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International Electrical Engineering Congress (iEECON)

作者： Somchok Sakjiraphong Andre Pinho Matthew N. Dailey Mongkol Ekpanyapong Adriano Tavares Computer Science and Information Management Klong Luang Pathumthani Thailand Microelectronics and Embedded Systems Asian Institute of Technology Department of Industrial Electronics University of Minho Portugal

We present a real-time algorithm for lane boundary estimation based on matched filters and a RANSAC-based method for boundary marking identification. The algorithm is designed to run with minimal assumptions about the environment using a single monocular camera sensor and low-cost commodity compute hardware. With GPU acceleration and TBB, the algorithm runs in less than 25 ms on average on images of size 640 × 480 comparing with 0.12 seconds running on CPU baseline.

关键词： Graphics processing units Instruction sets Convolution Arrays Real-time systems Estimation Cameras

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Optimal scheduling of single-arm multi-cluster tools with two-space buffering modules

Optimal scheduling of single-arm multi-cluster tools with tw...

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2014 IEEE International Conference on Automation science and Engineering, CASE 2014

作者： Yang, Fajun Wu, Naiqi Qiao, Yan Zhou, Mengchu Department of Industrial Engineering School of Electro-Mechanical Engineering Guangdong University of Technology Guangzhou510006 China Institute of Systems Engineering Macau University of Science and Technology China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai201804 China Department of Electrical and Computer Engineering New Jersey Institute of Technology NewarkNJ07102-1982 United States

A multi-cluster tool is composed of a number of single-cluster tools linked by buffering modules. The capacity of a buffering module can be one or two. Aiming at finding an optimal one-wafer cyclic schedule, this work explores the effect of two-space buffering modules on the performance of a multi-cluster tool. The tool is modeled by a kind of Petri nets. The dynamic behavior of robot waiting and tasks, process modules, and buffers is well captured by the net model. With the model, this work shows that there is always a one-wafer cyclic schedule that reaches the lower bound of the cycle time of a process-dominant tool. Furthermore, a constant-time algorithm is revealed to find such a schedule for the first time for such multi-cluster tools. An illustrative example is given to show the application and power of this new method. © 2014 IEEE.

关键词： Petri nets

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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Hardware-accelerated Wireless Sensor Network for distributed Structural Health Monitoring

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Procedia Technology 2014年 15卷 737-746页

作者： A. Engel A. Friedmann M. Koch J. Rohlfing T. Siebel D. Mayer A. Koch Embedded Systems & Applications Group Computer Science Institute Technical University Darmstadt 64289 Darmstadt Germany Research Division Smart Structures Fraunhofer LBF 64289 Darmstadt Germany System Reliability and Machine Acoustics Group Technische Universität Darmstadt 64289 Darmstadt Germany

Civil infrastructure objects are subject to safety-related issues such as increasing loads and extended service live. Costly manual inspections of these structures should therefore be supplemented by automated continuous monitoring. In this work, a hardware-accelerated wireless sensor network built entirely with energy-efficient embedded components is proposed as the basis for a distributed structural health monitoring (SHM) implementation. In addition to detection and localization of structural damage, the energy-efficiency of the wireless data acquisition system is the major topic of this work. By utilizing the Random-Decrement (RD) technique, the structure's modal parameters are acquired based on ambient excitation such as wind or traffic. The RD functions are calculated by a Field-Programmable Gate Arrays (FPGA) designed for mobile applications. To demonstrate the benefits of the proposed monitoring network, the model of a truss bridge is excited by a train set to simulate realistic operational excitations. Dominant mode shapes of the bridge model are extracted from the RD functions using frequency domain Operational Modal Analysis and compared to previously determined reference measurements. The loosening of a single bolted joint simulates damage and is found to be reflected in significant deviations of the first vertical bending mode, located at 68 Hz.

关键词： Structural Health Monitoring operational modal analysis Wireless Sensor Network reconfigurable computing

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A distributed Market-based Algorithm for the Multi-robot Assignment Problem

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Procedia computer science 2014年 32卷 1108-1114页

作者： Sahar Trigui Anis Koubaa Omar Cheikhrouhou Habib Youssef Hachemi Bennaceur Mohamed-Foued Sriti Yasir Javed University of Manouba ENSI Tunisia Cooperative Intelligent Networked Systems (COINS) Research Group Riyadh Saudi Arabia Prince Sultan University College of Computer and Information Sciences Riyadh Saudi Arabia CISTER/INESC-TEC ISEP Polytechnic Institute of Porto Porto Portugal University of Sfax Computer and Embedded Systems Lab Tunisia University of Sousse PRINCE Research Unit Tunisia Al Imam Mohammad Ibn Saud Islamic University Computer Science Department Saudi Arabia

Assigning tasks to a set of robots is a fundamental problem in robotics. It consists in finding the best task assignment to the available robots. In this paper, we present two distributed market-based algorithms to solve the assignment problem where n robots compete for n tasks with the assumption that each robot can be assigned to only one task. The first algorithm, called DMB, represents a distributed Market-Based algorithm where each robot bids for every task. The second algorithm is an extension of the DMB. It consists in swapping tasks between robots in order to improve the efficiency of the whole assignment. We conducted both real-world experimental testing, and MATLAB simulations to evaluate performance of the proposed algorithms and compare them against the centralized Hungarian algorithm in terms of traveled distance. Simulation results show that the IDMB algorithm produces near optimal solutions and in several cases it gives the optimal solution. In addition, we demonstrated the feasibility of our algorithms through real-world experimentation on robots.

关键词： Task Assignment Market-based Algorithms Multi-Robot Task Allocation ROS.

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Challenges for Software Engineering in Automation

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Journal of Software Engineering and Applications 2014年第5期7卷 440-451页

作者： Birgit Vogel-Heuser Christian Diedrich Alexander Fay Sabine Jeschke Stefan Kowalewski Martin Wollschlaeger Peter Gohner Institute of Automation and Information Systems Technische Universitat MünchenMünchenGermany Institute for Automation and Communication Otto von Guericke University MagdeburgMagdeburgGermany Institute of Automation Technology Helmut-Schmidt-UniversityHamburgGermany Institute of Information Management in Mechanical Engineering RWTH Aachen UniversityAachenGermany Computer Science 11—Embedded Software Laboratory RWTH Aachen UniversityAachenGermany Institute for Applied Computer Science Dresden University of TechnologyDresdenGermany Institute of Industrial Automation and Software Engineering University of StuttgartStuttgartGermany

This paper gives an introduction to the essential challenges of software engineering and requirements that software has to fulfill in the domain of automation. Besides, the functional characteristics, specific constraints and circumstances are considered for deriving requirements concerning usability, the technical process, the automation functions, used platform and the well-established models, which are described in detail. On the other hand, challenges result from the circumstances at different points in the single phases of the life cycle of the automated system. The requirements for life-cycle-management, tools and the changeability during runtime are described in detail.

关键词： Automation Software Engineering Models Tools

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IibARA: A framework for simulation and testbed based studies on ant routing algorithms in wireless multi-hop networks 7

IibARA: A framework for simulation and testbed based studies...

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7th International Conference on Performance Evaluation Methodologies and Tools, VALUETOOLS 2013

作者： Frey, Michael Große, Friedrich Günes, Mesut Department of Computer Science Humboldt-Universität zu Berlin Unter den Linden 6 Berlin10099 Germany Distributed Embedded Systems Institute of Computer Science Freie Universität Berlin Takustrasse 9 Berlin14195 Germany

ISBN: (纸本)9781936968480

Routing in wireless multi-hop networks has been an active area of research over the last decade. Although, many test-beds were setup recently, the knowledge about the dynamic behavior of routing algorithms and the performance evaluation were mainly done via simulation. Simulation studies are imperative to understand important aspects of the algorithms, but are limited in certain aspects of the physical environment. Therefore, it is necessary to study routing algorithms also in a more realistic environment, in a testbed. Unfortunately, studying algorithms both in simulation and testbed raises multiple challenges. Particularly, the code base of the routing algorithm differ in both environments, which may lead to different behavior of the same routing algorithm. In this paper we introduce libARA, a framework that supports simulation and testbed experiments to study ant routing algorithms on the very same code base. Thus, the logic of the routing algorithm is the same, but works on two different environments. This is important to keep the results from both environments comparable and thus to increase the insight into the behavior of the algorithm. The main goal of the framework is to investigate the scalability and adaptability of ant routing algorithms. Copyright © 2013 ICST.

关键词： Routing algorithms

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Towards viable certificate-based authentication for the Internet of Things

Towards viable certificate-based authentication for the Inte...

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2013 2nd ACM Workshop on Hot Topics on Wireless Network Security and Privacy, HotWiSec 2013

作者： Hummen, René Ziegeldorf, Jan H. Shafagh, Hossein Raza, Shahid Wehrle, Klaus Communication and Distributed Systems RWTH Aachen University Germany Swedish Institute of Computer Science Kista Sweden

ISBN: (纸本)9781450320030

The vision of the Internet of Things considers smart objects in the physical world as first-class citizens of the digital world. Especially IP technology and RESTful web services on smart objects promise simple interactions with Internet services in the Web of Things, e.g., for building automation or in e-health scenarios. Peer authentication and secure data transmission are vital aspects in many of these scenarios to prevent leakage of personal information and harmful actuating tasks. While standard security solutions exist for traditional IP networks, the constraints of smart objects demand for more lightweight security mechanisms. Thus, the use of certificates for peer authentication is predominantly considered impracticable. In this paper, we investigate if this assumption is valid. To this end, we present preliminary overhead estimates for the certificate-based DTLS handshake and argue that certificates - with improvements to the handshake - are a viable method of authentication in many network scenarios. We propose three design ideas to reduce the overheads of the DTLS handshake. These ideas are based on (i) pre-validation, (ii) session resumption, and (iii) handshake delegation. We qualitatively analyze the expected overhead reductions and discuss their applicability. Copyright 2013 ACM.

关键词： Internet of things

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Optimal scheduling of single-arm multi-cluster tools with two-space buffering modules

Optimal scheduling of single-arm multi-cluster tools with tw...

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IEEE International Conference on Automation science and Engineering (CASE)

作者： FaJun Yang NaiQi Wu Yan Qiao MengChu Zhou Department of Industrial Engineering Guangdong University of Technology Guangzhou China Institute of Systems Engineering Macau University of Science and Technology Macau Key Laboratory of Embedded System and Service Computing Tongji University Shanghai China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

关键词： Schedules Robot kinematics Firing Semiconductor device modeling Fires Load modeling

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CLOUD COMPUTING

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China Communications 2014年第4期11卷 I0001-I0002页

作者：崔勇 Rajkumar Buyya 刘江川 Tsinghua University Network Technology in Institute Tsinghua University IPv6 Transition Softwire WG of IETF Tsinghua University Computer Science and Software Engineering at the University of Melbourne Cloud Computing and Distributed Systems(CLOUDS) Laboratory at the University of Melbourne School of Computing Science at Simon Fraser University

Cloud computing is a novel computing paradigm that utilizes remote cloud resources to achieve a high-performance *** provides infrastructure,platform and software as different on-demand *** has made remarkable progress in cloudbased products and operating system *** government,enterprises and research institutions are all active in the development of cloud computing-related *** the progress,many important

关键词：计算模式性能计算基础设施操作系统科研机构远程软件

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