Hardware/software co-design of a real-time kernel based tracking system

The probabilistic visual tracking methods using color histograms have been proven to be robust to target model variations and background illumination changes as shown by the recent research. However, the required computational cost is high due to intensive image data processing. The embedded solution of such algorithms become challenging due to high computational power demand and algorithm complexity. This paper presents a hardware/software co-design architecture for implementation of the well-known kernel based mean shift tracking algorithm. The design uses color histogram of the target as tracking feature. The target is searched in the consecutive images by maximizing the statistical match of the color distributions. The target localization is based on gradient based iterative search instead of exhaustive search which makes the system capable of achieving frame rate up to hundreds of frames per second while tracking multiple targets. The design, which is fully standalone, is implemented on a low-cost medium-size field programmable gate array (FPGA) device. The hardware cost of the design is compared with some other tracking systems. The performance of the system in terms of speed is evaluated and compared with the software based implementation. It is expected that the proposed solution will find its utility in applications like embedded automatic video surveillance systems.     

MTPSO algorithm for solving planar graph coloring problem

In this paper, we proposed a modified turbulent particle swarm optimization (named MTPSO) model for solving planar graph coloring problem based on particle swarm optimization. The proposed model is consisting of the walking one strategy, assessment strategy and turbulent strategy. The proposed MTPSO model can solve the planar graph coloring problem using four-colors more efficiently and accurately. Compared to the results shown in Cui et al. (2008), not only the experimental results of the proposed model can get smaller average iterations but can get higher correction coloring rate when the number of nodes is greater than 30.     

Learning from demonstration in robots: Experimental comparison of neural architectures

Robots have played an important role in the automation of computer aided manufacturing. The classical robot control implementation involves an expensive key step of model-based programming. An intuitive way to reduce this expensive exercise is to replace programming with machine learning of robot actions from demonstration where a (learner) robot learns an action by observing a demonstrator robot performing the same. To achieve this learning from demonstration (LFD) different machine learning techniques such as Artificial Neural Networks (ANN), Genetic Algorithms, Hidden Markov Models, Support Vector Machines, etc. can be used. This piece of work focuses exclusively on ANNs. Since ANNs have many standard architectural variations divided into two basic computational categories namely the recurrent networks and feed-forward networks, representative networks from each have been selected for study, i.e. Feed Forward Multilayer Perceptron (FF) network for feed-forward networks category and Elman (EL), and Nonlinear Autoregressive Exogenous Model (NARX) networks for the recurrent networks category. The main objective of this work is to identify the most suitable neural architecture for application of LFD in learning different robot actions. The sensor and actuator streams of demonstrated action are used as training data for ANN learning. Consequently, the learning capability is measured by comparing the error between demonstrator and corresponding learner streams. To achieve fairness in comparison three steps have been taken. First, Dynamic Time Warping is used to measure the error between demonstrator and learner streams, which gives resilience against translation in time. Second, comparison statistics are drawn between the best, instead of weight-equal, configurations of competing architectures so that learning capability of any architecture is not forced handicap. Third, each configuration's error is calculated as the average of ten trials of all possible learning sequences with random weight initialization so that the error value is independent of a particular sequence of learning or a particular set of initial weights. Six experiments are conducted to get a performance pattern of each architecture. In each experiment, a total of nine different robot actions were tested. Error statistics thus obtained have shown that NARX architecture is most suitable for this learning problem whereas Elman architecture has shown the worst suitability. Interestingly the computationally lesser MLP gives much lower and slightly higher error statistics compared to the computationally superior Elman and NARX neural architectures, respectively.     

Iterative methods for solving extended general mixed variational inequalities

In this paper, we introduce and consider a new class of mixed variational inequalities involving four operators, which are called extended general mixed variational inequalities. Using the resolvent operator technique, we establish the equivalence between the extended general mixed variational inequalities and fixed point problems as well as resolvent equations. We use this alternative equivalent formulation to suggest and analyze some iterative methods for solving general mixed variational inequalities. We study the convergence criteria for the suggested iterative methods under suitable conditions. Our methods of proof are very simple as compared with other techniques. The results proved in this paper may be viewed as refinements and important generalizations of the previous known results.     

Dynamic Compensation for Control of a Rotary wing UAV Using Positive Position Feedback

This paper presents a novel compensation method for the coupled fuselage-rotor mode of a Rotary wing Unmanned Aerial Vehicle (RUAV). The presence of stabilizer bar limits the performance of attitude control of an RUAV. In this paper, a Positive Position Feedback (PPF) is introduced to increase the stability margins and allow higher control bandwidth. The identified model is used to design a PPF controller to mitigate the presence of stabilizer bar. Parameters for the linear RUAV model are obtained by performing linear system identification about a few selected points. This identification process gives complete RUAV dynamics and is suitable for designing a Stability Augmentation System (SAS) of an RUAV. The identified parameters of an RUAV model are verified using experimental flight data and can be used to obtain the nonlinear model of an RUAV. The performance of the proposed algorithm is tested using a high-fidelity RUAV simulation model, which is validated through experimental flight data. The closed-loop response of the rotorcraft indicates that the desired attitude performance is achieved while ensuring that the coupled fuselage-rotor mode is effectively compensated without penalizing the phase response.     

Trading Off Cache Capacity for Low-Voltage Operation

Two proposed techniques let microprocessors operate at low voltages despite high memory-cell failure rates. They identify and disable defective portions of the cache at two granularities: individual words or pairs of bits. Both techniques use the entire cache during high-voltage operation while sacrificing cache capacity during low-voltage operation to reduce the minimum voltage below 500 mV.     

Numerical study of asymmetric laminar flow of micropolar fluids in a porous channel

A numerical study is presented for the two-dimensional flow of a micropolar fluid in a porous channel. The channel walls are of different permeability. The fluid motion is superimposed by the large injection at the two walls and is assumed to be steady, laminar and incompressible. The micropolar model due to Eringen is used to describe the working fluid. The governing equations of motion are reduced to a set of non-linear coupled ordinary differential equations (ODEs) in dimensionless form by using an extension of Berman’s similarity transformations. A numerical algorithm based on finite difference discretization is employed to solve these ODEs. The results obtained are further improved by Richardson’s extrapolation for higher order accuracy. Comparisons with the previously published work are performed and are found to be in a good agreement. It has been observed that the velocity and microrotation profiles change from the most asymmetric shape to the symmetric shape across the channel as the parameter R or the permeability parameter A are varied between their extreme values. The results indicate that larger the injection velocity at a wall relative to the other is, smaller will be the shear stress at it than that at the other. The position of viscous layer has been found to be more sensitive to the permeability parameter A than to the parameter R. The micropolar fluids reduce shear stress and increase couple stress at the walls as compared to the Newtonian fluids.     

Customized kernel execution on reconfigurable hardware for embedded applications

To conserve space and power as well as to harness high performance in embedded systems, high utilization of the hardware is required. This can be facilitated through dynamic adaptation of the silicon resources in reconfigurable systems in order to realize various customized kernels as execution proceeds. Fortunately, the encountered reconfiguration overheads can be estimated. Therefore, if the scheduling of time-consuming kernels considers also the reconfiguration overheads, an overall performance gain can be obtained. We present our policy, experiments, and performance results of customizing and reconfiguring Field-Programmable Gate Arrays (FPGAs) for embedded kernels. Experiments involving EEMBC (EDN Embedded Microprocessor Benchmarking Consortium) and MiBench embedded benchmark kernels show high performance using our main policy, when considering reconfiguration overheads. Our policy reduces the required reconfigurations by more than 50% as compared to brute-force solutions, and performs within 25% of the ideal execution time while conserving 60% of the FPGA resources. Alternative strategies to reduce the reconfiguration overhead are also presented and evaluated.     

Multi-Scale Adaptive Sampling with Mobile Agents for Mapping of Forest Fires

The use of robotics in distributed monitoring applications requires wireless sensors that are deployed efficiently. A very important aspect of sensor deployment includes positioning them for sampling at locations most likely to yield information about the spatio-temporal field of interest, for instance, the spread of a forest fire. In this paper, we use mobile robots (agents) that estimate the time-varying spread of wildfires using a distributed multi-scale adaptive sampling strategy. The proposed parametric sampling algorithm, “EKF-NN-GAS” is based on neural networks, the extended Kalman filter (EKF), and greedy heuristics. It combines measurements arriving at different times, taken at different scale lengths, such as from ground, airborne, and spaceborne observation platforms. One of the advantages of our algorithm is the ability to incorporate robot localization uncertainty in addition to sensor measurement and field parameter uncertainty into the same EKF model. We employ potential fields, generated naturally from the estimated fire field distribution, in order to generate fire-safe trajectories that could be used to rescue vehicles and personnel. The covariance of the EKF is used as a quantitative information measure for sampling locations most likely to yield optimal information about the sampled field distribution. Neural net training is used infrequently to generate initial low resolution estimates of the fire spread parameters. We present simulation and experimental results for reconstructing complex spatio-temporal forest fire fields “truth models”, approximated by radial basis function (RBF) parameterizations. When compared to a conventional raster scan approach, our algorithm shows a significant reduction in the time necessary to map the fire field.