Automatic parallelisation for LTI MIMO state space systems using FPGAs. An optimisation for cost & performance

The parallelism attained by the use of Field Programmable Gate Arrays (FPGAs) has shown remarkable potential for accelerating control systems applications. This comes at a time when well established methods based on inherited serial Central Processor Units (CPUs) cannot guarantee solutions for the increasing execution speed demands. However, the transition from serial to parallel architectures represents a tremendous challenge due to overwhelming numbers of unexplored options and conflicting factors. The work presented achieves a parallelisation characterisation for generic MIMO systems using stand-alone FPGA implementations. The main contribution is that a very fine subset of possible serial/parallel implementations is obtained. This is used to achieve a flexible trade-off between cost and performance. Automatic optimisation of latency, occupied FPGA area and execution speed is attained and justified in respect to most of the feasible scenarios.     

Performance evaluation of priority CSMA-CA mechanism on ISA100.11a wireless network

The International Society of Automation recently released ISA100.11a as an open standard for reliable wireless networks for industrial automation. ISA100.11a uses the TDMA scheme in the medium access layer to provide deterministic services. However, ISA100.11a adopts the CSMA-CA mechanism with priorities for retransmission from failure on dedicated links, sporadic data, and network configuration.This paper evaluates ISA100.11a CSMA-CA by simulation, considering the effects of backoff procedures and priority settings to probability of collision and successful use of slots. It's demonstrated that a high number of priority classes enable better network utilization resulting in less number of packets exceeding their lifetime.     

Using standards to integrate soft real-time components into dynamic distributed architectures

A pervasive application domain today is one in which independently developed real-time components participate in a dynamic and decentralized way from distributed environments. Several challenges arise from this domain, related with participant heterogeneity, transient behavior, scalability or quality of service. The use of standards is important here, where a multidiscipline approach is required. We propose ServiceDDS, a framework that combines different standard technologies to solve the problems related with the integration of components into the described environment. ServiceDDS is based on DDS to support dynamic distributed interactions, XMPP to provide Web access, and RTSJ for real-time performance.     

A global localization approach based on Line-segment Relation Matching technique

This paper presents a novel global localization approach for mobile robots by exploring line-segment features in any structured environment. The main contribution of this paper is an effective data association approach, the Line-segment Relation Matching (LRM) technique, which is based on a generation and exploration of an Interpretation Tree (IT). A new representation of geometric patterns of line-segments is proposed for the first time, which is called as Relation Table. It contains relative geometric positions of every line-segment respect to the others (or itself) in a coordinate-frame independent sense. Based on that, a Relation-Table-constraint is applied to minimize the searching space of IT therefore greatly reducing the processing time of LRM. The Least Square algorithm is further applied to estimate the robot pose using matched line-segment pairs. Then a global localization system can be realized based on our LRM technique integrated with a hypothesis tracking framework which is able to handle pose ambiguity. Sufficient simulations were specially designed and carried out indicating both pluses and minuses of our system compared with former methods. We also presented the practical experiments illustrating that our approach has a high robustness against uncertainties from sensor occlusions and extraneous observation in a highly dynamic environment. Additionally our system was demonstrated to easily deal with initialization and have the ability of quick recovery from a localization failure.     

A robust, real-time ellipse detector

In this paper, we present an improved ellipse detector that may be used in real-time face detection. In this algorithm we first extract edges from the image using a robust edge detector, which is then followed by a rule-based method. Finally, we decompose the parameter space of the Hough transform to achieve computational efficiency. Our extensive experimental results show indeed that the proposed detector is capable of detecting ellipse features with an excellent accuracy under various image conditions at a high speed (10 frames per second on a Pentium-III PC).     

Extraction of reference lines and items from form document images with complicated background

The extraction of reference lines and items is a fundamental and crucial task in form document analysis. Most of the studies performed so far were done in connection with binary images. This paper proposes a method of extracting lines from gray-level images, by constructing a 2D pseudo Gaussian-Coiflet wavelet with adjustable rectangular support. We also present a method of extracting items using the extracted reference lines and multiresolution wavelet sub-images, which is independent of the intensity of the strokes and backgrounds. The experimental results demonstrate the effectiveness of our proposed methods.     

Face recognition using a fuzzy fisherface classifier

In this study, we are concerned with face recognition using fuzzy fisherface approach and its fuzzy set based augmentation. The well-known fisherface method is relatively insensitive to substantial variations in light direction, face pose, and facial expression. This is accomplished by using both principal component analysis and Fisher's linear discriminant analysis. What makes most of the methods of face recognition (including the fisherface approach) similar is an assumption about the same level of typicality (relevance) of each face to the corresponding class (category). We propose to incorporate a gradual level of assignment to class being regarded as a membership grade with anticipation that such discrimination helps improve classification results. More specifically, when operating on feature vectors resulting from the PCA transformation we complete a Fuzzy K-nearest neighbor class assignment that produces the corresponding degrees of class membership. The comprehensive experiments completed on ORL, Yale, and CNU (Chungbuk National University) face databases show improved classification rates and reduced sensitivity to variations between face images caused by changes in illumination and viewing directions. The performance is compared vis-à-vis other commonly used methods, such as eigenface and fisherface.     

Identification of semi-physical and black-box non-linear models: the case of MR-dampers for vehicles control

The topic of this paper is the identification of an accurate model for magneto-rheological (MR) dampers. A semi-active MR-damper is a dynamic system, where the inputs are the elongation velocity and the command current; the current is the control input which modulates at high-bandwidth the damping characteristic through the variation of a magnetic field. The output is the force delivered by the damper. Among the broad set of applications where MR-dampers can be used, the results proposed in this work refer to MR-dampers for the control of vehicle dynamics.MR-damper are highly non-linear systems, and their accurate modeling is a non-trivial task. MR-dampers can be modeled using two different model classes: semi-physical models and black-box models. Both approaches are considered in this work.The purpose of this brief paper is to make a concise but complete presentation and discussion of a non-trivial system identification problem. The problem considered herein is particularly interesting from the system identification point of view: from one side, the MR-damper is a very attractive actuator, which is likely to become the key device for many dynamics and vibration control systems in the near future; on the other side, it is an example of an application problem where the accurate modeling of the actuation device is one of the most crucial part of the whole control design problem.     

Nonlinear system identification via direct weight optimization

A general framework for estimating nonlinear functions and systems is described and analyzed in this paper. Identification of a system is seen as estimation of a predictor function. The considered predictor function estimate at a particular point is defined to be affine in the observed outputs and the estimate is defined by the weights in this expression. For each given point, the maximal mean-square error (or an upper bound) of the function estimate over a class of possible true functions is minimized with respect to the weights, which is a convex optimization problem. This gives different types of algorithms depending on the chosen function class. It is shown how the classical linear least squares is obtained as a special case and how unknown-but-bounded disturbances can be handled.Most of the paper deals with the method applied to locally smooth predictor functions. It is shown how this leads to local estimators with a finite bandwidth, meaning that only observations in a neighborhood of the target point will be used in the estimate. The size of this neighborhood (the bandwidth) is automatically computed and reflects the noise level in the data and the smoothness priors.The approach is applied to a number of dynamical systems to illustrate its potential.     

Tool path generation for clean-up machining by a curve-based approach

This paper presents a new efficient and robust tool-path generation method that employs a curve-based approach for clean-up machining. The clean-up machining discussed in this paper is pencil-cut and fillet-cut for a polyhedral model of the STL form with a ball-end mill. The pencil-cut and fillet-cut paths are obtained from the curve-based scanning tool paths on the xz, yz, and xy planes. The scanning tool path has exact sharp-concave points and bi-contact vectors, both of which are very useful to detect ‘pencil-points’, to trace the pencil-cut path, and to generate the fillet-cut path. In the paper, some illustrative examples are provided, and the characteristics of the proposed method are discussed.