35,346 research outputs found
Wireless Software Synchronization of Multiple Distributed Cameras
We present a method for precisely time-synchronizing the capture of image
sequences from a collection of smartphone cameras connected over WiFi. Our
method is entirely software-based, has only modest hardware requirements, and
achieves an accuracy of less than 250 microseconds on unmodified commodity
hardware. It does not use image content and synchronizes cameras prior to
capture. The algorithm operates in two stages. In the first stage, we designate
one device as the leader and synchronize each client device's clock to it by
estimating network delay. Once clocks are synchronized, the second stage
initiates continuous image streaming, estimates the relative phase of image
timestamps between each client and the leader, and shifts the streams into
alignment. We quantitatively validate our results on a multi-camera rig imaging
a high-precision LED array and qualitatively demonstrate significant
improvements to multi-view stereo depth estimation and stitching of dynamic
scenes. We release as open source 'libsoftwaresync', an Android implementation
of our system, to inspire new types of collective capture applications.Comment: Main: 9 pages, 10 figures. Supplemental: 3 pages, 5 figure
Information theoretical study of cross-talk mediated signal transduction in MAPK pathways
Biochemical networks related to similar functional pathways are often
correlated due to cross-talk among the homologous proteins in the different
networks. Using a stochastic framework, we address the functional significance
of the cross-talk between two pathways. Our theoretical analysis on generic
MAPK pathways reveals cross-talk is responsible for developing coordinated
fluctuations between the pathways. The extent of correlation evaluated in terms
of the information theoretic measure provides directionality to net information
propagation. Stochastic time series and scattered plot suggest that the
cross-talk generates synchronization within a cell as well as in a cellular
population. Depending on the number of input and output, we identify signal
integration and signal bifurcation motif that arise due to inter-pathway
connectivity in the composite network. Analysis using partial information
decomposition quantifies the net synergy in the information propagation through
these branched pathways.Comment: Revised version, 17 pages, 5 figure
Cooperative Adaptive Control for Cloud-Based Robotics
This paper studies collaboration through the cloud in the context of
cooperative adaptive control for robot manipulators. We first consider the case
of multiple robots manipulating a common object through synchronous centralized
update laws to identify unknown inertial parameters. Through this development,
we introduce a notion of Collective Sufficient Richness, wherein parameter
convergence can be enabled through teamwork in the group. The introduction of
this property and the analysis of stable adaptive controllers that benefit from
it constitute the main new contributions of this work. Building on this
original example, we then consider decentralized update laws, time-varying
network topologies, and the influence of communication delays on this process.
Perhaps surprisingly, these nonidealized networked conditions inherit the same
benefits of convergence being determined through collective effects for the
group. Simple simulations of a planar manipulator identifying an unknown load
are provided to illustrate the central idea and benefits of Collective
Sufficient Richness.Comment: ICRA 201
A component-oriented programming framework for developing embedded mobile robot software using PECOS model
A practical framework for component-based software engineering of embedded real-time systems, particularly for autonomous mobile robot embedded software development using PECOS component model is proposed The main features of this framework are: (1) use graphical representation for components definition and composition; (2) target C language for optimal code generation with small micro-controller; and (3) does not requires run-time support except for real-time kernel. Real-time implementation indicates that, the PECOS component model together with the proposed framework is suitable for resource constrained embedded systems
Distributed Simulation of Heterogeneous and Real-time Systems
This work describes a framework for distributed simulation of cyber-physical systems (CPS). Modern CPS comprise large numbers of heterogeneous components, typically designed in very different tools and languages that are not or not easily composeable. Evaluating such large systems requires tools that integrate all components in a systematic, well-defined manner. This work leverages existing frameworks to facilitate the integration offers validation by simulation. A framework for distributed simulation is the IEEE High-Level Architecture (HLA) compliant tool CERTI, which provides the infrastructure for co-simulation of models in various simulation environments as well as hardware components. We use CERTI in combination with Ptolemy II, an environment for modeling and simulating heterogeneous systems. In particular, we focus on models of a CPS, including the physical dynamics of a plant, the software that controls the plant, and the network that enables the communication between controllers. We describe the Ptolemy extensions for the interaction with HLA and demonstrate the approach on a flight control system simulation
A mapping approach to synchronization in the "Zajfman trap": stability conditions and the synchronization mechanism
We present a two particle model to explain the mechanism that stabilizes a
bunch of positively charged ions in an "ion trap resonator" [Pedersen etal,
Phys. Rev. Lett. 87 (2001) 055001]. The model decomposes the motion of the two
ions into two mappings for the free motion in different parts of the trap and
one for a compressing momentum kick. The ions' interaction is modelled by a
time delay, which then changes the balance between adjacent momentum kicks.
Through these mappings we identify the microscopic process that is responsible
for synchronization and give the conditions for that regime.Comment: 12 pages, 9 figures; submitted to Phys Rev
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