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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Jia Lei Du S. Ruhrup U. Witkowski U. Ruckert System and Circuit Technology Research Group Heinz Nixdorf Institute University of Paderborn Paderborn Germany Algorithms and Complexity Research Group Heinz Nixdorf Institute University of Paderborn Paderborn Germany

If robots are deployed in large numbers in disaster scenarios, the ability to discover and exchange resources and services with other robots in an open, heterogeneous, large-scale network would be essential for a successful operation. In this paper we present a discovery protocol that enables robots to efficiently locate resources and services available in large-scale networks. It is specifically designed for robot networks which are characterized by potentially highly dynamic network topologies and high service announcement-to-lookup ratios. The protocol exploits the position data of the robots to increase scalability and efficiency. A cell-based overlay structure is created, with master nodes in each cell. Through proactive intra-cell communication and reactive inter-cell communication, scalability is ensured and the effects of node movements on the overall network are minimized.

关键词： Large-scale systems Intelligent networks Robot sensing systems Mobile communication Mobile robots Scalability Robotics and automation Protocols Humans Robot vision systems

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REPLICA: a bitstream manipulation filter for module relocation in partial reconfigurable systems

REPLICA: a bitstream manipulation filter for module relocati...

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International Symposium on Parallel and Distributed Processing (IPDPS)

作者： H. Kalte G. Lee M. Porrmann U. Ruckert School of Computer Science & Software Engineering University of Western Australia Crawley WA Australia Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Paderborn Germany

The feature of partial reconfiguration provided by currently available field programmable gate arrays (FPGAs) makes it possible to change hardware modules while others keep working. The combination of this feature and the high gate capacity enables the integration of dynamic systems that can be adapted to changing demands during runtime. Placing the dynamically changing modules along a horizontal communication infrastructure does not only provide communication facilities it also enables the relocation of pre-synthesized modules by bitstream manipulations. The exact placement of an incoming module is determined according to the current resource allocation, which results in an online placement problem. In order to prevent any extra configuration overhead for the relocation process, we developed the REPLICA (relocation per online configuration alteration) filter, which is capable of performing the necessary bitstream manipulations during the regular download process. The filter architecture, a configuration manager and an evaluation example are presented in this paper.

关键词： Filters Field programmable gate arrays Resource management Runtime Computer architecture Software tools Power generation Computer science Software engineering Road transportation

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Task placement for heterogeneous reconfigurable architectures

Task placement for heterogeneous reconfigurable architecture...

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IEEE International Conference on Field-Programmable technology (FPT)

作者： M. Koester M. Porrmann H. Kalte Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Germany School of Computer Science and Software Engineering University of Western Australia Australia

The concept of partial reconfiguration offers the possibility to dynamically place and remove hardware tasks on reconfigurable architectures, like FPGAs. Common placement algorithms, e.g. Best Fit, are designed for homogeneous architectures, since they do not consider any placement constraints of the hardware tasks. Due to the integration of, e.g., dedicated memory, current FPGAs are heterogeneous reconfigurable architectures. In this paper we introduce two heterogeneous placement algorithms, which are able to deal with the constraints of the hardware tasks. Both algorithms are compared to the Best Fit algorithm by using a simulation framework for partially configurable architectures. We propose concepts of an efficient hardware realization of our placement approach with Xilinx Virtex-II FPGAs. Moreover, we present a task placement mechanism to change the position of a hardware task on the FPGA by manipulating the configuration data of the task

关键词： Reconfigurable architectures Hardware Field programmable gate arrays Resource management Computer architecture circuits Computer science Software engineering Australia Computer vision

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Context saving and restoring for multitasking in reconfigurable systems

Context saving and restoring for multitasking in reconfigura...

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International Conference on Field Programmable Logic and Applications

作者： H. Kalte M. Porrmann School of Computer Science & Software Engineering University of Western Australia Crawley WA Australia Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Germany

Today's Field Programmable Gate Arrays (FPGAs) can be reconfigured partially, which makes it possible to share resources between various functional modules (hardware tasks) over time. This concept is well known in the area of conventional operating systems. However, in order to transfer resource sharing concepts to operating systems on FPGAs, several underlying mechanisms have to be developed. One of these mechanisms is to suspend hardware tasks and restart them at another time and/or another area of the FPGA. Addressing this problem, this paper discusses ways to save and restore the state information of a hardware task. Afterwards, an implementation of a state relocation mechanisms is presented that uses the standard configuration port. In contrast to similar approaches, we significantly reduce the amount of readback data by reading only those configuration frames that contain state information. We finally determine the time overhead for task relocation, which is essential for most multitasking concepts, like defragmentation.

关键词： Multitasking Hardware Field programmable gate arrays Registers Operating systems Resource management circuits Runtime Computer science Software engineering

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system-on-programmable-chip approach enabling online fine-grained 1D-placement

System-on-programmable-chip approach enabling online fine-gr...

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Proceedings - 18th International Parallel and Distributed Processing Symposium, IPDPS 2004 (Abstracts and CD-ROM)

作者： Kalte, H. Porrmann, M. Rückert, U. Heinz Nixdorf Institute System and Circuit Technology University of Paderborn 33102 Paderborn Germany

ISBN: (纸本)0769521320

The increasing logic density of current FPGAs (Field Programmable Gate Arrays) enables the integration of whole systems on one programmable chip. Some of these FPGAs provide the additional feature of partial dynamic reconfiguration, which permits to change parts of the device while other parts keep working. Combining the features of system level density and partial dynamic re-configuration enables the integration of dynamic systems that can be adopted to changing demands during runtime. A lot of theoretical work in this challenging research area has been done on efficiently placing and scheduling modules on the FPGA area. However, there is a lack of applied approaches that can be realized by existing tools and FPGAs. In this paper we present a new, realizable approach for the dynamic system integration on Xilinx Virtex FPGAs. In contrast to the existing approaches that consider fixed slots for the module placement, our approach enables the fine-grained placement of modules with variable width along a horizontal communication infrastructure1.

关键词： Microprocessor chips

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Cooperating autonomous and mobile minirobots in dynamic environments 4

Cooperating autonomous and mobile minirobots in dynamic envi...

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4th IFAC Workshop Automatic systems for Building the Infrastructure in Developing Countries, DECOM-TT 2004

作者： Witkowski, Ulf Chinapirom, Teerapat Du, Jia Lei Ruckert, Ulrich Manolov, Ognyan System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Paderborn33102 Germany Institute of Control and Systems Research Bulgarian Academy of Sciences Sofia1113 Bulgaria

A particular challenge in robotics is the development of autonomous mobile robots working in a cooperative way. In this paper, a robot system is introduced that facilitates the development and analysis of cooperative behavior strategies for real minirobots. The general goal is the development of a mine detection scheme for a team of robots with the subtasks positioning, exploration, environment sensing, and communication. Platform for our experiments is a teleworkbench that provides well defined and reproducible conditions. Additionally, the experiments are recorded on video and streamed via internet for detailed analysis, and it is possible to program and to control the group of robots via remote access. Copyright © 2004 IFAC.

关键词： Behavioral research

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system-on-programmable-chip approach enabling online fine-grained 1D-placement

System-on-programmable-chip approach enabling online fine-gr...

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International Symposium on Parallel and Distributed Processing (IPDPS)

作者： H. Kalte M. Porrmann U. Ruckert Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Paderborn Germany

Summary form only given. The increasing logic density of current FPGAs (field programmable gate arrays) enables the integration of whole systems on one programmable chip. Some of these FPGAs provide the additional feature of partial dynamic reconfiguration, which permits to change parts of the device while other parts keep working. Combining the features of system level density and partial dynamic reconfiguration enables the integration of dynamic systems that can be adopted to changing demands during runtime. A lot of theoretical work in this challenging research area has been done on efficiently placing and scheduling modules on the FPGA area. However, there is a lack of applied approaches that can be realized by existing tools and FPGAs. We present a new, realizable approach for the dynamic system integration on Xilinx Virtex FPGAs. In contrast to the existing approaches that consider fixed slots for the module placement, our approach enables the fine-grained placement of modules with variable width along a horizontal communication infrastructure.

关键词： Field programmable gate arrays Runtime Decoding Filters circuits Logic arrays Shape Collaborative work Intellectual property system-on-a-chip

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Cooperating Autonomous and Mobile Minirobots in Dynamic Environments

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IFAC Proceedings Volumes 2004年第19期37卷 277-282页

作者： Ulf Witkowski Teerapat Chinapirom Jia Lei Du Ulrich Rückert Ognyan Manolov System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Paderborn 33102 Germany Institute of Control and Systems Research - Bulgarian Academy of Sciences Sofia 1113 Bulgaria

关键词： Autonomous mobile robots exploration communication dynamic environments hardware

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Study on column wise design compaction for reconfigurable systems

Study on column wise design compaction for reconfigurable sy...

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IEEE International Conference on Field-Programmable technology (FPT)

作者： H. Kalte G. Lee M. Porrmann U. Ruckert University of Western Australia School of Computer Science & Software Engineering Crawley WA Australia System and Circuit Technology University of Paderborn Paderborn Germany

Some of currently available field programmable gate arrays (FPGAs) can be reconfigured partially, which makes it possible to build up dynamic systems that can be adapted to changing demands during runtime. One basic aspect of such a system is the way the dynamic hardware modules are placed on the FPGA. As most FPGAs offer partial reconfiguration in a column wise manner, a 1D placement of column wise implemented modules seems to be promising. Within This work we present a design study that determines the effects of a column wise module implementation on the resulting frequency and power consumption.

关键词： Compaction Field programmable gate arrays Frequency Energy consumption Hardware circuits Digital signal processing Computer science Road transportation Runtime

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Fuzzy logic based intelligent motion control of robot swarm simulated by Khepera robots

Fuzzy logic based intelligent motion control of robot swarm ...

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International IEEE Conference on Intelligent systems, IS

作者： Z. Minchev O. Manolov S. Noykov U. Witkowski U. Riickert Center for Biomedical Engineering Bulgarian Academy of Sciences Sofia BG Bulgaria Institute of Control and Systems Research Bulgarian Academy of Sciences Sofia BG Bulgaria System and Circuit Technology University of Paderborn Paderbom DE Germany

The coordination of intelligent behavior among the swarm of autonomous agents and the contrivance of interrelations between the collections are the sine qua non of the multiagent systems (MAS). The metamorphic robotic systems are a new and rather perspective sphere of robotics because of the different and useful applications. These self-reconfiguring robotic systems could be described as MAS. The metamorphic robots could be considered as a collection of identical modules and each unit has the ability to connect, disconnect, climb over its near neighbors or to move independently. The leading scope of this issue is the implementation of intuitionistic fuzzy sets (IFS) in MAS for synthesis of useful technique for optimization. The technique is applied in the strategy for investigation of unknown environment with swarm of Khepera robots.

关键词： Intelligent robots Fuzzy logic Intelligent control Motion control Robot kinematics Robot sensing systems Control systems Telephony Intelligent agent Multiagent systems

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