Hardware Parallel Architecture of a 3D Surface Reconstruction: Marching Cubes Algorithm

International audienceIn this paper we present a study of the algorithmic and architectural exploration methodology for a parallelism of the 3D reconstructing algorithm (Marching Cubes) and its optimized implementation on FPGA.We aim at defining a parallel multiprocessor architecture implementing this algorithm in an optimal way and Elementary Processor (EP) architecture dedicated to this algorithm. We use the SynDEx tool which adapts the AAA (Algorithm Architecture Adequacy) methodology, to find a good compromise between the computing power, the functionality of each PE, the optimization constraint (time, area), and the parallelization efficiency. Then, we describe a first implementation of PE on FPGA

Optimization of automatically generated multi-core code for the LTE RACH-PD algorithm

Embedded real-time applications in communication systems require high processing power. Manual scheduling devel-oped for single-processor applications is not suited to multi-core architectures. The Algorithm Architecture Matching (AAM) methodology optimizes static application implementation on multi-core architectures. The Random Access Channel Preamble Detection (RACH-PD) is an algorithm for non-synchronized access of Long Term Evolu-tion (LTE) wireless networks. LTE aims to improve the spectral efficiency of the next generation cellular system. This paper de-scribes a complete methodology for implementing the RACH-PD. AAM prototyping is applied to the RACH-PD which is modelled as a Synchronous DataFlow graph (SDF). An efficient implemen-tation of the algorithm onto a multi-core DSP, the TI C6487, is then explained. Benchmarks for the solution are given

Model-Based Development of Distributed Embedded Systems by the Example of the Scicos/SynDEx Framework

The embedded systems engineering industry faces increasing demands for more functionality, rapidly evolving components, and shrinking schedules. Abilities to quickly adapt to changes, develop products with safe design, minimize project costs, and deliver timely are needed. Model-based development (MBD) follows a separation of concerns by abstracting systems with an appropriate intensity. MBD promises higher comprehension by modeling on several abstraction-levels, formal verification, and automated code generation. This thesis demonstrates MBD with the Scicos/SynDEx framework on a distributed embedded system. Scicos is a modeling and simulation environment for hybrid systems. SynDEx is a rapid prototyping integrated development environment for distributed systems. Performed examples implement well-known control algorithms on a target system containing several networked microcontrollers, sensors, and actuators. The addressed research question tackles the feasibility of MBD for medium-sized embedded systems. In the case of single-processor applications experiments show that the comforts of tool-provided simulation, verification, and code-generation have to be weighed against an additional memory consumption in dynamic and static memory compared to a hand-written approach. Establishing a near-seamless modeling-framework with Scicos/SynDEx is expensive. An increased development effort indicates a high price for developing single applications, but might pay off for product families. A further drawback was that the distributed code generated with SynDEx could not be adapted to microcontrollers without a significant alteration of the scheduling tables. The Scicos/SynDEx framework forms a valuable tool set that, however, still needs many improvements. Therefore, its usage is only recommended for experimental purposes.Comment: 146 pages, Master's Thesi

Automated Maze Robot

An autonomous maze robot is a robot that can solve a linear maze autonomously. The aim of this project is to develop an autonomous robot for navigation in an unknown maze enviromnent. The problems in this project are the problems in autonomous robot navigation and the problems in navigating in an unknown maze enviromnent. The methodology used in this project is the prototyping methodology. The findings in this project are the maze that is being used, the linear maze; the robot that is being used, the Pololu 3pi Robot; the algorithm that has been chosen to be implemented, the Wall Following Algorithm; the implementation of the project, how the robot operates; the tests that had been ran, the Fault Injection Test, the NonFunctional Test and the Integration Test; and the test results, the success rate and the failure rate. At the end of this report, the author concluded the project and explains what can be done for expansion and continuation

Autonomous Robot Navigation in Unknown Maze Environment

An autonomous robot navigation that is able to navigate itself in unknown maze environment. The objective of this project is to design and develop an autonomous robot navigation using a selected algorithm which is pledge algorithm by using the concept of obstacle avoidance besides studying its accuracy to solve the given environment. The result of the chosen algorithm then is compared to Wall Following algorithm, a typical algorithm used to solve obstacle avoidance maze. This project covers artificial intelligence field of study and it is designed to solve the issue of robot limitation in feeling its surrounding and to make any decision by its own. Thus, by using evolutionary prototyping, the author coded the chosen algorithm and tested on the robot to see how it is going to react in the given environment especially when the walls are disconnected. At the end of the report, the author concluded the project and recommends some improvement or expansion that can be done in the future

Programming Languages For Hard Real-Time Embedded Systems

International audienceHard real-time embedded systems have traditionally been implemented using low level programming languages (such as ADA or C) at a level very close to the underlying operating system. However, for several years now the industry has started using higher level modelling languages, at least for early simulation and verification steps. The objective of this paper is to study existing formal languages including high level real-time primitives. Our review is built on the case study of an aerospace automated transfer vehicle, the particularity of which is to be composed of several multi-periodic communicating processes. In this paper, we emphasize the strengths and weaknesses of existing programming approaches when implementing this kind of system. As a result, the choice of the base rate of the program appears to have a major influence, not only on the difficulty to program the system correctly but also on the execution platform required to execute the program (operating system, scheduler, ...)

A heuristic algorithm for determining the part set in a powder-bed additive manufacturing machine.

The goal of this research is to develop a procedure for the placement of a priority part into a planned build in a powder-bed additive manufacturing machine. Toward that goal, a heuristic procedure was developed that seeks to maximize the revenue in a scheduled build, subject to due-date constraints; i.e., all parts with the closest due date will not only be included in the build, but will be placed near the bottom of the build. Likewise, any part in the scheduled build that does not have an immediate due date is a candidate for removal in order to accommodate a higher priority part, the order for which arrives after the build is underway. The build volume for this experiment with the SLS2500+ machine is 13-inch x 15-inch x 18-inch rectilinear container. To achieve this optimization of the build, the experiment for this research involved a penalty which is based on failure to meet the due date constraint. The m parts in the build are placed such that are placed the highest priority parts, including those with immediate due date constraints, are positioned near the bottom of the build volume. The focus of this study is to determine which “unbuilt” parts x(i) will be removed to make room for higher priority parts. Toward that end, each part is assigned a priority p(i), i = 1, …,m until the build is full. If an order for a part having a higher priority p(i)than any of the parts in the build, the procedure developed here seeks to replace at least one of the parts in the scheduled build. Hence, the dimensions of the lower priority parts are key, since the part that is removed must provide sufficient space for the new part. Importantly, the enactment of the procedure developed here takes place in real time, with little or no interruption of the progress of the build. The resulting Excel file will be sorted as to place the immediate items at the bottom on the build. The solution is valid for a single and also for a multiple build. Simulations of this heuristic procedure were shown to substantially increase the revenue desired from the planned build by adding higher priority parts

HW/SW Co-design and Prototyping Approach for Embedded Smart Camera: ADAS Case Study

In 1968, Volkswagen integrated an electronic circuit as a new control fuel injection system, called the “Little Black Box”, it is considered as the first embedded system in the automotive industry. Currently, automobile constructors integrate several embedded systems into any of their new model vehicles. Behind these automobile’s electronics systems, a sophisticated Hardware/Software (HW/SW) architecture, which is based on heterogeneous components, and multiple CPUs is built. At present, they are more oriented toward visionbased systems using tiny embedded smart camera. This visionbased system in real time aspects represents one of the most challenging issues, especially in the domain of automobile’s applications. On the design side, one of the optimal solutions adopted by embedded systems designer for system performance, is to associate CPUs and hardware accelerators in the same design, in order to reduce the computational burden on the CPU and to speed-up the data processing. In this paper, we present a hardware platform-based design approach for fast embedded smart Advanced Driver Assistant System (ADAS) design and prototyping, as an alternative for the pure time-consuming simulation technique. Based on a Multi-CPU/FPGA platform, we introduced a new methodology/flow to design the different HW and SW parts of the ADAS system. Then, we shared our experience in designing and prototyping a HW/SW vision based on smart embedded system as an ADAS that helps to increase the safety of car’s drivers. We presented a real HW/SW prototype of the vision ADAS based on a Zynq FPGA. The system detects the fatigue/drowsiness state of the driver by monitoring the eyes closure and generates a real time alert. A new HW Skin Segmentation step to locate the eyes/face is proposed. Our new approach migrates the skin segmentation step from processing system (SW) to programmable logic (HW) taking the advantage of High-Level Synthesis (HLS) tool flow to accelerate the implementation, and the prototyping of the Vision based ADAS on a hardware platform

Computer-aided position planning of miniplates to treat facial bone defects

In this contribution, a software system for computer-aided position planning of miniplates to treat facial bone defects is proposed. The intra-operatively used bone plates have to be passively adapted on the underlying bone contours for adequate bone fragment stabilization. However, this procedure can lead to frequent intra-operatively performed material readjustments especially in complex surgical cases. Our approach is able to fit a selection of common implant models on the surgeon's desired position in a 3D computer model. This happens with respect to the surrounding anatomical structures, always including the possibility of adjusting both the direction and the position of the used osteosynthesis material. By using the proposed software, surgeons are able to pre-plan the out coming implant in its form and morphology with the aid of a computer-visualized model within a few minutes. Further, the resulting model can be stored in STL file format, the commonly used format for 3D printing. Using this technology, surgeons are able to print the virtual generated implant, or create an individually designed bending tool. This method leads to adapted osteosynthesis materials according to the surrounding anatomy and requires further a minimum amount of money and time.Comment: 19 pages, 13 Figures, 2 Table

Programmable Edge-to-Cloud Virtualization for 5G Media Industry: The 5G-MEDIA Approach

To ensure high Quality of Experience (QoE) for end users, many media applications require significant quantities of computing and network resources, making their realization challenging in resource constrained environments. In this paper, we present the approach of the 5G-MEDIA project, providing an integrated programmable service platform for the development, design and operations of media applications in 5G networks, facilitating media service management across the service life cycle. The platform offers tools to service developers for efficient development, testing and continuous correction of services. One step further, it provides a service virtualization platform offering horizontal services, such as a Media Service Catalogue and accounting services, as well as optimization mechanisms to flexibly adapt service operations to dynamic conditions with efficient use of infrastructure resources. The paper outlines three use cases where the platform was tested and validated