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Scalable and flexible vision-based multi-robot tracking system

Scalable and flexible vision-based multi-robot tracking syst...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Andry Tanoto Hanyi Li Ulrich Rückert Joaquin Sitte System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Paderborn Germany The Cognitronics and Sensor Systems Group Cognitive Interaction Technology Centre of Excellence (CITEC) Bielefeld University Bielefeld Germany The Faculty of Science and Technology Queensland University of Technology Brisbane QLD Australia

Precise position is necessary for a robot to reliably localize itself and navigate in the environment. Robot position can be calculated internally or acquired from an external system. This paper presents a software architecture of a vision-based robot tracking system that can provide precise position information as well as identification of many robots. The software architecture has been designed to take into consideration the need for a flexible and scalable system that can interoperate with many similar systems and support different types of image sources, image processing, and outputs. With the architecture, future enhancements or replacements can be implemented as plug-ins, which can be easily integrated into the system. This paper also demonstrates the proposed architecture in different application scenarios.

关键词： Streaming media Cameras Servers Robot vision systems system recovery

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A TCMS-based architecture for GALS NoCs

A TCMS-based architecture for GALS NoCs

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IEEE International Symposium on circuits and systems

作者： Thorsten Jungeblut Johannes Ax Mario Porrmann Ulrich Ruckert Department of Cognitronics and Sensor Systems Center of Excellence Cognitive Interaction Technology (CITEC) Bielefeld University Germany Department of System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Germany

ISBN: (纸本)9781467302180

In this work we propose a TCMS (Tightly Coupled Mesochronous Synchronizer)-based architecture of Globally-Asynchronous Locally-Synchronous (GALS) Network-on-Chips (NoC). The NoC is based on the GigaNoC approach, a scalable NoC featuring packet-switched wormhole routing. At a clock frequency of 750MHz a link bandwidth of up to 6GByte/s is achieved. To provide a high computational performance, the processing engines (PEs) are based on the CoreVA VLIW architecture. The resource efficiency of mesochronous (TMCS-based) and asynchronous (FIFO-based) communication links is analyzed. In addition an asynchronous coupling of the PE to the switch boxes is evaluated. This allows for multi-voltage/multi-frequency scenarios, where the performance of each PE is adapted to the current performance requirements. Analyses have shown, that TCMS-based communication links and asynchronously coupled PEs allow for the high efficiency of GALS-based NoCs with moderate additional resource requirements.

关键词： Synchronization Clocks Computer architecture Bandwidth Throughput Switches Frequency synchronization

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Evaluation of applied intra-disk redundancy schemes to improve single disk reliability

Evaluation of applied intra-disk redundancy schemes to impro...

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IEEE Annual International Symposium on Modeling, Analysis and Simulation of Computer and Telecommunication systems

作者： Grawinkel, Matthias Schäfer, Thorsten Brinkmann, André Hagemeyer, Jens Porrmann, Mario Paderborn Center for Parallel Computing PC2 University of Paderborn Germany Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Germany

ISBN: (纸本)9780769544304

Exponentially growing capacities of disk drives have increased the problem that not only a complete disk can fail, but also individual, small groups of sectors can be erroneous. These sector errors are especially critical during RAID rebuilds because they can only be detected when the corresponding sectors are read. Mechanisms to cope with sector errors, therefore, have become an important way to improve disk reliability. One approach to deal with sector errors is the introduction of intra-disk redundancy, where additional redundancy blocks are calculated and stored for each set of disk sectors. Previous studies have introduced intra-disk redundancy schemes and have evaluated their impact on disk reliability. None of these studies has evaluated the influence on disk drive performance or the underlying energy consumption. The study presented in this paper benchmarks existing schemes concerning these metrics. It shows the surprising result that weaker codes combined with newly introduced scrambling techniques can produce faster layouts with similar reliability properties than previously proposed strong codes. © 2011 IEEE.

关键词： Energy utilization

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Teleworkbench: Validating robot programs from simulation to prototyping with minirobots

Teleworkbench: Validating robot programs from simulation to ...

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10th International Conference on Autonomous Agents and Multiagent systems 2011, AAMAS 2011

作者： Tanoto, A. Werner, F. Rückert, U. Li, H. System and Circuit Technology Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany Cognitronics and Sensor Systems Group CITEC Bielefeld University 33615 Bielefeld Germany

ISBN: (纸本)9781618391018

This paper describes a Demo showing the role of the Tele-workbench in the validation process of a multi-agent system, e.g., a traffic management system. In the Demo, we show the capability of the Teleworkbench in seamlessly bridging the simulation and experimentation with real robots. During experiments, important information is logged for analysis purpose. Additionally, a graphical user interface enables geographically distributed users to perform some levels of interactivity, e.g., watch the video or command the robots. Copyright © 2011, International Foundation for Autonomous Agents and Multiagent systems (***). All rights reserved.

关键词： Multi agent systems

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Miniature robot BeBot: Mechatronic test platform for self-x properties

Miniature robot BeBot: Mechatronic test platform for self-x ...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Jürgen Gausemeier Thomas Schierbaum Roman Dumitrescu Stefan Herbrechtsmeier Alexander Jungmann Heinz Nixdorf Institute University of Paderborn Germany System and Circuit Technology System and Circuit Technology University of Paderborn Germany C-LAB University of Paderborn Germany

Machines are omnipresent. They produce, they transport. Machines facilitate work and assist. The increasing penetration of mechanical engineering by information technology enables considerable benefits. We refer to such systems as advanced mechatronic systems, which relay on the close interaction of mechanics, electric/electronics, control engineering and software engineering. Hence, the design and production of such systems is an interdisciplinary and complex task. Our ambition is a new school for the design of advanced mechatronic systems. Consequently, we need an avant-garde basic system which can be used to develop and to test future applications. The miniature robot BeBot is such a basic system. This robot constitutes the test bench for the applications, being based on modern approaches, such as self-optimization, self-organization and self-coordination as well as on the use of new manufacturing technologies.

关键词： Mechatronics Robot kinematics Robot sensing systems Batteries Cameras

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Evaluation of Applied Intra-disk Redundancy Schemes to Improve Single Disk Reliability

Evaluation of Applied Intra-disk Redundancy Schemes to Impro...

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International Symposium on Modeling, Analysis and Simulation of Computer and Telecommunication systems (MASCOTS)

作者： Matthias Grawinkel Thorsten Schafer Andre Brinkmann Jens Hagemeyer Mario Porrmann Paderborn Center of Parallel Computing PC2 University of Paderborn Germany Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Germany

关键词： Redundancy Disk drives Encoding Power measurement Hard disks Energy consumption

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Automatic HDL-Based Generation of Homogeneous Hard Macros for FPGAs

Automatic HDL-Based Generation of Homogeneous Hard Macros fo...

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Annual IEEE Symposium on Field-Programmable Custom Computing Machines (FCCM)

作者： Sebastian Korf Dario Cozzi Markus Koester Jens Hagemeyer Mario Porrmann Ulrich Rückert Marco D. Santambrogio System and Circuit Technology University of Paderborn Germany Dipartimento di Elettronica e Informazione Politecnico di Milano Italy Cognitronics and Sensor Systems Bielefeld University Germany

The regularity of resources found in FPGAs is a unique feature, which can be utilized in a number of applications, e.g., in timing critical applications or applications with a demand for homogeneous routing. Current synthesis tools do not support an automatic generation of homogeneous FPGA designs, such that a time-consuming hand-crafted design is required. We present a tool flow, which automatically generates homogeneous hard macros for Xilinx FPGAs starting from a high-level description, such as VHDL. Key functionalities of the tool flow are a homogeneous placer and a suitable routing algorithm, which aim at maintaining the homogeneity of the resulting hard macro. The place and route tools use a resource library that is automatically generated for the target FPGA family by extracting relevant information from the vendor tools. The tool chain is demonstrated for the design of hard macros for a time-to-digital converter and a tiled partially reconfigurable region. The resulting designs are evaluated with respect to resource requirements and timing constraints.

关键词： Field programmable gate arrays Routing Registers Table lookup Databases DH-HEMTs Wires

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Demonstrating self-optimization using a heterogeneous robot group

Demonstrating self-optimization using a heterogeneous robot ...

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8th IEEE International Conference on Industrial Informatics, INDIN 2010

作者： Adelt, Philipp Kleinjohann, Bernd Herbrechtsmeier, Stefan Rückert, Ulrich C-LAB. University of Paderborn Germany System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Germany Cognitronic and Sensor Systems University of Bielefeld Germany

ISBN: (纸本)9781424473007

Self-optimization is a concept for mechatronic systems to leave open the choice among system objectives as a degree of freedom until runtime to allow better adaptation to changing system and environment conditions. Demonstration and knowledge transfer of the concept is not easy as the effects of it in mechatronic systems are hard to see in a complex system. To further spread the idea of self-optimization, an intuitive anchor is needed to make it easier to talk about the concept. Also the abstraction from technical details facilitates focusing on the concept. We have developed a multi-agent heterogeneous robotic demonstrator that allows showing the process of self-optimization on a timescale of minutes. The demonstrator decomposes the roles in a mechatronic system to robotic agents. An association between a function and the behavior of the robot is achieved. After having demonstrated the setup for expert and non-expert audiences we have seen the encouraging effect that discussions spin off easily and allow to spread the idea effectively. We present the concept of self-optimization, the behavior-based demonstrator scenario implemented using BeBot miniature and Paderkicker robots in an office environment. © 2010 IEEE.

关键词： Robots

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Design of 9T SRAM for dynamic voltage supplies by a multiobjective optimization approach

Design of 9T SRAM for dynamic voltage supplies by a multiobj...

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2010 IEEE International Conference on Electronics, circuits, and systems, ICECS 2010

作者： Berge, Hans Kristian Otnes Blesken, Matthias Aunet, Snorre Rückert, Ulrich Department of Informatics University of Oslo Norway System and Circuit Technology University of Paderborn Germany Cognitronics and Sensor Systems University of Bielefeld Germany

ISBN: (纸本)9781424481576

In this paper we present design and optimization results of a 9T SRAM cell in a 65 nm low power technology, which previously has not been investigated for subthreshold operation. The cell is capable of both read and write operations on a supply voltage from 300 mV to 1.2 V. In our implementation the SRAM cell employs both high and low Vt devices for lower leakage and faster read operation. The current work focuses on operation of the cell as a single port SRAM, although extension to dual port is possible. To optimize and find trade-offs for SRAM performance in both voltage domains we use a multi objective optimization method, where our design goals were robustness, leakage, operating speed and area. The optimization method provides an approximation of the set of all Pareto optimal designs. Based on this we may quickly select criteria for the objectives and easily optimize the rest of the parameters. Compared to recent publications the 9T cell of this paper shows promise of greatly reducing standby leakage power and good robustness while retaining a similar speed. ©2010 IEEE.

关键词： Multiobjective optimization

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Multiobjective optimization for transistor sizing sub-threshold CMOS logic standard cells

Multiobjective optimization for transistor sizing sub-thresh...

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IEEE International Symposium on circuits and systems (ISCAS)

作者： Matthias Blesken Sven Lütkemeier Ulrich Rückert System and Circuit Technology University of Paderborn Germany Cognitronic and Sensor Systems University of Bielefeld Germany

Transistor sizing of sub-threshold standard cells for digital ultra-low power systems is a very challenging task because robustness has to be considered as an important design objective in addition to the competing resources power consumption and propagation delay. In this paper we regard this task as a multiobjective optimization problem (MOP) and show that the support of MOP algorithms is necessary and beneficial in the design process of sub-threshold CMOS logic standard cells. Optimization results are presented for an inverter, NAND gate, and NOR gate in a 65 nm process technology.

关键词： CMOS logic circuits Power systems Robustness Energy consumption Propagation delay Design optimization Process design Algorithm design and analysis CMOS process Logic design

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