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IFAC/EURON Symposium on Intelligent Autonomous Vehicles

作者： Remuß, Volker Musial, Marek Technische Universität Berlin Faculty of Electrical Engineering and Computer Science Real-Time Systems and Robotics Group Germany

This paper presents a distributed, master-less communication system currently used for communication in a fleet of heterogeneous unmanned aerial vehicles in the European project COMETS for wired and wireless links. Communication is realized using distributed shared memory (DSM) where each network node is holding full or part of the DSM. The coherency of the DSM is kept by a real-time aware protocol that provides quality of service guarantee and dynamic routing. Furthermore, an experiment is presented using the communication system on a wireless ad-hoc network. Copyright © 2004 IFAC

关键词： Memory architecture

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From a CORBA-based software framework to a component-based system architecture for controlling a mobile robot

From a CORBA-based software framework to a component-based s...

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Lecture Notes in computer Science

作者： Blum, Stefan A. Institute for Real-Time Computer Systems Technische Universität München Germany

We present the general purpose system architecture OSCAR (Operating System for the Control of Autonomous Robots) for mobile robots that completely relies on a software framework embedding several component types and the related "glue code". The underlying framework defines the necessary infrastructure in several ways: interfaces and data flow are standardized as well as configuration, booting, shutdown and several development constraints and facilities. All communication issues are covered by employing the CORBAmiddle-ware standard. The architecture itself defines a behavior-based control system that easily can be adapted to different tasks of a mobile robot if the related components are available. Anetwork established between several laboratories will support the exchange of components for rapid software development for robotic systems. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Mobile robots

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Stability of stepping movements in the frontal plain a biomechanical model

Stability of stepping movements in the frontal plain a biome...

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2007 ASME Summer Bioengineering Conference, SBC 2007

作者： Karg, Sonja A. Institute for Real-Time Computer Systems Technische Universität München Munich Germany

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Deterministic models of the physical layer through signal simulation 8

Deterministic models of the physical layer through signal si...

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8th EAI International Conference on Simulation Tools and Techniques, SIMUTOOLS 2015

作者： Maier, Daniel Moser, Steffen Slomka, Frank Institute of Embedded Systems/Real-Time Systems Faculty of Engineering and Computer Science and Psychology Ulm University Germany

ISBN: (纸本)9781631900792

Current wireless network simulators provide very detailed and deterministic models of the network protocol layers, whereas rather simple and stochastic models, based on the signal-to-noise ratio, are used for the simulation of the physical layer. Although this approach can be sufficient to study the behavior of different upper layer protocol variations, it prevents an easy alteration of the physical layer because a stochastic abstraction of the physical layer must be provided in advance. In particular, the simulation of distributed systems with physical layers that are designed to have several senders transmitting signals at the same time intentionally, is hardly possible with current approaches. A further problem of stochastic physical layer simulations is the fact that the radio channel's influence must also be carried out stochastically, which limits the advantage of accurate ray-optical channel models. We present a novel approach for the accurate simulation of the physical layer by utilizing existing software-defined radio implementations to create signals, to calculate interference and to decode signals. This technique enables us to simulate wireless networks holistically and, furthermore, we can fully exploit the possibilities of available ray-optical channel models. Copyright © 2015 ICST.

关键词： Wireless networks

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Designing vm schedulers for embedded real-time applications 11

Designing vm schedulers for embedded real-time applications

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Embedded systems Week 2011, ESWEEK 2011 - 9th IEEE/ACM International Conference on Hardware/Software-Codesign and System Synthesis, CODES+ISSS'11

作者： Masrur, Alejandro Pfeuffer, Thomas Geier, Martin Drössler, Sebastian Chakraborty, Samarjit Institute for Real-Time Computer Systems TU Munich Germany ReliaTec GmbH Garching Germany

ISBN: (纸本)9781450307154

Virtual Machines (VMs) allow for platform-independent soft- ware development and their use in embedded systems is in- creasing. In particular, VMs are rewarding in the context of mixed-criticality applications to provide isolation between critical and non-critical tasks running on the same processor. In this paper, we study the design of a real-time system based on a VM monitor/hypervisor that supports multiple VMs/domains. Since each VM in the system runs several real-time tasks, scheduling the VMs leads to a hierarchical scheduling problem. So far, most published techniques for analyzing hierarchical scheduling deal with the schedulability problem, i.e., for a given hierarchical scheduler, testing whether a set of real-time tasks meet their deadlines. In this paper, we are rather concerned with the synthesis of hierarchical/VM schedulers;that is, how to design a scheduler such that all real-time tasks running on the different VMs meet their deadlines. We consider a setup where the tasks are scheduled on multiple VMs under fixed priorities according to the Deadline Monotonic (DM) policy. The VMs are scheduled under fixed priorities on a Rate Monotonic (RM) basis using one or more processors. A partitioned scheduling of VMs is considered, i.e., VMs are not allowed to migrate from one processor to the other. In this context, we propose a method for selecting optimum time slices and periods for each VM in the system. Our goal is to configure the VM scheduler such that not only all tasks are schedulable but also the minimum possible resources are used. Finally, to illustrate the proposed design technique, we present a case study based on automotive control applications. Copyright 2011 ACM.

关键词： Virtual machine

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Representing Assembly Directions by Spherical Polygones

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IFAC Proceedings Volumes 1992年第28期25卷 106-110页

作者： Gerhard Werling Andreas Hug Institute for Real-time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

The purpose of this paper is to present a method of extracting assembly directions for workpieces in an assembly set and to represent all these directions in an adequate manner. Local assembly directions are automatically derived from a CAD model of the assembly set and modeled as so-called direction figures. These direction figures can be uniquely represented by spherical polygons, the analog of planar polygons on the sphere. As it will be shown, it is possible to apply proven “planar” algorithms to spherical polygons. The algorithms presented in this paper solve, e.g. the problem of determining the intersection of two spherical polygons, the point-in-polygon test and the calculation of the centre of a polygon. Since the representation of assembly (or machining) directions is required by various manufacturing planning algorithms, a good solution to this problem is of considerable importance in the area of intelligent manufacturing systems.

关键词： assembly directions direction figures spherical polygons computational geometry modelbased assembly planning

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Empowering Leather Quality Assurance: Leveraging Convolutional Neural Networks for Precise Defect Detection and Classification

Empowering Leather Quality Assurance: Leveraging Convolution...

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International Symposium on Advanced Computing and Communication (ISACC)

作者： Logeswaran K Suresh P Savitha S Swati Sah Prasanna Kumar Kr Rajadevi R Vasugi M Sujit B Akilesh T Department of Artificial Intelligence Center of Excellence in Real-Time Analytic Kongu Engineering College Erode Tamilnaud India Department of Database Systems Vellore Institute of Technology Vellore Tamil Nadu India Department of Computer Science and Engineering K.S.R College of Engineering Tiruchengode Tamil Nadu India School of Engineering and Technology Sharda University Greater Noida Uttar Pradesh India Department of Information Technology Kongu Engineering College Erode Tamilnaud India Department of Artificial Intelligence Kongu Engineering College Erode Tamilnaud India

ISBN: (数字)9798331523893

ISBN: (纸本)9798331523909

Ensuring the development of high-quality leather products in the industrial sector requires a strong focus on leather quality assurance. In this study, a unique method for enhancing leather quality assurance using Convolutional Neural Networks (CNNs) is presented. Our suggested solution is able to detect and classify leather defects with amazing accuracy and efficiency by utilizing deep learning. CNN integration for leather fault categorization and detection offers a more reliable and affordable solution, ensuring better product quality and satisfied customers. Existing methods for inspecting leather products often suffer from inconsistent quality control, subjective manual inspection processes, and the complexity of accurately identifying and classifying various types of leather defects. By addressing these challenges, the proposed system aims to empower leather manufacturers with a reliable and efficient solution for ensuring consistent product quality and reducing production costs. Convolutional Neural Networks (CNNs) are integrated to provide a highly automated and effective solution that overcomes these scaling challenges. The proposed CNN-based method uses deep learning algorithms to decode images, which allows the system to swiftly and precisely analyse enormous volumes of visual data. To make sure the CNN can differentiate between various defect classes and keep a low rate of false positives and false negatives, its accuracy, precision, recall, and F1 score should be carefully assessed.

关键词： Deep learning Visualization Quality assurance Accuracy Quality control Product design Quality assessment Convolutional neural networks Reliability Defect detection

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Stable interest point detection under illumination changes using colour invariants

Stable interest point detection under illumination changes u...

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2005 16th British Machine Vision Conference, BMVC 2005

作者： Faille, Flore Institute for Real-Time Computer Systems Technische Universität München 80290 Munich Germany

ISBN: (纸本)1901725294

Stable interest point detection is relevant for many computer vision applications. However, most detectors are sensitive to illumination changes, as their response varies with image contrast. In the best case, detection stability is increased using a simple image formation model assuming that illumination effects cause slowly varying changes in the image. This does not accurately model shadows and shading (interaction between illumination and scene geometry). Therefore, a new detection method is presented here, which is based on the very popular Harris detector and on the m space [5]. It yields a detection which is invariant to shadows, shading and illumination colour for matte surfaces. A preprocessing scheme is proposed to reduce the sensitivity to colour artifacts caused by demosaicing. The new detector is evaluated on real images acquired under different illuminations by comparison with other interest point detectors. The detection stability is well enhanced, especially for scenes with complex geometry.

关键词： Color

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Towards more realistic simulations of ad-hoc networks-challenges and opportunities

Towards more realistic simulations of ad-hoc networks-challe...

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2010 International Symposium on Performance Evaluation of computer and Telecommunication systems, SPECTS 2010

作者： Moser, Steffen Slomka, Frank Institute of Embedded Systems/Real-Time Systems Faculty of Engineering and Computer Science Ulm University 89069 Ulm Germany

ISBN: (纸本)9781617387036

Vehicular Ad-hoc Networks are a very interesting self-organizing communication system that can make the traffic on our roads much safer. A lot of aspects of the behavior of these systems are studied using network simulation frameworks. While the upper communication layers of Vehicular Ad-hoc Networks are mainly simulated according to their specifications, in this paper we will highlight weak points in these simulations. They occur due the fact that the layers below the link layer are considered very rarely and are also almost neglected by the commonly used network simulation frameworks. This can potentially lead to inaccurate simulation results which can be fatal when studying safety relevant applications or application with real-time constraints. In this work in progress paper we are going to propose an approach to get this under control.

关键词： Vehicular ad hoc networks

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A variable structure force controller for robotic manipulators

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IFAC Proceedings Volumes 1994年第14期27卷 481-486页

作者： I.E. Paromtchik M. Damm L.I. Matioukhina University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany

Hybrid position/force control for robotic manipulators is considered. The control is carried out in task coordinates. For the force control the non-linear variable structure controller is presented and investigated. The controller maintains the system to reach and remain at the switching hypersurfaces, consisting of internal coordinates of the force controller. The stability of the system and the existing of the sliding mode are analyzed by means of the second Lyapunov method. The developed non-linear force controller was implemented for the hybrid position/force control of a PUMA 200 manipulator. The experimental setup and obtained results are described.

关键词： Position/force control robot variable structure systems stability

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