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URSI Atlantic Radio Science Meeting

作者： Saed Abughannam J. Christoph Scheytt Dept. of System and Circuit Technology Heinz Nixdorf Institute University of Paderbom Paderborn Germany

ISBN: (纸本)9781538637647

This paper demonstrates system level analysis of an energy efficient Radio Frequency (RF) receiver. The receiver is based on a Surface Acoustic Wave (SAW) correlator which is used for highly linear demodulation and interferer suppression in conjunction with envelope detection for ultra-low power dissipation and hardware efficiency. The receiver is to be used in Wireless Sensor Networks (WSN) as a Wake-up Receiver (WuR) to reduce the network nodes power dissipation and provide asynchronous data communication. Low latency and high interference robustness makes this scheme interesting for industrial real-time applications. In this paper, the SAW correlator transfer function is derived, which functions as a Matched Filter (MF). Since the receiver uses envelope detection and based on the characteristic of the SAW, the receiver sensitivity is analyzed by means of a non-linear approach.

关键词： receiver SAW WSN

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Linear ultra-broadband NPN-only analog correlator at 33 Gbps in 130 nm SiGe BiCMOS technology

Linear ultra-broadband NPN-only analog correlator at 33 Gbps...

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2016 IEEE Bipolar/BiCMOS circuits and technology Meeting, BCTM 2016

作者： Javed, A.R. Scheytt, J.C. Ahe, U.V.D. System and Circuit Technology Group Heinz Nixdorf Institute University of Paderborn Paderborn Germany

ISBN: (纸本)9781509004843

An ultra-broadband analog correlator consisting of a four-quadrant multiplier and an ultra-fast resettable integrator using only NPN transistors was designed, fabricated, and measured. For the integrator, a cross-coupled transistor pair is used as a negative resistance generator. A novel ultra-fast reset circuit is implemented which allows to reset the integrator within very short time of 120 ps. The chip was fabricated using 130 nm SiGe BiCMOS technology with fT of 250 GHz and fmax of 300 GHz. In the measurements carried out on printed circuit board, the correlator operated without noticeable performance degradation with inputs up to 33 Gbps which correspond to a bandwidth of more than 24 GHz. The correlator exhibits high linearity with output P1dB of more than 9.9 dBm (700 mVdiff) for both inputs. It dissipates 122.5 mW for the core circuit excluding the 50 Ω output driver. To the knowledge of the authors, the circuit represents the fastest analog correlator published so far. It can be used for spread spectrum communication, radar signal processing, and measurement applications. © 2016 IEEE.

关键词： Si-Ge alloys

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Local Navigation Strategies for Multi-Robot Exploration: From Simulation to Experimentation with Mini-Robots

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Procedia Engineering 2012年 41卷 1197-1203页

作者： Andry Tanoto Ulrich Rückert System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Füurstenallee 11 Paderborn 33102 Cognitronics and Sensor Systems Group Cognitive Interaction Technology Centre of Excellence (CITEC) Bielefeld University 33615 Bielefeld Germany

This paper presents two local navigation strategies for multi-robot systems in performing exploration of unknown environments. The strategies are based on the frontier cell for mapping the environment and navigating in it. Additionally, two coordination strategies are used to solve possible conﬂicts among robots. Key criteria investigated are the efﬁciency and effectiveness represented by the completion time, travelled distance, the total steps, and the task distribution. The developed algorithms are tested in simulations as well as in experiments with Khepera III mini robots running on the Teleworkbench. To evaluate the robustness of the developed algorithms, tests are performed under different environmental conﬁgurations and varying numbers of robots. The results show the advantages of both proposed strategies in different situations such as environment types and starting positions.

关键词： Multi-robot system Environment exploration Mini Robot Teleworkbench Robot experiment

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A TCMS-based architecture for GALS NoCs

A TCMS-based architecture for GALS NoCs

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IEEE International Symposium on circuits and systems

作者： Thorsten Jungeblut Johannes Ax Mario Porrmann Ulrich Ruckert Department of Cognitronics and Sensor Systems Center of Excellence Cognitive Interaction Technology (CITEC) Bielefeld University Germany Department of System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Germany

ISBN: (纸本)9781467302180

In this work we propose a TCMS (Tightly Coupled Mesochronous Synchronizer)-based architecture of Globally-Asynchronous Locally-Synchronous (GALS) Network-on-Chips (NoC). The NoC is based on the GigaNoC approach, a scalable NoC featuring packet-switched wormhole routing. At a clock frequency of 750MHz a link bandwidth of up to 6GByte/s is achieved. To provide a high computational performance, the processing engines (PEs) are based on the CoreVA VLIW architecture. The resource efficiency of mesochronous (TMCS-based) and asynchronous (FIFO-based) communication links is analyzed. In addition an asynchronous coupling of the PE to the switch boxes is evaluated. This allows for multi-voltage/multi-frequency scenarios, where the performance of each PE is adapted to the current performance requirements. Analyses have shown, that TCMS-based communication links and asynchronously coupled PEs allow for the high efficiency of GALS-based NoCs with moderate additional resource requirements.

关键词： Synchronization Clocks Computer architecture Bandwidth Throughput Switches Frequency synchronization

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Scalable and flexible vision-based multi-robot tracking system

Scalable and flexible vision-based multi-robot tracking syst...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Andry Tanoto Hanyi Li Ulrich Rückert Joaquin Sitte System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Paderborn Germany The Cognitronics and Sensor Systems Group Cognitive Interaction Technology Centre of Excellence (CITEC) Bielefeld University Bielefeld Germany The Faculty of Science and Technology Queensland University of Technology Brisbane QLD Australia

Precise position is necessary for a robot to reliably localize itself and navigate in the environment. Robot position can be calculated internally or acquired from an external system. This paper presents a software architecture of a vision-based robot tracking system that can provide precise position information as well as identification of many robots. The software architecture has been designed to take into consideration the need for a flexible and scalable system that can interoperate with many similar systems and support different types of image sources, image processing, and outputs. With the architecture, future enhancements or replacements can be implemented as plug-ins, which can be easily integrated into the system. This paper also demonstrates the proposed architecture in different application scenarios.

关键词： Streaming media Cameras Servers Robot vision systems system recovery

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Evaluation of applied intra-disk redundancy schemes to improve single disk reliability

Evaluation of applied intra-disk redundancy schemes to impro...

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IEEE Annual International Symposium on Modeling, Analysis and Simulation of Computer and Telecommunication systems

作者： Grawinkel, Matthias Schäfer, Thorsten Brinkmann, André Hagemeyer, Jens Porrmann, Mario Paderborn Center for Parallel Computing PC2 University of Paderborn Germany Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Germany

ISBN: (纸本)9780769544304

Exponentially growing capacities of disk drives have increased the problem that not only a complete disk can fail, but also individual, small groups of sectors can be erroneous. These sector errors are especially critical during RAID rebuilds because they can only be detected when the corresponding sectors are read. Mechanisms to cope with sector errors, therefore, have become an important way to improve disk reliability. One approach to deal with sector errors is the introduction of intra-disk redundancy, where additional redundancy blocks are calculated and stored for each set of disk sectors. Previous studies have introduced intra-disk redundancy schemes and have evaluated their impact on disk reliability. None of these studies has evaluated the influence on disk drive performance or the underlying energy consumption. The study presented in this paper benchmarks existing schemes concerning these metrics. It shows the surprising result that weaker codes combined with newly introduced scrambling techniques can produce faster layouts with similar reliability properties than previously proposed strong codes. © 2011 IEEE.

关键词： Energy utilization

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Teleworkbench: Validating robot programs from simulation to prototyping with minirobots

Teleworkbench: Validating robot programs from simulation to ...

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10th International Conference on Autonomous Agents and Multiagent systems 2011, AAMAS 2011

作者： Tanoto, A. Werner, F. Rückert, U. Li, H. System and Circuit Technology Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany Cognitronics and Sensor Systems Group CITEC Bielefeld University 33615 Bielefeld Germany

ISBN: (纸本)9781618391018

This paper describes a Demo showing the role of the Tele-workbench in the validation process of a multi-agent system, e.g., a traffic management system. In the Demo, we show the capability of the Teleworkbench in seamlessly bridging the simulation and experimentation with real robots. During experiments, important information is logged for analysis purpose. Additionally, a graphical user interface enables geographically distributed users to perform some levels of interactivity, e.g., watch the video or command the robots. Copyright © 2011, International Foundation for Autonomous Agents and Multiagent systems (***). All rights reserved.

关键词： Multi agent systems

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Miniature robot BeBot: Mechatronic test platform for self-x properties

Miniature robot BeBot: Mechatronic test platform for self-x ...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Jürgen Gausemeier Thomas Schierbaum Roman Dumitrescu Stefan Herbrechtsmeier Alexander Jungmann Heinz Nixdorf Institute University of Paderborn Germany System and Circuit Technology System and Circuit Technology University of Paderborn Germany C-LAB University of Paderborn Germany

Machines are omnipresent. They produce, they transport. Machines facilitate work and assist. The increasing penetration of mechanical engineering by information technology enables considerable benefits. We refer to such systems as advanced mechatronic systems, which relay on the close interaction of mechanics, electric/electronics, control engineering and software engineering. Hence, the design and production of such systems is an interdisciplinary and complex task. Our ambition is a new school for the design of advanced mechatronic systems. Consequently, we need an avant-garde basic system which can be used to develop and to test future applications. The miniature robot BeBot is such a basic system. This robot constitutes the test bench for the applications, being based on modern approaches, such as self-optimization, self-organization and self-coordination as well as on the use of new manufacturing technologies.

关键词： Mechatronics Robot kinematics Robot sensing systems Batteries Cameras

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Evaluation of Applied Intra-disk Redundancy Schemes to Improve Single Disk Reliability

Evaluation of Applied Intra-disk Redundancy Schemes to Impro...

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International Symposium on Modeling, Analysis and Simulation of Computer and Telecommunication systems (MASCOTS)

作者： Matthias Grawinkel Thorsten Schafer Andre Brinkmann Jens Hagemeyer Mario Porrmann Paderborn Center of Parallel Computing PC2 University of Paderborn Germany Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Germany

关键词： Redundancy Disk drives Encoding Power measurement Hard disks Energy consumption

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Demonstrating self-optimization using a heterogeneous robot group

Demonstrating self-optimization using a heterogeneous robot ...

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8th IEEE International Conference on Industrial Informatics, INDIN 2010

作者： Adelt, Philipp Kleinjohann, Bernd Herbrechtsmeier, Stefan Rückert, Ulrich C-LAB. University of Paderborn Germany System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Germany Cognitronic and Sensor Systems University of Bielefeld Germany

ISBN: (纸本)9781424473007

Self-optimization is a concept for mechatronic systems to leave open the choice among system objectives as a degree of freedom until runtime to allow better adaptation to changing system and environment conditions. Demonstration and knowledge transfer of the concept is not easy as the effects of it in mechatronic systems are hard to see in a complex system. To further spread the idea of self-optimization, an intuitive anchor is needed to make it easier to talk about the concept. Also the abstraction from technical details facilitates focusing on the concept. We have developed a multi-agent heterogeneous robotic demonstrator that allows showing the process of self-optimization on a timescale of minutes. The demonstrator decomposes the roles in a mechatronic system to robotic agents. An association between a function and the behavior of the robot is achieved. After having demonstrated the setup for expert and non-expert audiences we have seen the encouraging effect that discussions spin off easily and allow to spread the idea effectively. We present the concept of self-optimization, the behavior-based demonstrator scenario implemented using BeBot miniature and Paderkicker robots in an office environment. © 2010 IEEE.

关键词： Robots

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