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The model checking view to clock gating and operand isolation

The model checking view to clock gating and operand isolatio...

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10th International Conference on Application of Concurrency to System Design, ACSD 2010

作者： Brandt, Jens Schneider, Klaus Ahuja, Sumit Shukla, Sandeep K. Embedded Systems Group Department of Computer Science University of Kaiserslautern Germany FERMAT Lab Electrical and Computer Engineering Virginia Tech Blackburg VA United States

ISBN: (纸本)9780769540665

Clock gating and operand isolation are two techniques to reduce the power consumption in state-of-the-art hardware designs. Both approaches basically follow a two-step procedure: first, they statically analyze a hardware circuit to determine irrelevant computations. Second, all parts which are responsible for these computations are replaced by others that consume less power in the average case, either by dynamically gating clocks or by isolating operands. This paper focuses on the first phase, i. e. the computation of irrelevant computation. The core of our contribution is the definition of so-called passiveness conditions for each signal x, which indicate that the value currently carried by x does not contribute to the final result of the system. After showing how our theory can be generally used in the context of clock gating and operand isolation, we classify many state-of-the-art approaches and show that they are in fact conservative approximations of our general setting. Thereby, it defines the theoretical basis for adoption of these approaches in their entirety. © 2010 IEEE.

关键词： Model checking

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When to assist? - Modelling human behaviour for hybrid assembly systems

When to assist? - Modelling human behaviour for hybrid assem...

引用

Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, ROBOTIK 2010

作者： Huber, Markus Knoll, Alois Brandt, Thomas Glasauer, Stefan Center for Sensorimotor Research Department for Clinical Neurosciences LMU Germany Robotics and Embedded Systems Lab Dept. of Computer Science TUM Germany

ISBN: (纸本)9781617387197

Over centuries the successful cooperation of foreman and assistant has been an important factor of efficiency, as the mutual understanding of each others actions and intentions facilitates a smooth work flow. Hence, a promising option in the field of automation is to develop models of intuitive and adaptive assistance. An artificial system equipped with such models could improve not only efficiency, but also acceptance and safety in human-robot interaction (HRI). As a first step towards this goal, we investigated the timing of the most common physical interaction occurring in HRI - the handing over of items. In an assembly experiment we measured the duration of the different steps. We found that a linear dependency sufficiently describes the relation between the complexity of each working step and its duration. The parameters of the linear model however largely differ between the individual subjects. This linear dependency was used to develop Kalman filters to predict durations and complexities of different assembly steps. We showed that after a short adapting phase we received an accuracy of 18.03%, comparing the predicted assembling duration to the measured duration. The model was integrated into an assistive robot system to demonstrate its robustness and low requirements of the sensory systems.

关键词： Human robot interaction

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Informative path planning for an autonomous underwater vehicle

Informative path planning for an autonomous underwater vehic...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jonathan Binney Andreas Krause Gaurav S. Sukhatme Robotic Embedded Systems Laboratory and Department of Computer Science University of Southern California USA Computer Science Department Caltech USA

We present a path planning method for autonomous underwater vehicles in order to maximize mutual information. We adapt a method previously used for surface vehicles, and extend it to deal with the unique characteristics of underwater vehicles. We show how to generate near-optimal paths while ensuring that the vehicle stays out of high-traffic areas during predesignated time intervals. In our objective function we explicitly account for the fact that underwater vehicles typically take measurements while moving, and that they do not have the ability to communicate until they resurface. We present field results from ocean trials on planning paths for a specific AUV, an underwater glider.

关键词： Path planning Underwater vehicles Sea measurements Spatial resolution Sea surface Ocean temperature Remotely operated vehicles computer science Boats robotics and automation

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Towards marine bloom trajectory prediction for AUV mission planning

Towards marine bloom trajectory prediction for AUV mission p...

引用

2010 IEEE International Conference on robotics and Automation, ICRA 2010

作者： Das, Jnaneshwar Rajan, Kanna Frolov, Sergey Py, Frederic Ryan, John Caron, David A. Sukhatme, Gaurav S. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California United States Monterey Bay Aquarium Research Institute Moss Landing CA United States Dept. of Biological Sciences University of Southern California United States

ISBN: (纸本)9781424450381

This paper presents an oceanographic toolchain that can be used to generate multi-vehicle robotic surveys for large-scale dynamic features in the coastal ocean. Our science application targets Harmful Algal Blooms (HABs) which have significant societal impact to coastal communities yet are poorly understood ecologically. Bloom patches can be large spatially (in kms) and unpredictable in their extent. To understand their ecology, we need to be able to bring back water samples from the 'right' places and times for lab analysis. In doing so, we target hotspots representative of intense biogeochemical activity for such sampling. Our approach uses remote sensing data to detect such hotspots using ocean color as a proxy, and advectively projects these patches spatio-temporally using surface current data from HF Radar stations. Experiments with satellite and Radar data sets are promising for large, coherent blooms. We show how these predictions can be used to select an appropriate sampling trajectory for an AUV. ©2010 IEEE.

关键词： Remote sensing

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A mining technique using n-grams and motion transcripts for body sensor network data repository 10

A mining technique using n-grams and motion transcripts for ...

引用

Wireless Health 2010

作者： Loseu, Vitali Ghasemzadeh, Hassan Khan, Latifur R. Jafari, Roozbeh Embedded Systems and Signal Processing Lab. Department of Electrical Engineering University of Texas at Dallas Richardson TX 75080-3021 United States Department of Computer Science University of Texas at Dallas Richardson TX 75080-3021 United States

ISBN: (纸本)9781605589893

Recent years have seen a large influx of applications in the field of Body Sensor Networks (BSN). BSN, and in general wearable computers with sensors, can give researchers, users or clinicians access to tremendously valuable information extracted from data that were collected in users' natural environment. With this information, one can monitor the progression of a disease, identify its early onset or simply assess user's wellness. One major obstacle is managing repositories that store large amounts of BSN data. To address this issue, we propose a data mining approach for large BSN data repositories. We represent sensor readings with motion transcripts that maintain structural properties of the signal. To further take advantage of the signal's structure, we define a data mining technique using n-grams. We reduce overwhelmingly large number of n-grams via information gain (IG) feature selection. We report the effectiveness of our approach in terms of the speed of mining while maintaining an acceptable accuracy in terms of precision and recall. We demonstrate that the system can achieve average 99% precision with an average 100% recall on our pilot data with the help of only one transition for each movement. © 2010 ACM.

关键词： Data mining

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The Model Checking View to Clock Gating and Operand Isolation

The Model Checking View to Clock Gating and Operand Isolatio...

引用

International Conference on Application of Concurrency to System Design

作者： Jens Brandt Klaus Schneider Sumit Ahuja Sandeep K. Shukla Embedded Systems Group Department of Computer Science University of Kaiserslautern Germany FERMAT Lab Electrical and Computer Engineering Virginia Technology Blacksburg VA USA

ISBN: (纸本)9781424472666

Clock gating and operand isolation are two techniques to reduce the power consumption in state-of-the-art hardware designs. Both approaches basically follow a two-step procedure: first, they statically analyze a hardware circuit to determine irrelevant computations. Second, all parts which are responsible for these computations are replaced by others that consume less power in the average case, either by dynamically gating clocks or by isolating operands. This paper focuses on the first phase, i.e. the computation of irrelevant computation. The core of our contribution is the definition of so-called passiveness conditions for each signal x, which indicate that the value currently carried by x does not contribute to the final result of the system. After showing how our theory can be generally used in the context of clock gating and operand isolation, we classify many state-of-the-art approaches and show that they are in fact conservative approximations of our general setting. Thereby, it defines the theoretical basis for adoption of these approaches in their entirety.

关键词： Registers Clocks Power demand Equations Hardware Mathematical model Computational modeling

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When to assist? - A human model for hybrid assembly systems

When to assist? - A human model for hybrid assembly systems

引用

4th International Conference on Cognitive systems, CogSys 2010

作者： Huber, Markus Radrich, Helmuth Wendt, Cornelia Glasauer, Stefan Knoll, Alois Färber, Berthold Brandt, Thomas Center for Sensorimotor Research Clinical Neurosciences Ludwig-Maximilians-Universität München Germany Robotics and Embedded Systems Lab. Department of Computer Science Technische Universität München Germany Human Factors Institute Universität der Bundeswehr München Germany

Over centuries it has been common usage that the cooperation of foreman and assistant increases the working efficiency. This is due to the mutual understanding of each others actions and intentions. Hence, an important first step for automation in this field is to develop models of this natural and adaptive assistance. An artificial system equipped with such models would enable higher acceptance, passive safety and efficiency. Towards this goal we investigated the most common physical interaction occurring in human-robot cooperation - the handing over of items. In experiments, the timing and interplay of different modalities during a typical assembly task were analysed. A first model to predict timings and motor programs has been develop [1][2].

关键词： Efficiency

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All for one or one for all? Combining heterogeneous features for activity spotting

All for one or one for all? Combining heterogeneous features...

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IEEE Annual Conference on Pervasive Computing and Communications Workshops (PerCom)

作者： Ulf Blanke Bernt Schiele Matthias Kreil Paul Lukowicz Bernhard Sick Thiemo Gruber Computer Science Department Technical University of Darmstadt Germany Embedded Systems Laboratory (ESL) University of Passau Germany Computationally Intelligent Systems Lab (CIS) University of Passau Germany

Choosing the right feature for motion based activity spotting is not a trivial task. Often, features derived by intuition or that proved to work well in previous work are used. While feature selection algorithms allow automatic decision, definition of features remains a manual task. We conduct a comparative study of features with very different origin. To this end, we propose a new type of features based on polynomial approximation of signals. The new feature type is compared to features used routinely for motion based activity recognition as well as to recently proposed body-model based features. Experiments were performed on three different, large datasets allowing a thorough, in-depth analysis. They not only show the respective strengths of the different feature types but also their complementarity resulting in improved performance through combination. It shows that each feature type with its individual and complementary strengths and weaknesses can improve results by combination.

关键词： Wearable sensors Polynomials Performance analysis Frequency Boosting computer science embedded system embedded computing Intelligent systems Computational intelligence

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Autonomous Underwater Vehicle trajectory design coupled with predictive ocean models: A case study

Autonomous Underwater Vehicle trajectory design coupled with...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Ryan N. Smith Arvind Pereira Yi Chao Peggy P. Li David A. Caron Burton H. Jones Gaurav S. Sukhatme Department of Computer Science Robotic Embedded Systems Laboratory University of Southern California Los Angeles CA USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Marine Biology University of Southern California Los Angeles CA USA

Data collection using Autonomous Underwater Vehicles (AUVs) is increasing in importance within the oceanographic research community. Contrary to traditional moored or static platforms, mobile sensors require intelligent planning strategies to maneuver through the ocean. However, the ability to navigate to high-value locations and collect data with specific scientific merit is worth the planning efforts. In this study, we examine the use of ocean model predictions to determine the locations to be visited by an AUV, and aid in planning the trajectory that the vehicle executes during the sampling mission. The objectives are: a) to provide near-real time, in situ measurements to a large-scale ocean model to increase the skill of future predictions, and b) to utilize ocean model predictions as a component in an end-to-end autonomous prediction and tasking system for aquatic, mobile sensor networks. We present an algorithm designed to generate paths for AUVs to track a dynamically evolving ocean feature utilizing ocean model predictions. This builds on previous work in this area by incorporating the predicted current velocities into the path planning to assist in solving the 3-D motion planning problem of steering an AUV between two selected locations. We present simulation results for tracking a fresh water plume by use of our algorithm. Additionally, we present experimental results from field trials that test the skill of the model used as well as the incorporation of the model predictions into an AUV trajectory planner. These results indicate a modest, but measurable, improvement in surfacing error when the model predictions are incorporated into the planner.

关键词： Underwater vehicles Trajectory Oceans Predictive models Intelligent sensors Sea measurements Path planning Strategic planning Navigation Marine vehicles

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A robotic sentinel for benthic sampling along a transect

A robotic sentinel for benthic sampling along a transect

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jnaneshwar Das Gaurav S. Sukhatme Robotic Embedded Systems Laboratory and Department of Computer Science University of Southern California USA

This paper presents the design of a novel robotic system capable of long-term benthic sampling along a transect. The robot is built to traverse back and forth along a mechanical guide-rail at the bottom of a water body. We present results from localization tests with the robot in a laboratory tank and a shallow swimming pool. A pilot deployment was made at a marina to accurately observe the rate and direction of water flow across a section of the marina inlet. Results from the experiment demonstrate the potential of this platform for monitoring various aquatic phenomena of interest.

关键词： Oceanographic techniques Robot sensing systems robotics and automation Sea measurements laboratories Position measurement Time measurement Testing Monitoring Chemicals

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