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A framework for hardware design and validation of face detection systems is discussed. The design begins at a high-level of abstraction by using a software library as the golden reference model. The golden reference model and the baseline model (model under validation) are converted to a transaction level (TLM) description or a register transfer level (RTL) description. The degree of similarity of...
Systems using Unmanned Aerial Vehicles (UAV) are typical examples of cyber-physical systems. Designing such systems is not a trivial task because it brings the challenge of dealing with the uncertainty that is inherent to this type of system. Therefore, it is necessary the usage of appropriate tools for design that can ensure implementation of these systems with a certain level of confiability. Thus,...
The use of distributed components may offer many advantages in the most types of applications. It includes, for example, the easy use of disperse resources in a network, allowing a potential gain on the processing power and data loading. But, the major challenge is interoperability and communication management. In this aspect, the High Level Architecture (HLA) establishes specific policies for data...
The purpose of this study is to adapt and embed a navigation system and control mobile robots, based on nonlinear model predictive formation control (NMPFC), in a low-cost commercially available board. The system must provide sufficient computational resources so that the robot is able to converge, without losing performance, using the same prediction and control horizons applied in a laptop. The...
The challenge target by this work is to synchronize heterogeneous and distributed devices. For this purpose a middleware is presented as an infrastructure that facilitates sending and receiving messages among distributed and heterogeneous systems, called Virtual Bus. In order to improve the interoperabilty with legacy systems, it was developed using the IEEE 1516 standard (called HLA - High Level...
This work proposes the development of an embedded system compatible with any Unmanned Aerial Vehicle (UAV) remotely controlled by radio, which is able to perform the control of an UAV and monitor and store all flight data for later retrieval and analysis. This will allow the future identification of stability patterns of a vehicle, identification and quantification of instabilities occurrences, and...
Power consumption is a big challenge in chip design. Decisions taken in early design phases have large impact on the power consumption. Generally, simulation-based Design Space Exploration (DSE) is computationally costly for large problems due the size of design space. Simulate the possible scenarios in a distributed fashion can decrease the time to find efficient solutions. In this paper we describe...
Monitoring and recognition of large areas bringgreat challenge and Unmanned Aerial Vehicles (UAV) promise tobe a great help. The challenge is to optimize the task of UAVs, in order to reach the goals with maximum possible quality. Theobjective of this work is to analyze possible path algorithms andthe feasibility of embedded them in a UAV. The question we aim at answering is: given a set of points...
This paper proposes solution capable to process aerial images from UAVs to identify failures in plantations and makes a comparison of the system running on light sized computers and low power computing platforms. An algorithm was developed based on watersheds using OpenCV library. The solution was embedded on X86 architecture (AlteraDE2i-150) and Intel Edison boards as well as on ARM architecture...
This work presents a technique for testing real-time embedded systems using Hardware-in-the-Loop (HIL) simulation, exploiting High-Level Architecture (HLA) standard for interoperability and synchronization of heterogeneous architectures. The proposed testing approach uses the Ptolemy framework to verify in real-time models running in hardware against their respective reference models developed in...
Robot soccer is one example of a real-time multi-robot system. The cooperation among them is one of the challenges like to be overcome. Distributed approaches for local state exchanging like Real-time Databases (RTDB) are CPU demanding and complex to write and maintain. Thus, this work presents a new communication approach based on a centralized middleware named High-Level Architecture (HLA), where...
Design complex embedded systems demands method and tools that allow the simulation and verification in an efficient and practical way. This paper proposes the development and evaluation of a distributed simulation platform of heterogeneous simulators based on High Level Architecture (HLA), a middleware for distributed discrete event simulation, in order to create an environment with high-performance...
This paper analyzes the prediction model of a nonlinear model predictive formation controller (NMPFC) applied to control the formation of a team of omni directional mobile robots. The prediction model calculates future formation behaviors with respect to obstacles, team mates in formation, target, orientation, position in formation and control effort using a kinematic model to predict most of the...
Nowadays, embedded systems have a huge amount of computational power and consequently, high complexity. It is quite usual to find different applications being executed in embedded systems. Embedded system design demands for method and tools that allow the simulation and verification in an efficient and practical way. This paper proposes the development and evaluation of a solution for embedded modeling...
Nowadays, embedded systems have a huge amount of computational power and consequently, high complexity. It is quite usual to find different applications being executed in embedded systems. Embedded system design demands for method and tools that allow the simulation and verification in an efficient and practical way. This paper proposes the development and evaluation of a solution for embedded modeling...
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