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International Symposium on Database Engineering and Applications (IDEAS)

作者： A. Munnich M. Birkhold G. Farber P. Woitschach Laboratory for Process Control and Real-Time Systems Technische Universität München Munchen Germany Rohde & Schwarz GmbH and Company KG Munchen Germany

Component-based concepts are being increasingly used in software design since they allow high-quality software to be generated within a short time and hence at low costs. By contrast, component technologies haven't yet provided the means of composing software from components without additional programming. The reason for this lies in the combined transfer of control and data flow and the fact that there is no standardized control flow. An architecture model is presented that separates the transfer of the two information flows. The data flow is transferred via an active real-time database (ARTDB) and the control flow reduced to a few, indispensable commands. In this way it is possible to design applications simply by combining and configuring components without any additional code development. Initial positive experience with this architecture was gained from its industrial application. It was possible to demonstrate the suitability for systems with soft deadlines.

关键词： real time systems Databases Application software Read only memory Laboratories process control Costs Logic programming Software packages Problem-solving

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What can be learned from human reach-to-grasp movements for the design of robotic hand-eye systems?

What can be learned from human reach-to-grasp movements for ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Hauck M. Sorg G. Farber T. Schenk Laboratory Process Control & Real-Time Systems Technische Universität München Munich Germany Department of Neurology Ludwig-Maximilians-Universitaet Muenchen Munich Germany

In the field of robot motion control, visual servoing has been proposed as the suitable strategy to cope with imprecise models and calibration errors. Remaining problems such as the necessity of a high rate of visual feedback are deemed to be solvable by the development of real-time vision modules. However, human grasping, which still outshines its robotic counterparts especially with respect to robustness and flexibility, definitely requires only sparse, asynchronous visual feedback. We therefore examined current neuroscientific models for the control of human reach-to-grasp movements with the emphasis lying on the visual control strategy used. From this, we developed a control model that unifies the two robotic strategies look-then-move and visual servoing, thereby compensating the problems that each strategy shows when used alone.

关键词： Humans Robot control Visual servoing Calibration Robot motion Motion control Error correction Robustness Manipulators Robot sensing systems

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Mixed abstraction level hardware synthesis from SDL for rapid prototyping

Mixed abstraction level hardware synthesis from SDL for rapi...

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International Workshop on Rapid System Prototyping (RSP)

作者： O. Bringmann A. Muth F. Slomka W. Rosenstiel G. Farber R. Hofmann Wilhelm-Schickard-Institut für Informatik Department of Computer Engineering Universität Tubingen Germany Laboratory for Process Control and Real-Time Systems Technische Universitä MTünchen Germany Department of Computer Architecture and Performance Evaluation Universität Erlangen Nürnberg Germany

SDL is currently gaining interest as a system level specification language for HW/SW codesign. Automated synthesis of SDL in hardware so far had problems with its efficiency. The investigations on the resource usage of SDL-to-VHDL designs presented in this paper identify two key challenges: minimizing the overhead introduced by SDL process infrastructure, and choosing the appropriate synthesis method. This paper presents a framework for SDL hardware synthesis where VHDL code generation, high-level synthesis and RT-level synthesis are combined. A configurable run-time environment implements services like data handling and message passing in efficient, hand-coded library components, which take into account properties of the target architecture. For these components RT-level synthesis was found to be suitable. The behavior of each SDL process on the other hand is freely specified by the system designer. Depending on the type of application, i.e. complex data-oriented or control-oriented either high-level synthesis, RT-level synthesis, or a combination of both can prove to be optimal.

关键词： Hardware Prototypes control system synthesis Timing High level synthesis Computer architecture Resource management Arithmetic High performance computing Design engineering

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Mapping an embedded hard real-time systems SDL specification to an analyzable task network a case study 4th

Mapping an embedded hard real-time systems SDL specification...

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4th ACM SIGPLAN Workshop on Languages, Compilers, and Tools for Embedded systems, LCTES 1998

作者： Kolloch, Thomas Färber, Georg Laboratory for Process Control and Real-Time Systems Technische Universität Miinchen Germany

ISBN: (纸本)354065075X

It is undoubtedly true, that the usage of a formal specification methodology in software design will reduce the development effort, particularly as embedded hard real-time systems show increasing functional complexity. We suggest the use of the language SDL even for the design of real-time systems with hard timing constraints. Emerging problems, caused by the non-deterministic semantics of SDL, can be solved by adding EDF process activation to the SDL system model. This paper describes the different steps necessary to map a SDL system specification to an analyzable task network. Considering a SDL process as a typical server process, the mapping rules are resolving the resulting interdependencies and delays, caused by possible priority inversion and blocking. Finally the study of an application example, the "Mine control System" proofs the usabilty of the introduced methods. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Software design

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An MPEG-processor-based robot vision system for real-time detection of moving objects by a moving observer

An MPEG-processor-based robot vision system for real-time de...

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14th International Conference on Pattern Recognition, ICPR 1998

作者： Stöffler, Norbert O. Schnepf, Zoltan Laboratory for Process Control and Real-Time Systems Technische Universität München D-80333 München Germany

ISBN: (纸本)0818685123

Describes a PC-based vision system that can be used to detect moving objects from a mobile robot. An image processing board equipped with an MPEG motion estimation processor calculates a sparse but robust optic flow in real-time. An algorithm to evaluate this kind of optic flow has been realized in software. It determines relevant motion parameters and a simple scene interpretation in terms of moving object regions. The image processing board and the algorithm are presented in some detail;the performance of the system is demonstrated by experiments. © 1998 IEEE.

关键词： Motion estimation

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Schedulability Analysis for Communicating Tasks on a Multiprocessor System

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IFAC Proceedings Volumes 1998年第14期31卷 31-36页

作者： Shuhua Wang Georg Färber Laboratory for Process Control and Real Time Systems Technische Universität München Germany

In this paper a schedulability analysis algorithm for communicating tasks on a multiprocessor system is proposed. The precedence constraints caused by communications are represented by offsets and modified deadlines. The communication cost between two tasks residing on different processors has influence on both the offset as well as the modified deadline. To simplify the analysis, the algorithm classifies tasks into two groups: transactions and jobs. Transaction is a set of tasks with the same period length. Job is a set of tasks with precedence constraints within a transaction. Because of the precedence constraints, tasks within the same job can not interfere with each other. With this method the interference caused by higher priority tasks can be easily determined. In addition to precedence constraints, communication costs are also taken into account in the proposed algorithm which is different from the former schedulability analyses.

关键词： Schedulability analysis multiprocessor systems precedence constraints

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Fusing a Panoramic Laser Range Finder with a Binocular Stereo System Using Hypothetical Features

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IFAC Proceedings Volumes 1998年第3期31卷 357-362页

作者： Christof Eberst G. Förber Laboratory of Process Control and Real-Time Systems Technische Universität München 80290 Munich Germany

This paper describes an approach to stabilize video based exploration by fusing sensorially explored 3D video features with hypothetical ones which are converted from laser features. The approach does neither pose constraints on the sensor control, nor does it require congruent or simultaneous observations. The fusion simplifies the interpretation of the sensor data.

关键词： sensor fusion structure recognition exploration map generation laser range finder

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Towards interprocess communication and interface synthesis for a heterogeneous real-time rapid prototyping environment

Towards interprocess communication and interface synthesis f...

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International Workshop on Hardware/Software Codesign (CODES)

作者： F. Fischer A. Muth G. Farber Laboratory for Process Control and Real Time Systems Technische Universität München Germany

Rapid Prototyping has been proposed as a means to reduce development time and costs of real-time systems. Our approach uses a heterogeneous, tightly coupled multiprocesser system based on off-the-shelf components as target architecture for an executable prototype, which is generated from the specification in an automated design process. Here, too, we aim to use existing tools and languages. But interface and communication synthesis, while being the key requirement of an automated translation of a abstract specification to a distributed system, is not yet state-of-the-art. The sensitivity of the overall performance of multiprocessor systems to overhead and latency introduced by communication on the other hand calls for an efficient interprocess communication (IPC). This paper presents concept and implementation of IPC functions which, implementing the message queue semantics of the specification language SDL, links the standard components of our multiprocessor system in an efficient manner while at the same time providing the interface synthesis needed by the automated generation of a rapid prototype. The experiences gained when implementing a non-trivial, real-world CAN controller and monitor application on our rapid prototyping environment, are described as a first proof of concept.

关键词： Prototypes Multiprocessing systems Costs real time systems process design Delay Specification languages control system synthesis Automatic control Monitoring

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An MPEG-processor-based robot vision system for real-time detection of moving objects by a moving observer

An MPEG-processor-based robot vision system for real-time de...

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International Conference on Pattern Recognition

作者： N.O. Stoffler Z. Schnepf Lab. for Process Control & Real-Time Syst. Tech. Univ. Munchen Germany Laboratory for Process Control and Real-Time Systems Technische Universitat Munchen Munchen Germany

Describes a PC-based vision system that can be used to detect moving objects from a mobile robot. An image processing board equipped with an MPEG motion estimation processor calculates a sparse but robust optic flow in real-time. An algorithm to evaluate this kind of optic flow has been realized in software. It determines relevant motion parameters and a simple scene interpretation in terms of moving object regions. The image processing board and the algorithm are presented in some detail; the performance of the system is demonstrated by experiments.

关键词： Robot vision systems real time systems Image processing Image motion analysis Machine vision Object detection Mobile robots Motion estimation Robustness Software algorithms

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NoWait-RPC: extending ONC RPC to a fully compatible message passing system

NoWait-RPC: extending ONC RPC to a fully compatible message ...

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International Symposium on Parallel processing

作者： T. Hopfner F. Fischer G. Farber Laboratory for Process Control and Real-Time Systems Germany Technische Universität München Germany

Locally and functionally distributed applications realized on different system architectures demand a universal, portable and intuitive software utility for interprocess communication. Remote Procedure Calling (RPC) fulfills these requirements but suffers unnecessarily strict synchronization and the danger of deadlocks with complex client/server relations. Using message passing to avoid the inherent problems of RPC, however requires additional knowledge and sometimes a complete structural redesign. This paper presents NoWait-RPC, an extended but fully compatible version of SUN's Open Network Computing Group's ONC RPC, which adds message passing capabilities to form an easy to use programming environment for robust system integration. NoWait-RPC was developed to resolve potentially arising deadlocks in an already RPC-based complex application. It is designed to be a plug-and-play substitute for ONC RPC and consists of the library and the extended protocol compiler nwrpcgen. Additionally, applications using the asynchronous (non-blocking) features of NoWait-RPC may experience a major speedup compared to ONC RPC through pipelining calls to different servers. It has successfully been employed in a research programme dealing with the development of autonomous mobile robots.

关键词： Message passing System recovery Application software Computer architecture Communication system software Network servers Sun Computer networks Programming environments Robustness

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