture Feedback Application software Systems engineering and theory Educational institutions Visualization

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Proceedings - 6th IEEE international symposium on object-oriented real-time distributed computing, ISORC 2003

Proceedings - 6th IEEE International Symposium on Object-Ori...

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6th IEEE international symposium on object-oriented real-time distributed computing, ISORC 2003

ISBN: (纸本)0769519288

The proceedings contain 39 papers. The topics discussed include: model-driven development of real-time software using OMG standards;real time distributed control systems using RTAI;RTC: a real-time communication middleware on top of RTAI-Linux;embedded Linux outlook in the PostPC industry;introduction to the TOPPERS project-open source RTOS for embedded systems;the next generation software platform for mobile phones;compositional design of RT systems: a conceptual basis for specification of linking interfaces;general framework for the description of QoS in UML;towards model-based and CCM-based applications for real-time systems;a cooperative simulation mechanism of distributed control systems based on object-oriented design patterns;issues with object orientation in verifying safety-critical systems;and a systems engineering approach for constructing certifiable real-time distributed systems.

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An Organic computing architecture for visual microprocessors based on Marching Pixels

An Organic Computing architecture for visual microprocessors...

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IEEE international symposium on Circuits and Systems (ISCAS)

作者： Dietmar Fey Marcus Komann Frank Schurz Andreas Loos Institute of Computer Science Friedrich-Schiller-Universitat Jena Jena Germany

The paper presents architecture and synthesis results for an organic computing hardware for smart CMOS camera chips. The organic behavior in the chip hardware is based on distributed and emergent functionality exploited for detection of objects and their center points given in binary images. Future real-time embedded systems used in industrial image processing have to provide reply times in the range of milliseconds. It is impossible to meet such strict requirements for megapixel resolutions with serial processing schemes in particular if multiple given objects have to be detected. Even classical parallel techniques like SIMD or MIMD approaches are not sufficient due to their dependency on more or less central control structures. To achieve more flexibility, unlimited scalability and higher performance parallel emergent architectures are necessary. We present such an approach, denoted as marching pixels, for future digital visual microprocessors. Marching pixels work similar to artificial ants. They are crawling as hardware agents within a pixel field, e.g. to identify and to detect center points of an arbitrary number of objects given in an image. We present an emergent marching pixel algorithm for the processing of arbitrary concave objects and its mapping onto real hardware. Based on synthesis results for FPGAs and ASICs we discuss the possibilities of digital organic computing approaches for visual microprocessors for future smart high-speed camera systems.

关键词： Computer architecture Microprocessors Hardware object detection Smart cameras CMOS image sensors real time systems Embedded system Image processing Centralized control

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real-time acoustic source localization in noisy environments for human-robot multimodal interaction

Real-time acoustic source localization in noisy environments...

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IEEE international Workshop on Robot and Human Communication (ROMAN)

作者： Vlad M. Trifa Ansgar Koene Jan Moren Gordon Cheng ATR CNS Humanoid Robotics and Computational Neuroscience ETH Zurich Institute for Pervasive Computing Zurich Switzerland Knowledge Creating Communication Research Center NICT “Keihanna Science City” Kyoto Japan JST-ICORP Computational Brain Project Kawaguchi Saitama Japan

Interaction between humans involves a plethora of sensory information, both in the form of explicit communication as well as more subtle unconsciously perceived signals. In order to enable natural human-robot interaction, robots will have to acquire the skills to detect and meaningfully integrate information from multiple modalities. In this article, we focus on sound localization in the context of a multi-sensory humanoid robot that combines audio and video information to yield natural and intuitive responses to human behavior, such as directed eye-head movements towards natural stimuli. We highlight four common sound source localization algorithms and compare their performance and advantages for real-time interaction. We also briefly introduce an integrated distributed control framework called DVC, where additional modalities such as speech recognition, visual tracking, or object recognition can easily be integrated. We further describe the way the sound localization module has been integrated in our humanoid robot, CB.

关键词： Acoustic noise Working environment noise Humanoid robots Robot sensing systems Human robot interaction Acoustic signal detection Context distributed control Speech recognition object recognition

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ABARIS: An Adaptable Fault Detection/Recovery Component Framework for MPIs

ABARIS: An Adaptable Fault Detection/Recovery Component Fram...

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international symposium on Parallel and distributed Processing (IPDPS)

作者： Hideyuki Jitsumoto Toshio Endo Satoshi Matsuoka Tokyo Institute of Technology Tokyo Japan National Institute of Information Chiyoda Tokyo Japan

Long-running MPI applications on clusters and grids that are prone to node and network failures, motivates the use of fault tolerant MPI implementations. However, previous fault tolerant MPIs lack the ability to allow the user to easily choose appropriate fault recovery strategies according to the execution environment, independent of the application codes-rather, the user often had to hard-code restoration strategies in accordance to diverse sets of fault patterns, which could be numerous: for instance, if the fault is transient to a particular process, we merely have to restart the process on the same computing node; on the other hand, if the fault is due to repetitive hardware unreliability, we must migrate the process to a new node in its recovery. ABARIS is our new fault/recovery model aware component framework for MPI, where users can customize MPI fault detection and recovery algorithms according to their application and execution environmental requirements by merely selecting appropriate fault/recovery components, independent of the application code. Currently, the ARABIS framework prototype is implemented on top of MPICH-P4MPD. Preliminary evaluation of the prototype using NPB on our MPI fault simulator demonstrates that overhead compared to the original MPICH-P4MPD is almost negligible (less than 1%) under normal execution, and when faults occur, appropriate selections and pairings of fault model and recovery method components for corresponding to the execution environment is significant to the overall execution time.

关键词： Fault detection object oriented modeling Fault tolerance Programming profession Protocols Hardware Switches Prototypes Virtual prototyping Informatics

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Proceedings Sixth IEEE international symposium on object-oriented real-time distributed computing. ISORC 2003

Proceedings Sixth IEEE International Symposium on Object-Ori...

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international symposium on object-oriented real-time distributed computing

The following topics are dealt with: real-time systems; embedded systems; object-oriented programming; middleware; distributed computing; operating systems; formal specification.

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Dependable and secure TMO scheme

Dependable and secure TMO scheme

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9th IEEE international symposium on object and Component-oriented real-time distributed computing

作者： Kim, Jungin Thuraisingham, Bhavani Univ Texas Dept Comp Sci Austin TX 78712 USA

ISBN: (纸本)076952561X

In a real-time distributed computing environment, security is critical to protect the system from unauthorized access especially since such systems are being used in time critical applications. Access Control mechanisms have been introduced during the last several decades and have offered a basic and powerful means for enforcing security. In this paper, we examine the concepts of the TMO (time Triggered Message Triggered object) scheme that provides guaranteed real-time services in a distributed object computing environment. We also examine access control mechanisms;such as the traditional model, the RBAC (Role-based Access Control) model and the UCON (Usage Control) model. The main contribution of this paper is applying the traditional, RBAC and UCON models to the TMO scheme in order to provide a secure real-time distributed environment.

关键词： distributed computer systems

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