37 research outputs found
Analysis of Embedded Controllers Subject to Computational Overruns
Microcontrollers have become an integral part of modern everyday embedded systems, such as smart bikes, cars, and drones. Typically, microcontrollers operate under real-time constraints, which require the timely execution of programs on the resource-constrained hardware. As embedded systems are becoming increasingly more complex, microcontrollers run the risk of violating their timing constraints, i.e., overrunning the program deadlines. Breaking these constraints can cause severe damage to both the embedded system and the humans interacting with the device. Therefore, it is crucial to analyse embedded systems properly to ensure that they do not pose any significant danger if the microcontroller overruns a few deadlines.However, there are very few tools available for assessing the safety and performance of embedded control systems when considering the implementation of the microcontroller. This thesis aims to fill this gap in the literature by presenting five papers on the analysis of embedded controllers subject to computational overruns. Details about the real-time operating system's implementation are included into the analysis, such as what happens to the controller's internal state representation when the timing constraints are violated. The contribution includes theoretical and computational tools for analysing the embedded system's stability, performance, and real-time properties.The embedded controller is analysed under three different types of timing violations: blackout events (when no control computation is completed during long periods), weakly-hard constraints (when the number of deadline overruns is constrained over a window), and stochastic overruns (when violations of timing constraints are governed by a probabilistic process). These scenarios are combined with different implementation policies to reduce the gap between the analysis and its practical applicability. The analyses are further validated with a comprehensive experimental campaign performed on both a set of physical processes and multiple simulations.In conclusion, the findings of this thesis reveal that the effect deadline overruns have on the embedded system heavily depends the implementation details and the system's dynamics. Additionally, the stability analysis of embedded controllers subject to deadline overruns is typically conservative, implying that additional insights can be gained by also analysing the system's performance
Co-Design of Arbitrated Network Control Systems with Overrun Strategies
This paper addresses co-design of platform and
control of multiple control applications in a network control
system. Limited and shared resources among control and noncontrol
applications introduce delays in transmitted messages.
These delays in turn can degrade system performance and cause
instabilities. In this paper, we propose an overrun framework
together with a co-design to achieve both optimal control performance
and efficient resource utilization. The starting point for
this framework is an Arbitrated Network Control System (ANCS)
approach, where flexibility and transparency in the network are
utilized to arbitrate control messages. Using a two-parameter
model for delays experienced by control messages that classifies
them as nominal, medium, and large, we propose a controller
that switches between nominal, skip and abort strategies. An
automata-theoretic technique is introduced to derive analytical
bounds on the abort and skip rates. A co-design algorithm is
proposed to optimize the selection of the overrun parameters. A
case study is presented that demonstrates the ANCS approach,
the overrun framework and the overall co-design
Scaled Autonomy for Networked Humanoids
Humanoid robots have been developed with the intention of aiding in environments designed for humans. As such, the control of humanoid morphology and effectiveness of human robot interaction form the two principal research issues for deploying these robots in the real world. In this thesis work, the issue of humanoid control is coupled with human robot interaction under the framework of scaled autonomy, where the human and robot exchange levels of control depending on the environment and task at hand. This scaled autonomy is approached with control algorithms for reactive stabilization of human commands and planned trajectories that encode semantically meaningful motion preferences in a sequential convex optimization framework.
The control and planning algorithms have been extensively tested in the field for robustness and system verification. The RoboCup competition provides a benchmark competition for autonomous agents that are trained with a human supervisor. The kid-sized and adult-sized humanoid robots coordinate over a noisy network in a known environment with adversarial opponents, and the software and routines in this work allowed for five consecutive championships. Furthermore, the motion planning and user interfaces developed in the work have been tested in the noisy network of the DARPA Robotics Challenge (DRC) Trials and Finals in an unknown environment.
Overall, the ability to extend simplified locomotion models to aid in semi-autonomous manipulation allows untrained humans to operate complex, high dimensional robots. This represents another step in the path to deploying humanoids in the real world, based on the low dimensional motion abstractions and proven performance in real world tasks like RoboCup and the DRC
Designing sound : procedural audio research based on the book by Andy Farnell
In
procedural
media,
data
normally
acquired
by
measuring
something,
commonly
described
as
sampling,
is
replaced
by
a
set
of
computational
rules
(procedure)
that
defines
the
typical
structure
and/or
behaviour
of
that
thing.
Here,
a
general
approach
to
sound
as
a
definable
process,
rather
than
a
recording,
is
developed.
By
analysis
of
their
physical
and
perceptual
qualities,
natural
objects
or
processes
that
produce
sound
are
modelled
by
digital
Sounding
Objects
for
use
in
arts
and
entertainments.
This
Thesis
discusses
different
aspects
of
Procedural
Audio
introducing
several
new
approaches
and
solutions
to
this
emerging
field
of
Sound
Design.Em
Media
Procedimental,
os
dados
os
dados
normalmente
adquiridos
através
da
medição
de
algo
habitualmente
designado
como
amostragem,
são
substituídos
por
um
conjunto
de
regras
computacionais
(procedimento)
que
definem
a
estrutura
típica,
ou
comportamento,
desse
elemento.
Neste
caso
é
desenvolvida
uma
abordagem
ao
som
definível
como
um
procedimento
em
vez
de
uma
gravação.
Através
da
análise
das
suas
características
físicas
e
perceptuais
,
objetos
naturais
ou
processos
que
produzem
som,
são
modelados
como
objetos
sonoros
digitais
para
utilização
nas
Artes
e
Entretenimento.
Nesta
Tese
são
discutidos
diferentes
aspectos
de
Áudio
Procedimental,
sendo
introduzidas
várias
novas
abordagens
e
soluções
para
o
campo
emergente
do
Design
Sonoro