Computer Architectures to Close the Loop in Real-time Optimization

© 2015 IEEE.Many modern control, automation, signal processing and machine learning applications rely on solving a sequence of optimization problems, which are updated with measurements of a real system that evolves in time. The solutions of each of these optimization problems are then used to make decisions, which may be followed by changing some parameters of the physical system, thereby resulting in a feedback loop between the computing and the physical system. Real-time optimization is not the same as fast optimization, due to the fact that the computation is affected by an uncertain system that evolves in time. The suitability of a design should therefore not be judged from the optimality of a single optimization problem, but based on the evolution of the entire cyber-physical system. The algorithms and hardware used for solving a single optimization problem in the office might therefore be far from ideal when solving a sequence of real-time optimization problems. Instead of there being a single, optimal design, one has to trade-off a number of objectives, including performance, robustness, energy usage, size and cost. We therefore provide here a tutorial introduction to some of the questions and implementation issues that arise in real-time optimization applications. We will concentrate on some of the decisions that have to be made when designing the computing architecture and algorithm and argue that the choice of one informs the other

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

Assurance Benefits of ISO 26262 compliant Microcontrollers for safety-critical Avionics

The usage of complex Microcontroller Units (MCUs) in avionic systems constitutes a challenge in assuring their safety. They are not developed according to the development requirements accepted by the aerospace industry. These Commercial off-the-shelf (COTS) hardware components usually target other domains like the telecommunication branch. In the last years MCUs developed in compliance to the ISO 26262 have been released on the market for safety-related automotive applications. The avionic assurance process could profit from these safety MCUs. In this paper we present evaluation results based on the current assurance practice that demonstrates expected assurance activities benefit from ISO 26262 compliant MCUs.Comment: Submitted to SafeComp 2018: http://www.es.mdh.se/safecomp2018

Efficient Memory-Protected Integration of Add-On Software Subsystems in Small Embedded Automotive Applications

Current innovations in the automotive industry evolve mainly in the electronics and software domain. This leads to an increasing integration of additional software subsystems into already existing electronic control units (ECUs) to cope with the raised amount and complexity of present ECUs in modern high-end vehicles. This paper discusses different approaches which are required to integrate such add-on software subsystems in an isolated memory domain, and considers particularly the special needs of small embedded systems—including the limited hardware support. Special focus is brought to the efficient detection of malicious memory accesses, as well as the benefits of a thereupon possible and adaptable failure-handling strategy. All investigations are based on a developed memory-protection framework which has been tailored to the special needs of a sample vehicle dynamics control system. Its usage allows the combination of. integrating additional subsystems without reducing the main application’s availability

Development of personal area network (PAN) for mobile robot using bluetooth transceiver

The work presents the concept of providing a Personal Area Network (PAN) for microcontroller based mobile robots using Bluetooth transceiver. With the concept of replacing cable, low cost, low power consumption and communication range between 10m to 100m, Bluetooth is suitable for communication between mobile robots since most mobile robots are powered by batteries and have high mobility. The network aimed to support real-time control of up to two mobile robots from a master mobile robot through communication using Bluetooth transceiver. If a fast network radio link is implemented, a whole new world of possibilities is opened in the research of robotics control and Artificial Intelligence (AI) research works, sending real time image and information. Robots could communicate through obstacles or even through walls. Bluetooth Ad Hoc topology provides a simple communication between devices in close by forming PAN. A system contained of both hardware and software is designed to enable the robots to form a PAN and communicating, sharing information. Three microcontroller based mobile robots are built for this research work. Bluetooth Protocol Stack and mobile robot control architecture is implemented on a single microcontroller chip. The PAN enabled a few mobile robots to communicate with each other to complete a given task. The wireless communication between mobile robots is reliable based from the result of experiments carried out. Thus this is a platform for multi mobile robots system and Ad Hoc networking system. Results from experiments show that microcontroller based mobile robots can easily form a Bluetooth PAN and communicate with each other