The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
A large interest has recently been given to global chassis control. This requires a tire model adapted to control synthesis that can represent combined slip. In this paper, a new suitable tire model for vehicle coupled operations control is proposed. The existing models are either too simple to represent coupled behaviors or too complex to allow control synthesis. This new tire model takes benefits...
Most of the chassis systems are developed by automotive suppliers to improve a specific vehicle performance. Drivers, and consequently vehicle manufacturers, are more concerned by the overall behaviour of the Vehicle. Many coordination architectures have been proposed in the literature in order to integrate different chassis systems in a single vehicle. In this paper, these architectures are compared...
Microcode is a technique that is used to implement internal state machine sequencing in different type of controllers addressing a large range of different applications. It can be used to reduce the functional as well as the internal complexity of a design. A challenge in using microcode based IP-design in IPs that are designed to be used in critical applications is to ensure that the microprogram...
The exponential growing effort, cost and time investment of complex systems in modeling phase emphasize the need for a methodology, a framework and a environment to handle the system model complexity. For that, it is necessary to be able to measure the system model entropy. This paper highlights the requirements a model needs to fulfill to match human user expectations. It suggests a hierarchical...
In order to promote reuse of software in robotics, standardization, benchmarking, and formalization activities in robotics are being undertaken by many technical working groups and independent agencies. Absence of integrated tools is the real barrier that exists between early adopters of such efforts and early majority of research and industrial community. In this paper, we provide a detailed discussion...
The application of efficient requirement management processes in industrial environments faces many threats. Most of existing tools for requirement statement, edition and traceability are spreadsheet-like and text-based. However, text-based tools are sequential and often suffer of being either ambiguous or hard to process; while graphical tools are multidimensional with diagrams containing implicit...
The key challenge in enhancing intersection safety is to identify vehicles that have a high potential to be involved in a collision as early as possible and take preventive action thereof. Such a system design and implementation needs an analysis phase during which the system is analyzed and decomposed. Given that most large-scale complex engineering systems need to be simplified and layered before...
In aerospace field, it is necessary to address the radiation effects to which embedded systems are especially sensitive. Besides, the reuse of existing components implies that a modification of the architecture is sometimes expected to meet the safety requirements for such critical applications. To achieve such safety level, physical radiation hardening is usually used despite its cost. However, by...
A typical feature of robotic architectures are its reactivity and self-adaptivity. In practice, this is achieved by context-dependent dynamic invocation of software components in robotic architectures. In this paper, we specifically address how this self-adaptation capability can be formally defined and modeled in an architecture-independent way. We propose a probabilistic approach that facilitates...
The exponential growing effort, cost and time investment of complex systems in modeling phase emphasize the need for a methodology, a framework and a environment to handle the system model complexity. For that, it is necessary to be able to measure the system model complexity. This paper highlights the requirements a model needs to fulfill to match human user expectations, presents a generic framework...
In recent times, researchers in robotics have arrived at a consensus that there is no single efficient architecture or framework that satisfies all aspects of robotic system design. A majority of robotic architectures currently in use are developed in-house to meet the specific objectives of the research group. However, these frameworks have been designed in an ad-hoc manner and thus restricts reusability...
A robotic system is a software intensive system that is composed of distributed, heterogeneous software components interacting in a highly dynamic, uncertain environment. However, no systematic software development process is followed in robotics research. In this paper, we present the core concepts that drive our framework ‘Self Adaptive Framework for Robotic Systems (SafeRobots)’ for developing...
In this paper, a model-based framework called ‘Self Adaptive Framework for Robotic Systems (SafeRobots)’ for designing robotic software architectures is proposed. With the help of an example of designing an architecture for mobile robot mapping system, it will be shown how formal domain knowledge can be used at multiple abstraction levels in a model-driven engineering approach. The solution pool for...
A robotic system is an integration of various systems such as perception, navigation, planner, controller, etc. The adaptation of the robotic system to the dynamic environments is embedded in the functionality of the constituent systems. This severely limits the configuration space of such systems. The modeling of the variability in the solution space can expand this design space, help finding the...
The SystemC waiting-state automaton is a compositional formal model for verifying properties of SystemC at the transaction level within a delta-cycle: the smallest simulation unit time in SystemC. In this paper, we first propose how to extract automata for SystemC components where we distinguish between threads and methods in SystemC. Then, we propose an approach based on a combination of symbolic...
Several decision making algorithms that are developed in robotics domain are found to be useful in automotive industrial applications. In order to use these algorithms in safety critical embedded systems one has to ensure a minimum confidence level, quality assurance, and reliability. In addition, decision algorithms are designed and developed by domain experts and system integrators do not have control...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.