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

A Rewriting-Logic-Based Technique for Modeling Thermal Systems

This paper presents a rewriting-logic-based modeling and analysis technique for physical systems, with focus on thermal systems. The contributions of this paper can be summarized as follows: (i) providing a framework for modeling and executing physical systems, where both the physical components and their physical interactions are treated as first-class citizens; (ii) showing how heat transfer problems in thermal systems can be modeled in Real-Time Maude; (iii) giving the implementation in Real-Time Maude of a basic numerical technique for executing continuous behaviors in object-oriented hybrid systems; and (iv) illustrating these techniques with a set of incremental case studies using realistic physical parameters, with examples of simulation and model checking analyses.Comment: In Proceedings RTRTS 2010, arXiv:1009.398

Behavioral simulation and synthesis of biological neuron systems using synthesizable VHDL

Neurons are complex biological entities which form the basis of nervous systems. Insight can be gained into neuron behavior through the use of computer models and as a result many such models have been developed. However, there exists a trade-off between biological accuracy and simulation time with the most realistic results requiring extensive computation. To address this issue, a novel approach is described in this paper that allows complex models of real biological systems to be simulated at a speed greater than real time and with excellent accuracy. The approach is based on a specially developed neuron model VHDL library which allows complex neuron systems to be implemented on field programmable gate array (FPGA) hardware. The locomotion system of the nematode Caenorhabditis elegans is used as a case study and the measured results show that the real time FPGA based implementation performs 288 times faster than traditional ModelSim simulations for the same accuracy

Deep Spiking Neural Network model for time-variant signals classification: a real-time speech recognition approach

Speech recognition has become an important task to improve the human-machine interface. Taking into account the limitations of current automatic speech recognition systems, like non-real time cloud-based solutions or power demand, recent interest for neural networks and bio-inspired systems has motivated the implementation of new techniques. Among them, a combination of spiking neural networks and neuromorphic auditory sensors offer an alternative to carry out the human-like speech processing task. In this approach, a spiking convolutional neural network model was implemented, in which the weights of connections were calculated by training a convolutional neural network with specific activation functions, using firing rate-based static images with the spiking information obtained from a neuromorphic cochlea. The system was trained and tested with a large dataset that contains ”left” and ”right” speech commands, achieving 89.90% accuracy. A novel spiking neural network model has been proposed to adapt the network that has been trained with static images to a non-static processing approach, making it possible to classify audio signals and time series in real time.Ministerio de Economía y Competitividad TEC2016-77785-

Integration of perception and reasoning in fast neural modules

Artificial neural systems promise to integrate symbolic and sub-symbolic processing to achieve real time control of physical systems. Two potential alternatives exist. In one, neural nets can be used to front-end expert systems. The expert systems, in turn, are developed with varying degrees of parallelism, including their implementation in neural nets. In the other, rule-based reasoning and sensor data can be integrated within a single hybrid neural system. The hybrid system reacts as a unit to provide decisions (problem solutions) based on the simultaneous evaluation of data and rules. Discussed here is a model hybrid system based on the fuzzy cognitive map (FCM). The operation of the model is illustrated with the control of a hypothetical satellite that intelligently alters its attitude in space in response to an intersecting micrometeorite shower

When should I use network emulation ?

The design and development of a complex system requires an adequate methodology and efficient instrumental support in order to early detect and correct anomalies in the functional and non-functional properties of the tested protocols. Among the various tools used to provide experimental support for such developments, network emulation relies on real-time production of impairments on real traffic according to a communication model, either realistically or not. This paper aims at simply presenting to newcomers in network emulation (students, engineers, ...) basic principles and practices illustrated with a few commonly used tools. The motivation behind is to fill a gap in terms of introductory and pragmatic papers in this domain. The study particularly considers centralized approaches, allowing cheap and easy implementation in the context of research labs or industrial developments. In addition, an architectural model for emulation systems is proposed, defining three complementary levels, namely hardware, impairment and model levels. With the help of this architectural framework, various existing tools are situated and described. Various approaches for modeling the emulation actions are studied, such as impairment-based scenarios and virtual architectures, real-time discrete simulation and trace-based systems. Those modeling approaches are described and compared in terms of services and we study their ability to respond to various designer needs to assess when emulation is needed

When Should I Use Network Emulation?

The design and development of a complex system requires an adequate methodology and efficient instrumental support in order to early detect and correct anomalies in the functional and non-functional properties of the tested protocols. Among the various tools used to provide experimental support for such developments, network emulation relies on real-time production of impairments on real traffic according to a communication model, either realistically or not. This paper aims at simply presenting to newcomers in network emulation (students, engineers, ...) basic principles and practices illustrated with a few commonly used tools. The motivation behind is to fill a gap in terms of introductory and pragmatic papers in this domain. The study particularly considers centralized approaches, allowing cheap and easy implementation in the context of research labs or industrial developments. In addition, an architectural model for emulation systems is proposed, defining three complementary levels, namely hardware, impairment and model levels. With the help of this architectural framework, various existing tools are situated and described. Various approaches for modeling the emulation actions are studied, such as impairment-based scenarios and virtual architectures, real-time discrete simulation and trace-based systems. Those modeling approaches are described and compared in terms of services and we study their ability to respond to various designer needs to assess when emulation is needed

The Design and Implementation of Real-time Event-based Applications with RTSJ

International audienceThis paper presents a framework to design real-time event-based applications using Java. The Real-Time Specification for Java (RTSJ) is well designed for hard periodic real-time systems. Though it also proposes classes to model asynchronous events and deal with sporadic or aperiodic tasks, it remains insufficient. The literature proposes the use of periodic servers called task servers to handle nonperiodic traffics in real-time systems. Unfortunately, there is no support for task servers in RTSJ. In order to fix this lack, we propose an RTSJ extension model. To validate our design, we adapt and implement two policies: the polling server and the deferrable server policies. To show how effi- cient these policies are, we compare implementation results and results obtained with a discrete-event-based simulato