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A low complexity directional scheme for mobile ad hoc networks

A low complexity directional scheme for mobile ad hoc networ...

引用

2005 IEEE 16th International Symposium on Personal, Indoor and Mobile Radio Communications, PIMRC 2005

作者： Xu, Feng Grünewald, Matthias Rückert, Ulrich Department of Electrical Engineering System and Circuit Technology University of Paderborn Heinz Nixdorf Institute Fürstenallee 11 Paderborn Germany

ISBN: (纸本)3800729091

In the context of single frequency band and omni-directional communication, the throughput of wireless network is interference limited. Collision may occur if other signals impinge the destination while it is receiving the intended signal. To prevent collisions, CSMA/CA is applied to serialize the communication tasks. Recently, numerous directional schemes have been proposed to further increase the network throughput. In this paper, a practical scheme for directional communication based on a simplified switched beam technique is proposed on the physical layer. Additionally, the corresponding modifications on the CSMA/CA protocol are also studied to optimize the overall system performance. It is worthy of notice that this scheme is feasible for the mobile portable device under state-of-the-art technologies in terms of dimension, power consumption, hardware complexity and computing requirements. Preliminary simulations show that this scheme can increase the network throughput up to two tunes compared to an omni-directional system at the cost of only 10% higher power consumption. © 2005 IEEE.

关键词： Mobile telecommunication systems

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Resource and service discovery for large-scale robot networks in disaster scenarios

Resource and service discovery for large-scale robot network...

引用

2005 IEEE International Workshop on Safety, Security and Rescue Robotics

作者： Du, Jia Lei Rührup, Stefan Witkowski, Ulf Rückert, Ulrich System and Circuit Technology Research Group Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany Algorithms and Complexity Research Group Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany

ISBN: (纸本)078038945X

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 will 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. © 2005 IEEE.

关键词： Robotics

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

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

引用

19th IEEE International Parallel and Distributed Processing Symposium, IPDPS 2005

作者： Kalte, H. Lee, G. Porrmann, M. Rückert, U. University of Western Australia School of Computer Science and Software Engineering 35 Stirling Highway Crawley WA 6009 Heinz Nixdorf Institute System and Circuit Technology University of Paderborn 33102 Paderborn Germany

ISBN: (纸本)0769523129

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： Parallel processing systems

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Context saving and restoring for multitasking in reconfigurable systems

Context saving and restoring for multitasking in reconfigura...

引用

2005 International Conference on Field Programmable Logic and Applications, FPL

作者： Kalte, Heiko Porrmann, Mario University of Western Australia School of Computer Science and Software Engineering 35 Stirling Highway Crawley WA 6009 Heinz Nixdorf Institute System and Circuit Technology University of Paderborn 33102 Paderborn Germany

ISBN: (纸本)0780393627

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. © 2005 IEEE.

关键词： Multitasking

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A low complexity directional scheme for mobile ad hoc networks

A low complexity directional scheme for mobile ad hoc networ...

引用

IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Feng Xu M. Grunewald U. Ruckert Department of Electrical Engineering System and Circuit Technology University of Paderborn Paderborn Germany

In the context of single frequency band and omnidirectional communication, the throughput of wireless network is interference limited. Collision may occur if other signals impinge the destination while it is receiving the intended signal. To prevent collisions, CSMA/CA is applied to serialize the communication tasks. Recently, numerous directional schemes have been proposed to further increase the network throughput. In this paper, a practical scheme for directional communication based on a simplified switched beam technique is proposed on the physical layer. Additionally, the corresponding modifications on the CSMA/CA protocol are also studied to optimize the overall system performance. It is worthy of notice that this scheme is feasible for the mobile portable device under state-of-the-art technologies in terms of dimension, power consumption, hardware complexity and computing requirements. Preliminary simulations show that this scheme can increase the network throughput up to two times compared to an omni-directional system at the cost of only 10% higher power consumption

关键词： Mobile ad hoc networks Mobile communication Throughput Multiaccess communication Energy consumption Context Frequency Wireless networks Interference Communication switching

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Placement-oriented modeling of partially reconfigurable architectures

Placement-oriented modeling of partially reconfigurable arch...

引用

International Symposium on Parallel and Distributed Processing (IPDPS)

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

Dynamic reconfiguration is a promising approach for resource efficient utilization of microelectronic systems. However, work on general approaches to model reconfigurable hardware is quite rare. Therefore, we have developed a new analytical model, which can be used for the analysis of the various approaches to dynamic reconfiguration. Based on our model we define metrics for partial reconfiguration to evaluate different system approaches. Our main objective is to analyze placement algorithms for partially reconfigurable architectures. The model is able to consider miscellaneous constraints and cost parameters for online placement. Thus, placement can be adapted to dynamically changing system environments.

关键词： Reconfigurable architectures Field programmable gate arrays Hardware Analytical models Computer architecture circuits Microelectronics Algorithm design and analysis Costs Educational institutions

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Dynamically reconfigurable hardware for digital controllers in mechatronic systems

Dynamically reconfigurable hardware for digital controllers ...

引用

International Conference on Mechatronics (ICM)

作者： C. Paiz B. Kettelhoit A. Klassen M. Porrmann Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Paderborn Germany

Reconfigurable hardware, and particularly field programmable gates arrays (FPGAs) allow the acceleration of digital control algorithm for mechatronic systems by exploiting their intrinsic parallelism. FPGAs also allow an efficient use of resources and flexible designs by using partial and dynamic reconfiguration. However, fully utilization of those benefits is often prevented by the necessary expertise to use such technology. In this paper a design flow for digital control algorithms using FPGAs is presented, which allows engineers without specialized knowledge on reconfigurable hardware design to use FPGAs as an implementation platform. We introduce a system architecture that enables the use of partially dynamic reconfiguration of FPGAs as part of our design flow and show an implementation example using an inverted pendulum system.

关键词： Hardware Digital control Control systems Mechatronics Field programmable gate arrays Algorithm design and analysis Digital signal processing Design engineering Knowledge engineering circuits

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CSD: cell-based service discovery in large-scale robot networks

CSD: cell-based service discovery in large-scale robot netwo...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and systems

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

If robots are deployed in large numbers in our environment in future, collaboration between the presumably specialized robots will be essential for a successful operation. The robots will set up mobile ad-hoc networks for communication and efficient routing and discovery protocols for such robot networks will provide the basic layer for a successful collaboration of the robots. In this paper we present a service discovery protocol that allows robots to efficiently discover available services in the network. It is specifically designed for large-scale robot networks. It takes into account the high dynamics of robot networks and exploits the position data of the robots to increase scalability and efficiency. A cell-based grid with master nodes in each cell forms the basic structure. 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. We implemented our solution in an example scenario.

关键词： Intelligent networks Large-scale systems Robot kinematics Mobile robots Robotics and automation Mobile communication Collaboration Protocols Scalability Multirobot systems

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Analytical approach to massively parallel architectures for nanotechnologies

Analytical approach to massively parallel architectures for ...

引用

International Conference on Application Specific systems (ASAP), Architectures and Processors

作者： B. Jager J.-C. Niemann U. Ruckert Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Germany

In the emerging field of single-chip multiprocessors (CMP), analytical models of performance and power consumption are necessary for design space exploration and the analysis of existing architectures. In the light of ever decreasing structure sizes in microchips the scalability of proposed CMPs is of great interest to the developers. Looking even further into the future at the possibilities offered by, e. g., nanotechnology, a set of such models may help to identify promising architectures and possible bottlenecks even before the enabling technologies exist. In this paper, we present our current work in this area in the form of two models. The first and very basic model is based on Amdahl's law and gives a first promising outlook on chip multiprocessing. Based on the more complex BSP model, our second model takes the on-chip communication into account and thus allows a much more detailed look at the architecture. In both cases, basic laws of circuit technology have been combined with the underlying models that now take the effects of device scaling into account. Later, we also present the GigaNetIC architecture, a CMP developed by our research group. It was then analyzed by applying the BSP-based model.

关键词： Parallel architectures Tiles CMOS technology circuits Analytical models Energy consumption system-on-a-chip Space technology Space exploration Performance analysis

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Low-cost Bluetooth Communication for the Autonomous Mobile Minirobot Khepera

Low-cost Bluetooth Communication for the Autonomous Mobile M...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： M. Grosseschallau U. Witkowski U. Ruckert Heinz Nixdorf Institute System and Circuit Technology University of Paderborn Germany

This paper presents a low-cost Bluetooth communication for autonomous mobile minirobots. The interfacing of the Bluetooth hardware is done by a simple UART connection, which makes the approach easily portable. Using ASCII commands and events, which are exchanged over this serial link, the Bluetooth operations can be controlled and monitored. Since internal Bluetooth stack operations are concealed, no deeper knowledge of the Bluetooth technology is necessary to utilize this wireless communication. These features make the presented approach perfectly suited for the integration into minirobots like the Khepera, where computational power and spatial resources are strictly limited.

关键词： Bluetooth Mobile communication Hardware Frequency Monitoring Wireless communication Robot sensing systems Personal area networks Master-slave circuits

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