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On generalized separation and the speedup of local operators on multi-dimensional signals

On generalized separation and the speedup of local operators...

引用

International Workshop on Multidimensional (nD) systems

作者： Sebastian Pfeiffer Michael Mai Wolfgang Globke Jan Calliess Institute of Applied Computer Science Karlsruhe Institute of Technology Germany Institute of Interactive Real-Time Systems Karlsruhe Institute of Technology Germany Institute of Algebra and Geometry Karlsruhe Institute of Technology Germany School of Computer Science Carnegie Mellon University USA

Along with the boom of computer vision- and other signal processing-based applications, the question of fast local operator application has become increasingly important over the past decade. For two-dimensional signals, such as images, local operator separation has proven to ameliorate the computational effort incurred by prominent operators such as mean filter, binomial filter or Sobel filter. However, many modern days' applications involve higher-dimensional input signals including tomography, functional magnetic resonance imaging (fMRI), selective plane illumination microscopy (SPIM), confocal laser scanning microscopy (CLSM), special image fusion. In this work, we generalize previous separation methods in order to make them applicable to input spaces of arbitrary (but finite) dimensionality. We show how this approach renders the computational effort of the dominant multiplicative part of local filter application linear both in size and dimension. Thus, filtering can become feasible for input signals whose dimensionality and size complexity would otherwise be prohibitively high. Finally, we present experiments that demonstrate our approach to be highly beneficial not only in theory but also in practice.

关键词： Filters Magnetic separation Application software Magnetic force microscopy computer vision Signal processing Tomography Magnetic resonance imaging Lighting Laser fusion

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Experiences with Evolutionary Timing Test of Automotive Software Components

Experiences with Evolutionary Timing Test of Automotive Soft...

引用

3rd International Symposium on Leveraging Applications of Formal Methods, Verification and Validation

作者： Franz, Florian BMW Group Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)9783540884781

This paper reports our experiences in estimating the worst case execution time (WCET) of automotive software components with evolutionary testing (ET). The concept maximizes the runtime of software components (SWCs) with internal states by evolving the applied test sequences. We show that the use of timing tests is strongly facilitated by the automotive architecture framework AUTOSAR. A problem of the testing concept is the high temporal effort, that comes along with measuring the execution time of a rest sequence on the target hardware. An analysis of the evolutionary testability shows, that the high number of input parameters makes it hard to find the maximum execution time. The WCET estimates obtained with genetic algorithms (GAs) are inferior compared with the results of random testing. GAs ran into local optima in case of flat;execution time profiles, whereas random testing keeps searching globally. Random testing is outperformed by extended GAs which are adaptive to the underlying optimization problem.

关键词： Genetic algorithms

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Experiences with Evolutionary Timing Test of Automotive Software Components

Experiences with Evolutionary Timing Test of Automotive Soft...

引用

作者： Franz, Florian BMW Group and Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)3540884785

This paper reports our experiences in estimating the worst case execution time (WCET) of automotive software components with evolutionary testing (ET). The concept maximizes the runtime of software components (SWCs) with internal states by evolving the applied test sequences. We show that the use of timing tests is strongly facilitated by the automotive architecture framework AUTOSAR. A problem of the testing concept is the high temporal effort, that comes along with measuring the execution time of a test sequence on the target hardware. An analysis of the evolutionary testability shows, that the high number of input parameters makes it hard to find the maximum execution time. The WCET estimates obtained with genetic algorithms (GAs) are inferior compared with the results of random testing. GAs run into local optima in case of flat execution time profiles, whereas random testing keeps searching globally. Random testing is outperformed by extended GAs which are adaptive to the underlying optimization problem. © Springer-Verlag Berlin Heidelberg 2008.

关键词： Software testing

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dominguez, Salvador Zalama, Eduardo Garcia-Bermejo, Jaime G. Pulido, Jaime CARTIF Foundation Robotics Computer Vision and Real Time Division Boecillo Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Spain

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisen is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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Interfaces for integrating cognitive functions into Intelligent Vehicles

Interfaces for integrating cognitive functions into Intellig...

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IEEE Symposium on Intelligent Vehicle

作者： Matthias Goebl Georg Farber Technische Universität Munchen Institute for Real-Time Computer Systems München Germany

Intelligent vehicles comprise a large set of cognitive functions that form their intelligence. For the realization of every function, several software modules are needed, which exhibit a number of interdependencies. Because software is often contributed by different groups of developers, the collaboration requires manageable interfaces and makes the integration process a big challenge. For this reason, our work concentrates on designing interfaces, which are easy to handle and provide the maximum benefit. Furthermore, we discuss important integration aspects for a smooth deployment, while we present successful results demonstrating the efficiency of our concepts in a transregional research project.

关键词： Vehicles

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Merge-by-Wire: Algorithms and System Support

Merge-by-Wire: Algorithms and System Support

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real-time systems Symposium (RTSS)

作者： Vipul Shingde Gurulingesh Raravi Ashish Gudhe Prakhar Goyal Krithi Ramamritham Embedded Real-Time Systems Laboratory Department of Computer Science and Engineering Indian Institute of Technology Bombay

Automakers are trying to make vehicles more intelligent and safe by embedding processors which can be used to implement ldquoby-wirerdquo applications for taking smart decisions on the road or assisting the driver in doing the same. Given this proliferation, there is a need to minimize the computing power required without affecting the performance and safety of the applications. The latter is especially important since these by-wire applications are distributed and real-time in nature and involve deadline bound computations on critical data gathered from the environment. These applications have stringent requirements on the freshness of data items and completion time of the tasks. Our work studies one such safety-related automotive application namely, automatic merge control (AMC) which ensures safe vehicle maneuver in the region where two or more roads *** our contributions, we (i) propose two merge algorithms for amc: head of the lane (HoL) and all feasible sequences (AFS) (ii) demonstrate how DSRC-based wireless communication protocol can be leveraged for the development of AMC (iii) present a real-time approach towards designing AMC by integrating mode-change and real-time repository concepts for reducing the processing power requirements and (iv) provide a scheduling strategy to meet AMC taskspsila timing requirements. Simulations and implementation on robotic vehicular platforms demonstrate the advantages of using our approach for constructing merge-by-wire systems.

关键词： Intelligent vehicles Road vehicles Vehicle safety Vehicle driving Distributed computing Automotive applications Automatic control Communication system control Scheduling algorithm Wireless communication

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Software architecture of the Autonomous Mobile Outdoor Robot AMOR

Software architecture of the Autonomous Mobile Outdoor Robot...

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IEEE Symposium on Intelligent Vehicle

作者： Klaus-Dieter Kuhnert Institute of Real-Time Learning Systems Department of Electrical Engineering and Computer Science University of Siegen Germany

Even if outdoor robotics is gaining increasing interest, universal systems are rare to find up to now. One of them is the autonomous mobile outdoor robot (AMOR), which operates in rough terrain under arbitrary weather condition. This paper presents its software architecture and some performance figures. The whole system is designed by a modular and layered paradigm, to allow for easy reconfiguration and adaptation to new tasks. Elementary behaviours act as the fundament, which delivers the basic abilities and secures the robot. Model based components are utilized for more intelligent tasks like obstacle avoidance and local/global path planning. Robust operation in complex terrain is achieved by combining a multitude of sensors. The software architecture unifies them by introducing a virtualisation layer, which hides all hardware specific consideration from the application programmer. This way the overall system configuration can be easily adapted to the actual task without changing the high level software. Above the medium layer an object oriented system has been implemented, that is able to localise, navigate and avoid obstacles in rough terrain. The overall performance of the system has been proven by winning the first price in autonomous driving in the European Land Robot Trial (ELROB 2007) for urban and non-urban terrain. Details of the performance are given in the results.

关键词： Vehicles

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Concept and implementation of a software system on the Autonomous Mobile Outdoor Robot AMOR

Concept and implementation of a software system on the Auton...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Klaus-Dieter Kuhnert Institute of Real-Time Learning Systems Department of Electrical Engineering and Computer Science University of Siegen Germany

The paper describes the software architecture of an autonomous mobile outdoor robot (AMOR). The robot is intended for robust operation in heavy terrain under arbitrary weather condition. The software is implemented in a layered architecture, possessing behaviour based and model based components. The multitude of different sensors is unified by a virtualisation layer, which allows easy reconfiguration and utilisation by the application programmer. The higher levels of the software system realise localisation, navigation and obstacle avoidance. The overall performance of the system has been proven by winning the first prize in autonomous driving in the European land robot trial (ELROB 2007) for urban and non- urban terrain.

关键词： Robots Sensors Vehicles Sensor systems Robustness Distance measurement Planning

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Multi-modal multi-user telepresence and teleaction system

Multi-modal multi-user telepresence and teleaction system

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS

作者： Buss, Martin Peer, Angelika Schauß, Thomas Stefanov, Nikolay Unterhinninghofen, Ulrich Behrendt, Stephan Färber, Georg Leupold, Jan Diepold, Klaus Keyrouz, Fakheredine Sarkis, Michel Hinterseer, Peter Steinbach, Eckehard Färber, Berthold Pongrac, Helena Institute of Automatic Control Engineering Technische Universität München Munich Germany Institute for Real-Time Computer Systems Technische Universität München Munich Germany Institute for Data Processing Technische Universität München Munich Germany Institute of Communication Networks Technische Universität München Munich Germany Human Factors Institute University of the Bundeswehr Munich Germany

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Bounding Shared-Stack Usage in systems with Offsets and Precedences

Bounding Shared-Stack Usage in Systems with Offsets and Prec...

引用

Euromicro Conference on real-time systems

作者： Markus Bohlin Kaj Hänninen Jukka Mäki-Turja Jan Carlson Mikael Nolin Mälardalen Real-Time Research Centre (MRTC) Västerås Sweden Swedish Institute of Computer Science (SICS) Kista Sweden Arcticus Systems Järfälla Sweden CC Systems Uppsala Sweden

ISBN: (纸本)9780769532981

The paper presents two novel methods to bound the stack memory used in preemptive, shared stack, real-time systems. The first method is based on branch-and-bound search for possible preemption patterns, and the second one approximates the first in polynomial time. The work extends previous methods by considering a more general task-model, in which all tasks can share the same stack. In addition, the new methods account for precedence and offset relations. Thus, the methods give tight bounds for a large set of realistic systems. The methods have been implemented and a comprehensive evaluation, comparing our new methods against each other and against existing methods, is presented. The evaluation shows that our exact method can significantly reduce the amount of stack memory needed.

关键词： offsets new methods Furnace conveyors branch and bound search precedence Bound Religious Missions Polynomial time comprehensive assessment

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