Pub Date : 2015-10-12DOI: 10.1109/SASE-CASE.2015.7295840
R. González, G. Sutter, Cristian A. Sistema, H. Patiño
The Kalman filter plays an essential role in an integrated navigation system. From an embedded-system design point of view, the UD filter is a convenient, numerically-stable version of the Kalman filter. In this paper, a UD filter coprocessor with single-precision floating-point format that runs in FPGA is presented. A comprehensive hardware/software exploration is carried out in order to find the combination of subsystems that achieves the best throughput. Such examination determines that the best solution is fully in hardware. In addition, it is demonstrated the convenience of using high-level development tools to synthesize in hardware algorithms that have been originally designed to run on a general purpose microprocessor. Then, a UD filter for a 21-states system is developed as a coprocessor for system-on-chip integration. The coprocessor is validated using real-world data sets. Measurements of area, power, and energy are provided. It is found that the coprocessor is suitable for mid-range FPGA. In conclusion, it is demonstrated that new hybrid FPGA are adequate devices to implement battery-operated navigation systems for robotics.
{"title":"FPGA-based floating-point UD filter coprocessor for integrated navigation systems","authors":"R. González, G. Sutter, Cristian A. Sistema, H. Patiño","doi":"10.1109/SASE-CASE.2015.7295840","DOIUrl":"https://doi.org/10.1109/SASE-CASE.2015.7295840","url":null,"abstract":"The Kalman filter plays an essential role in an integrated navigation system. From an embedded-system design point of view, the UD filter is a convenient, numerically-stable version of the Kalman filter. In this paper, a UD filter coprocessor with single-precision floating-point format that runs in FPGA is presented. A comprehensive hardware/software exploration is carried out in order to find the combination of subsystems that achieves the best throughput. Such examination determines that the best solution is fully in hardware. In addition, it is demonstrated the convenience of using high-level development tools to synthesize in hardware algorithms that have been originally designed to run on a general purpose microprocessor. Then, a UD filter for a 21-states system is developed as a coprocessor for system-on-chip integration. The coprocessor is validated using real-world data sets. Measurements of area, power, and energy are provided. It is found that the coprocessor is suitable for mid-range FPGA. In conclusion, it is demonstrated that new hybrid FPGA are adequate devices to implement battery-operated navigation systems for robotics.","PeriodicalId":346043,"journal":{"name":"2015 Sixth Argentine Conference on Embedded Systems (CASE)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115111702","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-12DOI: 10.1109/SASE-CASE.2015.7295844
Angelo Antonio Farias, Diego Dujovne
The rise of the Industrial Internet of Things as a new paradigm for instrumentation and control has brought the use of internet-enabled constrained devices to complement and replace standard wired networks with wireless connectivity reducing deployment and maintenance costs. This work has been supported by the development of several industry standards, such as ISA100.11a, WirelessHART, 802.15.4e and the current 6TiSCH WG, to enable IPV6 for Time-Scheduled Channel Hopping (TSCH) networks. The most relevant features of TSCH networks are the intrinsic robustness and predictable delay, given a predefined schedule. In this paper, we propose a PCE-enabled scheduling approach to distribute cells within the slotframe by queueing the cell requirements derived from a number of different RPL DODAGs.
{"title":"A queue-based scheduling algorithm for PCE-enabled Industrial Internet of Things networks","authors":"Angelo Antonio Farias, Diego Dujovne","doi":"10.1109/SASE-CASE.2015.7295844","DOIUrl":"https://doi.org/10.1109/SASE-CASE.2015.7295844","url":null,"abstract":"The rise of the Industrial Internet of Things as a new paradigm for instrumentation and control has brought the use of internet-enabled constrained devices to complement and replace standard wired networks with wireless connectivity reducing deployment and maintenance costs. This work has been supported by the development of several industry standards, such as ISA100.11a, WirelessHART, 802.15.4e and the current 6TiSCH WG, to enable IPV6 for Time-Scheduled Channel Hopping (TSCH) networks. The most relevant features of TSCH networks are the intrinsic robustness and predictable delay, given a predefined schedule. In this paper, we propose a PCE-enabled scheduling approach to distribute cells within the slotframe by queueing the cell requirements derived from a number of different RPL DODAGs.","PeriodicalId":346043,"journal":{"name":"2015 Sixth Argentine Conference on Embedded Systems (CASE)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121441590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-12DOI: 10.1109/SASE-CASE.2015.7295845
Francisco E. Páez, J. Urriza, R. Cayssials, J. Orozco
Real-time systems are applied in the more diverse applications. Most of these applications require specific configurations in order to meet their timing constraints. Real-time Operating Systems offer scheduling policies that produce a certain behavior of the application, difficult to change in order to get a specific and desired dynamic of the system. On the other hand, most real-time applications include tasks with different real-time constraints: from hard real-time tasks to sporadic and soft real-time tasks. Configuring a real-time operating system to get the desire response for each one of these tasks generally involves a deep knowledge of the structure of the kernel and programming it in a privilege mode. In this paper, it is proposed an implementation of a user-level scheduler, easily configurable to adapt the dynamic of the system to the specific features of the application.
{"title":"FreeRTOS user mode scheduler for mixed critical systems","authors":"Francisco E. Páez, J. Urriza, R. Cayssials, J. Orozco","doi":"10.1109/SASE-CASE.2015.7295845","DOIUrl":"https://doi.org/10.1109/SASE-CASE.2015.7295845","url":null,"abstract":"Real-time systems are applied in the more diverse applications. Most of these applications require specific configurations in order to meet their timing constraints. Real-time Operating Systems offer scheduling policies that produce a certain behavior of the application, difficult to change in order to get a specific and desired dynamic of the system. On the other hand, most real-time applications include tasks with different real-time constraints: from hard real-time tasks to sporadic and soft real-time tasks. Configuring a real-time operating system to get the desire response for each one of these tasks generally involves a deep knowledge of the structure of the kernel and programming it in a privilege mode. In this paper, it is proposed an implementation of a user-level scheduler, easily configurable to adapt the dynamic of the system to the specific features of the application.","PeriodicalId":346043,"journal":{"name":"2015 Sixth Argentine Conference on Embedded Systems (CASE)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126963263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-12DOI: 10.1109/SASE-CASE.2015.7295839
Patricio Moreno, Claudio D. Pose, J. Giribet
The aim of this work is to present a navigation system for GPS denied environments. The system fuses measurements provided by an arrangement of ultrasonic range sensors with inertial measurements and a magnetometer. The core of the navigation computer are two microprocessors, an ARM Cortex M3 processor for low-level tasks, such as sensor acquisition and control, and an ARM Cortex A8 for computationally demanding tasks, as the fusion filter to compute navigation solutions. A brief description of the navigation computer is given, also the navigation algorithm is presented and validated through experimental results.
{"title":"INS/Ultrasound navigation system","authors":"Patricio Moreno, Claudio D. Pose, J. Giribet","doi":"10.1109/SASE-CASE.2015.7295839","DOIUrl":"https://doi.org/10.1109/SASE-CASE.2015.7295839","url":null,"abstract":"The aim of this work is to present a navigation system for GPS denied environments. The system fuses measurements provided by an arrangement of ultrasonic range sensors with inertial measurements and a magnetometer. The core of the navigation computer are two microprocessors, an ARM Cortex M3 processor for low-level tasks, such as sensor acquisition and control, and an ARM Cortex A8 for computationally demanding tasks, as the fusion filter to compute navigation solutions. A brief description of the navigation computer is given, also the navigation algorithm is presented and validated through experimental results.","PeriodicalId":346043,"journal":{"name":"2015 Sixth Argentine Conference on Embedded Systems (CASE)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122763246","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-10-12DOI: 10.1109/SASE-CASE.2015.7295843
F. von Bergen, J. Giribet, P. Martos
In this work, a low-cost attitude navigation system for spacecrafts is presented. The system fuses measurements from a three axis MEMS gyroscope and a CCD camera that identifies a known pattern of points (which emulate the stars). The system has been implemented on an ARM Cortex-A8 processor, running a GNU/Linux operating system. The developed attitude system was tested on an air-bearing testbed as experimental validation.
{"title":"Low cost attitude estimation system. Performance evaluation on an airbearing based testbed","authors":"F. von Bergen, J. Giribet, P. Martos","doi":"10.1109/SASE-CASE.2015.7295843","DOIUrl":"https://doi.org/10.1109/SASE-CASE.2015.7295843","url":null,"abstract":"In this work, a low-cost attitude navigation system for spacecrafts is presented. The system fuses measurements from a three axis MEMS gyroscope and a CCD camera that identifies a known pattern of points (which emulate the stars). The system has been implemented on an ARM Cortex-A8 processor, running a GNU/Linux operating system. The developed attitude system was tested on an air-bearing testbed as experimental validation.","PeriodicalId":346043,"journal":{"name":"2015 Sixth Argentine Conference on Embedded Systems (CASE)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133151288","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-01DOI: 10.1109/SASE-CASE.2015.7295841
Federico G. Zacchigna, A. Lutenberg, Fabian Vargas
Consensus algorithms are implemented over Wireless Sensor Networks (WSN) for computing a distributed variable measurement or performing Data Fusion (DF). In a previous work the main idea of the MESA algorithm presented, but with no mathematical formalization. The MESA approach is a novel consensus algorithm that implements the transmission censoring technique aiming to reduce the energy used for reaching consensus. Moreover, it makes use of neighborhood data, which allows it to perform estimations over unknown distributed variables. This condition renders the proposed approach more efficient than the existing censoring techniques found in the literature. In this article a formalization of the MESA algorithm over cluster based WSN is presented. It is addressed from the statistical point of view of the algorithm, which gives us a better understanding of the consequences of transmission censoring and leads us to predict the results of its utilization.
{"title":"MESA: A formal approach to compute consensus in WSNs","authors":"Federico G. Zacchigna, A. Lutenberg, Fabian Vargas","doi":"10.1109/SASE-CASE.2015.7295841","DOIUrl":"https://doi.org/10.1109/SASE-CASE.2015.7295841","url":null,"abstract":"Consensus algorithms are implemented over Wireless Sensor Networks (WSN) for computing a distributed variable measurement or performing Data Fusion (DF). In a previous work the main idea of the MESA algorithm presented, but with no mathematical formalization. The MESA approach is a novel consensus algorithm that implements the transmission censoring technique aiming to reduce the energy used for reaching consensus. Moreover, it makes use of neighborhood data, which allows it to perform estimations over unknown distributed variables. This condition renders the proposed approach more efficient than the existing censoring techniques found in the literature. In this article a formalization of the MESA algorithm over cluster based WSN is presented. It is addressed from the statistical point of view of the algorithm, which gives us a better understanding of the consequences of transmission censoring and leads us to predict the results of its utilization.","PeriodicalId":346043,"journal":{"name":"2015 Sixth Argentine Conference on Embedded Systems (CASE)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124319289","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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