R. A. Reboucas, Quenaz da Cruz Eller, Mateus Habermann, E. H. Shiguemori
In this paper is presented the visual odometry and the localization of moving objects from aerial images embedded in an Unmanned Aerial Vehicle system with use of the Raspberry Pi and an IP camera. The techniques used are the Oriented FAST and Rotated BRIEF (ORB) descriptor to detect and extract the interest points and the RANdom SAmple Consensus (RANSAC) method to estimate the parameters from a matched points matrix for finding the camera translation. The visual odometry and morphological operations to point out moving objects have been performed.
{"title":"Embedded System for Visual Odometry and Localization of Moving Objects in Images Acquired by Unmanned Aerial Vehicles","authors":"R. A. Reboucas, Quenaz da Cruz Eller, Mateus Habermann, E. H. Shiguemori","doi":"10.1109/SBESC.2013.34","DOIUrl":"https://doi.org/10.1109/SBESC.2013.34","url":null,"abstract":"In this paper is presented the visual odometry and the localization of moving objects from aerial images embedded in an Unmanned Aerial Vehicle system with use of the Raspberry Pi and an IP camera. The techniques used are the Oriented FAST and Rotated BRIEF (ORB) descriptor to detect and extract the interest points and the RANdom SAmple Consensus (RANSAC) method to estimate the parameters from a matched points matrix for finding the camera translation. The visual odometry and morphological operations to point out moving objects have been performed.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116354755","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}
The Advanced Encryption Standard (AES) is the main algorithm used to ensure security and privacy in several different applications ranging from massive data servers to small low-power embedded systems. Such embedded systems often rely on dedicated hardware implementations of AES in order to meet tight power budgets. In this scenario, C/C++ High-Level Synthesis (HLS) solutions are gaining acceptance as traditional hardware design methodologies can no longer match the strict time-to-market requirements of current applications. In this paper, we describe a C++ implementation of the AES algorithms and explore different hardware micro-architectures by using HLS solutions. We focus on describing the process of obtaining an efficient synthesizable C++ description form plain software code.
{"title":"An Implementation of the AES Cipher Using HLS","authors":"R. Meurer, T. Mück, A. A. Fröhlich","doi":"10.1109/SBESC.2013.36","DOIUrl":"https://doi.org/10.1109/SBESC.2013.36","url":null,"abstract":"The Advanced Encryption Standard (AES) is the main algorithm used to ensure security and privacy in several different applications ranging from massive data servers to small low-power embedded systems. Such embedded systems often rely on dedicated hardware implementations of AES in order to meet tight power budgets. In this scenario, C/C++ High-Level Synthesis (HLS) solutions are gaining acceptance as traditional hardware design methodologies can no longer match the strict time-to-market requirements of current applications. In this paper, we describe a C++ implementation of the AES algorithms and explore different hardware micro-architectures by using HLS solutions. We focus on describing the process of obtaining an efficient synthesizable C++ description form plain software code.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132470502","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}
Point clouds segmentation is an essential step to improve the performance of obstacle detection and classification in areas of autonomous ground vehicles and mobile robotics. This paper presents a study and comparison of the performance of segmentation methods using point clouds coming from a 3D laser sensor, more specifically obtained from a Velodyne HDL32.
{"title":"3D Point Clouds Segmentation for Autonomous Ground Vehicle","authors":"Danilo Habermann, A. Hata, D. Wolf, F. Osório","doi":"10.1109/SBESC.2013.43","DOIUrl":"https://doi.org/10.1109/SBESC.2013.43","url":null,"abstract":"Point clouds segmentation is an essential step to improve the performance of obstacle detection and classification in areas of autonomous ground vehicles and mobile robotics. This paper presents a study and comparison of the performance of segmentation methods using point clouds coming from a 3D laser sensor, more specifically obtained from a Velodyne HDL32.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127249957","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}
Recently, researchers have shown an increased interest in concurrency control using distributed Software Transactional Memory (STM). However, there has been little discussion about certain types of fault tolerance, such as Byzantine Fault Tolerance (BFT), for kind of systems. The focus of this paper is on tolerating byzantine faults on optimistic processing of transactions using STM. The result is an algorithm named OB-STM. The processing of a transaction runs with an optimistic approach, benefiting from the high probability of messages being delivered in order when using Reliable Multicast on a local network (LAN). The protocol has a better performs when messages are delivered ordered. In case of a malicious replica or out-of-order messages, the Byzantine protocol is initiated. In smaller scenarios and using an optimistic approach, the protocol has a better throughput than Tazio.
{"title":"OB-STM: An Optimistic Approach for Byzantine Fault Tolerance in Software Transactional Memory","authors":"T. A. Ribeiro, L. Lung, Hylson Vescovi Netto","doi":"10.1109/SBESC.2013.31","DOIUrl":"https://doi.org/10.1109/SBESC.2013.31","url":null,"abstract":"Recently, researchers have shown an increased interest in concurrency control using distributed Software Transactional Memory (STM). However, there has been little discussion about certain types of fault tolerance, such as Byzantine Fault Tolerance (BFT), for kind of systems. The focus of this paper is on tolerating byzantine faults on optimistic processing of transactions using STM. The result is an algorithm named OB-STM. The processing of a transaction runs with an optimistic approach, benefiting from the high probability of messages being delivered in order when using Reliable Multicast on a local network (LAN). The protocol has a better performs when messages are delivered ordered. In case of a malicious replica or out-of-order messages, the Byzantine protocol is initiated. In smaller scenarios and using an optimistic approach, the protocol has a better throughput than Tazio.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"185 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134118557","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}
Wireless Sensor Networks (WSNs) are rapidly becoming a necessary tool in many different application areas, such as environmental monitoring, security, safety, and so on. The heterogeneity of hardware is large, so there exists several different environments that support WSN programming. However, the great majority of such environments only target the sensors programming, forgetting about their real intent: the application. In this paper we propose an approach to satisfy the need of high level development methods in WSN applications, aiming to provide a clear link between the modeled WSN constraints and the programming entities. An important part of this proposal is the so-called WiSeN Profile, an UML profile devoted for WSN applications design in a Model-Drivel Development (MDD) paradigm.
{"title":"Model-Driven Development of WSN Applications","authors":"L. Becker, F. Basso, A. A. Fröhlich, A. R. Paulon","doi":"10.1109/SBESC.2013.27","DOIUrl":"https://doi.org/10.1109/SBESC.2013.27","url":null,"abstract":"Wireless Sensor Networks (WSNs) are rapidly becoming a necessary tool in many different application areas, such as environmental monitoring, security, safety, and so on. The heterogeneity of hardware is large, so there exists several different environments that support WSN programming. However, the great majority of such environments only target the sensors programming, forgetting about their real intent: the application. In this paper we propose an approach to satisfy the need of high level development methods in WSN applications, aiming to provide a clear link between the modeled WSN constraints and the programming entities. An important part of this proposal is the so-called WiSeN Profile, an UML profile devoted for WSN applications design in a Model-Drivel Development (MDD) paradigm.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121575984","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}
Nowadays, market needs pose novel challenges to computer science requiring increasingly computational capacity to deal with more and more complex applications. Embedded systems represent a large slice of these new complex systems. This scenario promoted the employment of advanced hardware platforms on embedded systems. However, embedded software development has not progressed at the same pace. Although high-level technologies have been employed in embedded development it still lacks of understanding about their impact on physical constraints, which are extremely important on embedded domain. This paper analyzes Object Oriented (OO) and procedural implementations running on different processor organizations. We demonstrate that for the future embedded processors the gains of the old-fashioned procedural code over OO code do not justifies the risks of delayed time-to-market.
{"title":"Quality Impact on Software Performance","authors":"U. Corrêa, L. F. Millani, A. C. S. Beck, L. Carro","doi":"10.1109/SBESC.2013.30","DOIUrl":"https://doi.org/10.1109/SBESC.2013.30","url":null,"abstract":"Nowadays, market needs pose novel challenges to computer science requiring increasingly computational capacity to deal with more and more complex applications. Embedded systems represent a large slice of these new complex systems. This scenario promoted the employment of advanced hardware platforms on embedded systems. However, embedded software development has not progressed at the same pace. Although high-level technologies have been employed in embedded development it still lacks of understanding about their impact on physical constraints, which are extremely important on embedded domain. This paper analyzes Object Oriented (OO) and procedural implementations running on different processor organizations. We demonstrate that for the future embedded processors the gains of the old-fashioned procedural code over OO code do not justifies the risks of delayed time-to-market.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125212670","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}
Continuously Software Engineering seeks to increase the quality of all kinds of software products, however these different types have different characteristics that need to be observed also in a different way. Currently, the major concern is with the quality of Embedded Computing Systems, as they are a classification of software that are strongly present in our daily lives and often without notice. The greatest feature of such systems is the ability to perform extremely important tasks with little computational resource. In general, such systems have restrictions on development and operation, they require specific requirements. To ensure its functioning in its development, we need to use processes with defined procedures to identify these features. This article presents part of a study being carried out to develop a process framework covering all phases of the development process of embedded systems, organized into phases, activities and document templates that induce developers to carry out the good practices suggested by quality models. It is understood by development, all activities related either to new components or reuse.
{"title":"Phase Cyclical Process Requirements for the Development of Embedded Systems","authors":"Magda Aparecida Silverio Miyashiro, M. Ferreira","doi":"10.1109/SBESC.2013.26","DOIUrl":"https://doi.org/10.1109/SBESC.2013.26","url":null,"abstract":"Continuously Software Engineering seeks to increase the quality of all kinds of software products, however these different types have different characteristics that need to be observed also in a different way. Currently, the major concern is with the quality of Embedded Computing Systems, as they are a classification of software that are strongly present in our daily lives and often without notice. The greatest feature of such systems is the ability to perform extremely important tasks with little computational resource. In general, such systems have restrictions on development and operation, they require specific requirements. To ensure its functioning in its development, we need to use processes with defined procedures to identify these features. This article presents part of a study being carried out to develop a process framework covering all phases of the development process of embedded systems, organized into phases, activities and document templates that induce developers to carry out the good practices suggested by quality models. It is understood by development, all activities related either to new components or reuse.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124188034","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}
Memory systems have been pointed out as a main source to the performance and power consumption of embedded software. Embedded systems require low-power consumption, so becomes interesting investigate memory optimization techniques for these systems. There are many techniques in the literature to reduce power/energy consumption and execution time of embedded systems. This work revises and discusses these techniques focusing on hardware and software optimizations.
{"title":"Survey of Memory Optimization Techniques for Embedded Systems","authors":"L. Oliveira, J. Mattos, L. Brisolara","doi":"10.1109/SBESC.2013.35","DOIUrl":"https://doi.org/10.1109/SBESC.2013.35","url":null,"abstract":"Memory systems have been pointed out as a main source to the performance and power consumption of embedded software. Embedded systems require low-power consumption, so becomes interesting investigate memory optimization techniques for these systems. There are many techniques in the literature to reduce power/energy consumption and execution time of embedded systems. This work revises and discusses these techniques focusing on hardware and software optimizations.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117105738","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}
One of the most intricate problem in the synthesis of hard real-time systems is the scheduling. There are two general approaches for scheduling tasks in real-time systems: runtime or pre-runtime scheduling. However, there are situations where the runtime approach does not find a feasible schedule even if such a schedule exists. This situation generally occurs when the task model imposes arbitrary intertask relations, such as precedence and exclusion relations. However, finding a feasible schedule is not trivial, because this problem is NP-Hard in its general form. The approach proposed in this paper models real-time systems using time Petri nets, and finds a pre-runtime scheduling, provided that one exists, using a depth-first search method adopting two kinds of firing rules: single and maximal step semantics. The main aim of this paper is to compare both semantics in the context of embedded hard real-time pre-runtime scheduling.
{"title":"Analysis of Real-Time Scheduling Problems by Single Step and Maximal Step Semantics for Time Petri Net Models","authors":"R. Freitas, R. Barreto, P. Maciel","doi":"10.1109/SBESC.2013.45","DOIUrl":"https://doi.org/10.1109/SBESC.2013.45","url":null,"abstract":"One of the most intricate problem in the synthesis of hard real-time systems is the scheduling. There are two general approaches for scheduling tasks in real-time systems: runtime or pre-runtime scheduling. However, there are situations where the runtime approach does not find a feasible schedule even if such a schedule exists. This situation generally occurs when the task model imposes arbitrary intertask relations, such as precedence and exclusion relations. However, finding a feasible schedule is not trivial, because this problem is NP-Hard in its general form. The approach proposed in this paper models real-time systems using time Petri nets, and finds a pre-runtime scheduling, provided that one exists, using a depth-first search method adopting two kinds of firing rules: single and maximal step semantics. The main aim of this paper is to compare both semantics in the context of embedded hard real-time pre-runtime scheduling.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132510440","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}
L. Schrickte, C. Montez, R. S. Oliveira, A. R. Pinto
The Internet of Things is a new paradigm where smart embedded devices and systems are connected to the Internet. In this context, Wireless Sensor Networks (WSN) are becoming an important alternative for sensing and actuating critical applications like industrial automation, remote patient monitoring and domotics. The IEEE 802.15.4 protocol has been adopted as a standard for WSN and the 6LoWPAN protocol has been proposed to overcome the challenges of integrating WSN and Internet protocols. In this paper, the mechanisms of header compression and fragmentation of IPv6 datagrams proposed in the 6LoWPAN standard were evaluated through field experiments using a gateway prototype and IEEE 802.15.4 nodes.
{"title":"Integration of Wireless Sensor Networks to the Internet of Things Using a 6LoWPAN Gateway","authors":"L. Schrickte, C. Montez, R. S. Oliveira, A. R. Pinto","doi":"10.1109/SBESC.2013.37","DOIUrl":"https://doi.org/10.1109/SBESC.2013.37","url":null,"abstract":"The Internet of Things is a new paradigm where smart embedded devices and systems are connected to the Internet. In this context, Wireless Sensor Networks (WSN) are becoming an important alternative for sensing and actuating critical applications like industrial automation, remote patient monitoring and domotics. The IEEE 802.15.4 protocol has been adopted as a standard for WSN and the 6LoWPAN protocol has been proposed to overcome the challenges of integrating WSN and Internet protocols. In this paper, the mechanisms of header compression and fragmentation of IPv6 datagrams proposed in the 6LoWPAN standard were evaluated through field experiments using a gateway prototype and IEEE 802.15.4 nodes.","PeriodicalId":359419,"journal":{"name":"2013 III Brazilian Symposium on Computing Systems Engineering","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130302994","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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