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4th International Symposium on Autonomous Minirobots for Research and Edutainment, AMiRE 2007

作者： El-Habbal, Mohamed Witkowski, Ulf Rueckert, Ulrich System and Circuit Technology Research Group Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany

Although stochastic models of speech signals (e.g. hidden Markov models, trigrams, etc) have lead to impressive improvements in speech recognition accuracy, it has been noted that these models have little relationship to speech production, and their recognition performance on some important tasks is far from perfect. However, there have been recent attempts to bridge the gap between speech production and speech recognition using models that are stochastic and yet make more reasonable assumptions about the mechanisms underlying speech production. A new technique, which is given the name "Letter Identification", is developed for the Khepera robot application, mainly to control the movement of the robot's mobile base and suit all the application's constraints. The recognition technique, together with the necessary software and hardware implementation, are described in this paper.

关键词： Speech recognition

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A Bluetooth scatternet for the Khepera robot

A Bluetooth scatternet for the Khepera robot

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4th International Symposium on Autonomous Minirobots for Research and Edutainment, AMiRE 2007

作者： Du, Jia Lei Witkowski, Ulf Rückert, Ulrich System and Circuit Technology Research Group Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany

Radio-based communication plays a vital role in multi-robot systems. Bluetooth is an energy-efficient communication technology suited for resource-limited mini-robots such as the Khepera. However, the maximum number of nodes in a Bluetooth piconet is limited, while scatternets-networks of piconets-have not been fully specified. In this paper we present a Bluetooth scatternet using Bluetooth communication sticks developed in our research group. In our solution, bridge nodes carrying two of such Bluetooth sticks are used to interconnect piconets. Beside the developed hardware, issues such as routing as well as topology control are addressed. Finally, data rate and latency measurements are presented for the implemented solution.

关键词： Multipurpose robots

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Controlling complexity of RBF networks by similarity

Controlling complexity of RBF networks by similarity

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15th European Symposium on Artificial Neural Networks, ESANN 2007

作者： Eickhoff, Ralf Rückert, Ulrich Circuit Design and Network Theory Technical University Dresden Germany Heinz Nixdorf Institute - System and Circuit Technology University of Paderborn Germany

ISBN: (纸本)2930307099

Using radial basis function networks for function approximation tasks suffers from unavailable knowledge about an adequate network size. In this work, a measuring technique is proposed which can control the model complexity and is based on the correlation coefficient between two basis functions. Simulation results show good performance and, therefore, this technique can be integrated in the RBF training procedure.

关键词： Radial basis function networks

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A digital framework for pulse coded neural network hardware with bit-serial operation

A digital framework for pulse coded neural network hardware ...

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7th International Conference on Hybrid Intelligent systems, HIS 2007

作者： Kaulmann, Tim Dikmen, Deniz Rückert, Ulrich Heinz Nixdorf Institute University of Paderborn Dept. of System and Circuit Technology Fuerstenallee 11 33102 Paderborn Germany

ISBN: (纸本)0769529461

This publication presents a digital framework for building up pulse coded neural networks with leaky integrate-and-fire neurons and static synapses as well as dynamic synapses. The system, including a novel communication infrastructure, is mainly focused on ASIC synthesis but also shows a small footprint on Virtex2(Pro) FPGAs. Its bitserial operation has been verified by simulations. © 2007 IEEE.

关键词： Network coding

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Environment exploration using mini-robot Khepera

Environment exploration using mini-robot Khepera

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4th International Symposium on Autonomous Minirobots for Research and Edutainment, AMiRE 2007

作者： Amin, S. Tanoto, A. Witkowski, U. Rückert, U. Abdel-Wahab, M.S. System and Circuit Technology Heinz Nixdorf Institute Paderborn University Fuerstenallee 11 D-33102 Paderborn Germany Faculty of Computer and Information Sciences Ain Shams University Cairo Egypt

This paper presents some results in the implementation of a local navigation strategy for environment exploration using real robots. As an experimental platform we used the mini-robot Khepera II running in the Tele-workbench. The complete environment is divided into small quadratic patches with some objects placed in it. With on-board infrared sensors and wheel encoder, the robot can successfully explore the unknown environment. Moreover, by calculating the distance of surrounding patches, the implemented algorithm will minimize the distance traveled, and in turn of consumed energy and time. This paper also shows the advantage of using the Teleworkbench for performing experiments using real robots.

关键词： Infrared detectors

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A Digital Framework for Pulse Coded Neural Network Hardware with Bit-Serial Operation

A Digital Framework for Pulse Coded Neural Network Hardware ...

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International Conference on Hybrid Intelligent systems (HIS)

作者： Tim Kaulmann Deniz Dikmen Ulrich Ruckert Heinz Nixdorf Institute Department of System and Circuit Technology University of Paderborn Paderborn Germany

This publication presents a digital framework for building up pulse coded neural networks with leaky integrate-and-fire neurons and static synapses as well as dynamic synapses. The system, including a novel communication infrastructure, is mainly focused on ASIC synthesis but also shows a small footprint on Virtex2(Pro) FPGAs. Its bit-serial operation has been verified by simulations.

关键词： Neural network hardware Neurons Field programmable gate arrays Biomembranes Neural networks Mathematical model Application specific integrated circuits Network synthesis Biological system modeling Biological neural networks

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Robot localization system based on 2D-color vision sensor

Robot localization system based on 2D-color vision sensor

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4th International Symposium on Autonomous Minirobots for Research and Edutainment, AMiRE 2007

作者： Ebied, H.M. Witkowski, U. Monier, E. Rückert, U. Abdel-Wahab, M.S. System and Circuit Technology Heinz Nixdorf Institute Paderborn University Fürstenallee 11 33102 Paderborn Germany Faculty of Computer and Information Sciences Ain Shames University Cairo Egypt International Graduate School of Dynamic Intelligent Systems University of Paderborn Germany

In this paper, a vision based localization is described. Mobile robots must be able to determine their own position to operate successfully in any environments. The Simultaneous Localization and Mapping (SLAM) problem is the key problem for any autonomous mobile robot. We will consider the positioning system of the autonomous minirobot Khepera II. The system uses different colored cylinder landmarks which are positioned at the corners of the environment. This paper describes development of an analytical model to calculate the robot's position based on a parameter set and the knowledge of the positions of landmarks. By using 2D vision, the robot is able to identify colored landmarks and to extract the centre of each landmark.

关键词： Object detection

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Run-Time Reconfiguration of FPGA-Based Drive Controllers

Run-Time Reconfiguration of FPGA-Based Drive Controllers

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2007 European Conference on Power Electronics and Applications, vol.9

作者： B. Schulz C. Paiz J. Hagemeyer S. Mathapati M. Porrmann J. Bocker Institute for Power Electronics and Electrical Drives Paderborn University Paderborn Germany Heinz Nixdorf Institute System and Circuit Technology Group Paderborn Germany

ISBN: (纸本)9789075815115;9075815115

In this contribution a Field Programmable Gate Array (FPGA) is used as target architecture to implement drive controllers. A novel concept for generic run-time switching between FPGA-based drive controllers is presented. The controller switching is done by using partial run-time hardware reconfiguration, which allows the implementation of various controllers without having to realize them all on the FPGA concurrently. It is shown that time-sharing of the FPGA resources can provide a resource-efficient implementation. A system architecture, which enables the realization of this scheme, is presented. A hard switching between controllers is implemented, for which the initial internal states of the controller to-be-loaded are computed. Experimental results show that the proposed scheme works satisfactory, opening new possibilities to the implementation of such adaptive control schemes.

关键词： Adaptive control Intelligent drive Mechatronics Parallel operation

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Defragmentation algorithms for partially reconfigurable hardware

IFIP Advances in Information and Communication Technology

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IFIP Advances in Information and Communication technology 2007年 240卷 41-53页

作者： Koester, Markus Kalte, Heiko Porrmann, Mario Rückert, Ulrich Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Germany School of Computer Science and Software Engineering University of Western Australia Australia

ISBN: (纸本)9780387736600

Dynamic reconfiguration is a promising approach for resource efficient utilization of microelectronic systems. Standard platforms for partial dynamic reconfiguration are field-programmable gate arrays (FPGAs). Multiple hardware tasks can share the same FPGA resources over time, which increases the device utilization in comparison to non-reconfigurable systems. Although, similar resource management is already known in the area of operating systems, there is a requirement to adapt these concepts to the special needs of dynamically reconfigurable systems. Additionally, there is a lack of underlying mechanisms, e.g., to suspend hardware tasks and restart them at a different position within the FPGA. In this article we introduce a mechanism for task relocation that includes saving and restoring of state information of the task. Based on this approach we address the problem of defragmentation. We present defragmentation algorithms that minimize different types of costs. With the help of a detailed simulation model and a benchmark, we finally provide realistic simulation results and compare the different algorithms.

关键词： Reconfigurable hardware

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Dedicated module access in dynamically reconfigurable systems 20

Dedicated module access in dynamically reconfigurable system...

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20th IEEE International Parallel and Distributed Processing Symposium, IPDPS 2006

作者： Hagemeyer, J. Kettelhoit, B. Porrmann, M. Heinz Nixdorf Institute University of Paderborn System and Circuit Technology 33102 Paderborn Germany

ISBN: (纸本)1424400546

Modern FPGAs, such as the Xilinx Virtex-II Series, offer the feature of partial and dynamic reconfiguration, allowing to load various hardware configurations (i.e., HW modules) during run-time. To enable communication with these modules and for controlling purposes, dedicated access to each module as well as dedicated signals to control the global communication are required. This paper discusses several ways of implementing dedicated signals and addresses the impact on dynamically reconfigurable systems. Two new approaches are introduced, which allow a permanent access to the modules and to the communication infrastructure even during reconfiguration. © 2006 IEEE.

关键词： Field programmable gate arrays (FPGA)

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