Robotic Specialization in Autonomous Robotic Structural Assembly

Robotic in-space assembly of large space structures is a long-term NASA goal to reduce launch costs and enable larger scale missions. Recently, researchers have proposed using discrete lattice building blocks and co-designed robots to build high-performance, scalable primary structure for various on-orbit and surface applications. These robots would locomote on the lattice and work in teams to build and reconfigure building-blocks into functional structure. However, the most reliable and efficient robotic system architecture, characterized by the number of different robotic 'species' and the allocation of functionality between species, is an open question. To address this problem, we decompose the robotic building-block assembly task into functional primitives and, in simulation, study the performance of the the variety of possible resulting architectures. For a set consisting of five process types (move self, move block, move friend, align bock, fasten block), we describe a method of feature space exploration and ranking based on energy and reliability cost functions. The solution space is enumerated, filtered for unique solutions, and evaluated against energy and reliability cost functions for various simulated build sizes. We find that a 2 species system, dividing the five mentioned process types between one unit cell transport robot and one fastening robot, results in the lowest energy cost system, at some cost to reliability. This system enables fastening functionality to occupy the build front while reducing the need for that functional mass to travel back and forth from a feed station. Because the details of a robot design affect the weighting and final allocation of functionality, a sensitivity analysis was conducted to evaluate the effect of changing mass allocations on architecture performance. Future systems with additional functionalities such as repair, inspection, and others may use this process to analyze and determine alternative robot architectures

Low-cost Automation – changing the traditional view on automation strategies using collaborative applications

The labor cost has been one of the main reasons for industry to move some of the production to so called low-cost countries. Research has shown that this issue is more complex than just calculate labor cost as main driver. Organization culture, research and development and technical competence is also important drivers for a successful automation strategy. Another important factor when it comes to automation strategies is what production parameters to consider choosing the right automation. Traditionally five parameters have been considered i.e. Volume, batch sizes, variants, investment cost and labor cost. With new and cheaper solutions for automation these two views on automation and lowcost production need to be considered and changed. This paper will describe three demonstrators using low-cost automation solutions to automate simple tasks in final assembly systems. The stations\u27 investment cost is all below 50,000 euro. The first demonstrators have been set up and tested in a lab environment. The results show a high precision, easiness in programming and high quality. The aim is to test this further in real industrial environment to stress the system and to put it into a tougher environment

A Modeling Approach based on UML/MARTE for GPU Architecture

Nowadays, the High Performance Computing is part of the context of embedded systems. Graphics Processing Units (GPUs) are more and more used in acceleration of the most part of algorithms and applications. Over the past years, not many efforts have been done to describe abstractions of applications in relation to their target architectures. Thus, when developers need to associate applications and GPUs, for example, they find difficulty and prefer using API for these architectures. This paper presents a metamodel extension for MARTE profile and a model for GPU architectures. The main goal is to specify the task and data allocation in the memory hierarchy of these architectures. The results show that this approach will help to generate code for GPUs based on model transformations using Model Driven Engineering (MDE).Comment: Symposium en Architectures nouvelles de machines (SympA'14) (2011

TVWS policies to enable efficient spectrum sharing

The transition from analogue to the Digital Terrestrial Television (DTV) in Europe is planned to be completed by the end of the year 2012. The DTV spectrum allocation is such that there are a number of TV channels which cannot be used for additional high power broadcast transmitters due to mutual interference and hence are left unused within a given geographical location, i.e. the TV channels are geographically interleaved. The use of geographically interleaved spectrum provides for the so-called TV white spaces (TVWS) an opportunity for deploying new wireless services. The main objective of this paper is to present the spectrum policies that are suitable for TVWS at European level, identified within the COGEU project. The COGEU project aims the efficient exploitation of the geographical interleaved spectrum (TVWS). COGEU is an ICT collaborative project supported by the European Commission within the 7th Framework Programme. Nine partners from seven EU countries representing academia, research institutes and industry are involved in the project. The COGEU project is a composite of technical, business, and regulatory/policy domains, with the objective of taking advantage of the TV digital switchover by developing cognitive radio systems that leverage the favorable propagation characteristics of the UHF broadcast spectrum through the introduction and promotion of real-time secondary spectrum trading and the creation of new spectrum commons regimes. COGEU will also define new methodologies for compliance testing and certification of TVWS equipment to ensure non-interference coexistence with the DVB-T European standard. The innovation brought by COGEU is the combination of cognitive access to TV white spaces with secondary spectrum trading mechanisms.telecommunications,spectrum management,secondary spectrum market,regulation,TV white spaces,cognitive radio

FOS: A Modular FPGA Operating System for Dynamic Workloads

With FPGAs now being deployed in the cloud and at the edge, there is a need for scalable design methods which can incorporate the heterogeneity present in the hardware and software components of FPGA systems. Moreover, these FPGA systems need to be maintainable and adaptable to changing workloads while improving accessibility for the application developers. However, current FPGA systems fail to achieve modularity and support for multi-tenancy due to dependencies between system components and lack of standardised abstraction layers. To solve this, we introduce a modular FPGA operating system -- FOS, which adopts a modular FPGA development flow to allow each system component to be changed and be agnostic to the heterogeneity of EDA tool versions, hardware and software layers. Further, to dynamically maximise the utilisation transparently from the users, FOS employs resource-elastic scheduling to arbitrate the FPGA resources in both time and spatial domain for any type of accelerators. Our evaluation on different FPGA boards shows that FOS can provide performance improvements in both single-tenant and multi-tenant environments while substantially reducing the development time and, at the same time, improving flexibility