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检索条件"机构=Heinz Nixdorf Institute System and Circuit Technology"

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Demonstrating self-optimization using a heterogeneous robot group

Demonstrating self-optimization using a heterogeneous robot ...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Philipp Adelt Bernd Kleinjohann Stefan Herbrechtsmeier Ulrich Rückert 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

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.

关键词： Mechatronics Control systems Robot sensing systems Sensor systems Actuators Cognitive robotics circuits Runtime environment Knowledge transfer Computer architecture

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SPA - A system for Analysis of Indoor Team Sports Using Video Tracking and Wireless Sensor Network

SPA - A System for Analysis of Indoor Team Sports Using Vide...

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International Symposium on Image and Signal Processing and Analysis

作者： Per Wilhelm Emad Monier Patrick Thomas Ulrich Mckert System and Circuit Technology Heinz Nixdorf Institute University of Paderborn

ISBN: (纸本)9781424456499

This paper presents a sport analysis system (SPA -Sport Performance Analyzer), consisting of a high resolution video system together with a wireless sensor network for collecting position data and physiological data of sport players during training or competition. The combination of the two data streams provides a new performance analysis and visualization solution for indoor team sports.

关键词： Wireless sensor networks team sport system analyses data flow Videotapes Analysis Sports orientation data

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Self-optimization of MPSoCs Targeting Resource Efficiency and Fault Tolerance

Self-optimization of MPSoCs Targeting Resource Efficiency an...

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NASA/ESA Conference on Adaptive Hardware and systems (AHS)

作者： Mario Porrmann Madhura Purnaprajna Christoph Puttmann System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Germany

A dynamically reconfigurable on-chip multiprocessor architecture is presented, which can be adapted to changing application demands and to faults detected at run-time. The scalable architecture comprises lightweight embedded RISC processors that are interconnected by a hierarchical network-on-chip (NoC). Reconfigurability is integrated into the processors as well as into the NoC with minimal area and performance overhead. Adaptability of the architecture relies on a self-optimizing reconfiguration of the MPSoC at run-time. The resource-efficiency of the proposed architecture is analyzed based on FPGA and ASIC prototypes.

关键词： Fault tolerance Network-on-a-chip Runtime Redundancy system-on-a-chip NASA Adaptive systems Hardware Fault tolerant systems circuits

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Template matching based tracking of players in indoor team sports

Template matching based tracking of players in indoor team s...

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ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC

作者： Emad Monier Per Wilhelm Ulrich Ruckert System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Germany

This paper presents a video tracking system for tracking players in indoor sports using two high quality digital cameras. The tracking algorithm is a based on template matching technique taking into consideration closed world assumptions. The output of the system can be visualized interactively for convenient analysis of player movements. The implementation has been efficiently done as a software system that can be used by coaches and sport scientists.

关键词： Data visualization Games Digital cameras Acceleration Information analysis circuits Software systems Computer vision Data analysis Frequency

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A biologically-inspired and resource-efficient vision system using mobile mini-robots for obstacle avoidance

A biologically-inspired and resource-efficient vision system...

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IEEE International Conference on Robotics and Biomimetics

作者： Teerapat Chinapirom Ulf Witkowski Ulrich Ruckert System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Paderborn Germany

This paper describes a resource-efficient vision system for the mini-robot “Khepera”. It is implemented to perform a fundamental approach of robotic navigation, which is obstacle detection by using an optical flow algorithm. This is inspired by visual perception of insects. The optical flow field is evaluated by implementing the sum of absolute differences (SAD) operation of block matching while the mobile mini-robot moves on texture plane. The SAD is realized in an additional processing module based on a Field Programmable Gate Array (FPGA) solution which can perform various tasks in parallel; for example, image processing, camera control and symbolic protocol transmission to the mini-robot. As a result, the Khepera equipped with 2D camera and the additional module is able to autonomously move avoiding collisions with obstacles, called ego-motion. The 30 × 16 SAD operation is processed by computing 16 pairs of pixels in each operation, which accomplishes the real-time approach. The proposed implementation reduces processing time and power consumption.

关键词： Machine vision Biomedical optical imaging Image motion analysis Field programmable gate arrays Cameras Robots Navigation Visual perception Insects Image processing

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Analysis of an ASIC-based coherent polarization-multiplexed QPSK receiver and different receiver frontends 10

Analysis of an ASIC-based coherent polarization-multiplexed ...

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10. ITG-Fachtagung Photonische Netze - 10th ITG Conference on Photonic Networks

作者： El-Darawy, Mohamed Herath, Vijitha Pfau, Timo Hoffmann, Sebastian Peveling, Ralf Adamczyk, Olaf Wördehoff, Christian Rückert, Ulrich Noé, Reinhold Department of Optical Communication and High-Frequency Engineering University of Paderborn EIM-E Paderborn Germany Department of System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Paderborn Germany Nokia Siemens Networks Munich Germany

ISBN: (纸本)9783800731619

In this paper we present the characterization results of an optical coherent quadrature phase shift keying (QPSK) receiver with an application-specific integrated circuit (ASIC) based backend unit. Additionally we investigate the performance of an integrated optical coherent receiver frontend (ICR) and compare it against a fiber-pigtailed 90 optical hybrid. After characterization of the CMOS ASIC, we measure and analyze single polarization QPSK transmission at 2.5 Gbaud with different optical receiver frontend setups. Also we measure the polarization-multiplexed QPSK transmission and discuss the possible reasons for reduced sensitivity compared to the single-polarization transmission. © 2009 10. ITG-Fachtagung.

关键词： Application specific integrated circuits

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FPGA-based realization of self-optimizing drive-controllers

FPGA-based realization of self-optimizing drive-controllers

引用

Annual Conference of Industrial Electronics Society

作者： C. Paiz J. Hagemeyer C. Pohl M. Porrmann U. Rückert B. Schulz W. Peters J. Böcker System and Circuit Technology Group Heinz Nixdorf Institute University of Paderborn Paderborn Germany Institute of Power Electronics and Electrical Drives University of Paderborn Paderborn Germany

An FPGA (Field Programmable Gate Array) implementation and suitable power electronics can lead to a fast torque response in motion drive applications. However, when the controller parameters or its structure have to be adapted to internal and external varying conditions, e.g., when a self-optimizing control system is pursued, a static implementation might not lead to the best utilization of reconfigurable resources. This contribution outlines the implementation of a self-optimizing system composed of several possible hardware and software realizations of controllers for a permanent magnet servo motor. How well a specific controller realization is suited to the current situation is evaluated based on control quality and realization effort (i.e., CPU time, reconfigurable area). A system-on-Chip architecture is presented, which enables an on-line exchange of FPGA- and CPU-based realizations of controllers to optimize resource utilization and control quality. It is shown that by using dynamic hardware reconfiguration, such self-optimizing controller can be implemented based on FPGA technology. Furthermore, the design-flow including self-developed tools is outlined. Experimental results show that the proposed scheme works satisfactory.

关键词： Control systems Field programmable gate arrays Hardware Power electronics Torque Servomechanisms Permanent magnet motors Servomotors system-on-a-chip Computer architecture

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Analysis of an ASIC-based Coherent Polarization-Multiplexed QPSK Receiver and Different Receiver Frontends

Analysis of an ASIC-based Coherent Polarization-Multiplexed ...

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2009 ITG Symposium on Photonic Networks

作者： Mohamed El-Darawy Vijitha Herath Timo Pfau Sebastian Hoffmann Ralf Peveling Olaf Adamczyk Christian Woerdehoff Ulrich Rueckert Reinhold Noe Department of Optical Communication and High-Frequency Engineering University of Paderborn EIM-E Paderborn Germany Department of System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Paderborn Germany

In this paper we present the characterization results of an optical coherent quadrature phase shift keying (QPSK) receiver with an application-specific integrated circuit (ASIC) based backend unit. Additionally we investigate the performance of an integrated optical coherent receiver frontend (ICR) and compare it against a fiber-pigtailed 90° optical hybrid. After characterization of the CMOS ASIC, we measure and analyze single polarization QPSK transmission at 2.5 Gbaud with different optical receiver frontend setups. Also we measure the polarization-multiplexed QPSK transmission and discuss the possible reasons for reduced sensitivity compared to the single-polarization transmission.

关键词： Semiconductor device measurement CMOS integrated circuits Size measurement Optical receivers Application specific integrated circuits CMOS technology Adaptive optics

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A biologically-inspired and resource-efficient vision system using mobile mini-robots for obstacle avoidance

A biologically-inspired and resource-efficient vision system...

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2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

作者： Chinapirom, Teerapat Witkowski, Ulf Rückert, Ulrich System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Fuerstenallee 11 Paderborn33102 Germany

ISBN: (纸本)9781424426799

This paper describes a resource-efficient vision system for the mini-robot"Khepera". It is implemented to perform a fundamental approach of robotic navigation, which is obstacle detection by using an optical flow algorithm. This is inspired by visual perception of insects. The optical flow field is evaluated by implementing the sum of absolute differences (SAD) operation of block matching while the mobile mini-robot moves on texture plane. The SAD is realized in an additional processing module based on a Field Programmable Gate Array (FPGA) solution which can perform various tasks in parallel;for example, image processing, camera control and symbolic protocol transmission to the mini-robot. As a result, the Khepera equipped with 2D camera and the additional module is able to autonomously move avoiding collisions with obstacles, called ego-motion. The 30×16 SAD operation is processed by computing 16 pairs of pixels in each operation, which accomplishes the real-time approach. The proposed implementation reduces processing time and power consumption. © 2008 IEEE

关键词： Optical flows

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Teleworkbench: A remotely-accessible robotic laboratory for education

Teleworkbench: A remotely-accessible robotic laboratory for ...

引用

2007 AAAI Spring Symposium

作者： Tanoto, Andry Witkowski, Ulf Rückert, Ulrich Heinz Nixdorf Institute System and Circuit Technology University of Padeborn Germany

This paper presents a teleoperated robotic-laboratory named Teleworkbench and its benefit for educational purpose. It also presents briefly three issues that we need to take into consideration to make such a laborator... 详细信息

ISBN: (纸本)9781577353188

关键词： Robotics

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