A new co-design methodology for processor-centric embedded systems in FPGA-based chips

Hoy en día, los sistemas embebidos son partes vitales de equipos de comunicaciones,sistemas de transporte, plantas de energía, electrónica de consumo,robótica entre muchos otros. Su amplio campo de aplicación y lascrecientes complejidades de sus diseños torna esencial la propuesta de nuevasmetodologías, lenguajes y herramientas. El objetivo de esta tesis doctoral escontribuir al campo del co-diseño hardware/software de sistemas embebidos. Primero, presentamos el co-diseño de un sistema embebido de control aplicandoel flujo de diseño tradicional, que combina procesadores y circuitos integrados (ICs): el desarrollo de un nuevo mini-robot llamado ExaBot. Luego,introducimos un flujo de diseño tradicional para Field Programmable Gate Arrays (FPGA), y lo aplicamos a un problema de sensado remoto: procesar videoinfrarrojo en tiempo real en un UAV (Unmanned Aerial Vehicle). Finalmente,de la observación de las dificultades en experiencias anteriores, y analizandolas tendencias y tecnologías actuales, proponemos una nueva metodología deco-diseño para sistemas embebidos centrados en procesador usando FPGAs. Este es un creciente y novedoso campo de los sistemas embebidos: durante 2011, tanto Xilinx como Altera (los dos fabricantes mas grandes de FPGAs)lanzaron nuevas familias de chips que combinan potentes procesadores ARMcon lógica programable de bajo consumo. El objetivo de la nueva metodología de co-diseño es lograr soluciones embebidasde tiempo real, utilizando aceleración por hardware, pero con un tiempode desarrollo similar al de proyectos de software. Para ello, combinamosmetodologías y herramientas bien establecidas del mundo del software, como Diseño Orientado a Objetos, UML, y programación multi-hilos, con nuevas tecnologías del mundo del hardware, como herramientas semi-automáticas parasíntesis de alto nivel. La metodología propuesta fue aplicada a un algoritmode localización de múltiples robots en un sistema de visión global. La soluciónembebida final procesa 32 imágenes de 1600 X 1200 píxeles por segundo, lograndouna aceleración de 16X con respecto a la solución de software másoptimizada, con un 43% de incremento en área pero un 92% de ahorro deenergía.Embedded systems are nowadays vital parts of communication equipment,transportation systems, power plants, consumer electronics, robotics amongmany others. Their vast field of application and the growing complexitiesof their designs turn the proposal of new methodologies, languages and toolsessential. The goal of this thesis is to make such contributions in the field ofhardware/software co-design of embedded systems. First, we present the co-design of a control embedded system applying thetraditional flow in which processors and off-the-shelf Integrated Circuits (ICs)are combined: the development of a mini-robot called ExaBot. Secondly, weintroduce a traditional Field Programmable Gate Array design flow, and applyit to a remote sensing application that processes real-time video from aninfrared camera on an UAV (Unmanned Aerial Vehicle). Finally, from theobservation of difficulties in previous experiences and analyzing current technologiesand trends, we propose a new co-design methodology for processorcentricembedded systems in FPGA-based chips. This is a growing and novelfield of embedded systems: during 2011, both Xilinx and Altera (the two leading FPGA vendors) launched new chip families that combine powerful ARMprocessor cores with low-power programmable logic. The goal of the proposed co-design methodology is to achieve real-timeembedded solutions, using hardware acceleration, but with development timesimilar to that of software projects. For this, well-established methodologiesand tools from the software domain, such as Object Oriented Design, Unified Modeling Language or multithreaded programming, are combined with newtechniques from the hardware world, like semi-automatic high level synthesistools. The proposed methodology was successfully applied to a multiple robotlocalization algorithm in a global vision system. The final embedded solutionprocesses 1600 X 1200 pixel images at 32 frames per second, achieving a 16Xacceleration with respect to the most optimized software solution, with a 43%increase in area but a 92% energy saving.Fil: Pedre, Sol. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales; Argentina

Monocular navigation for long-term autonomy

We present a reliable and robust monocular navigation system for an autonomous vehicle. The proposed method is computationally efficient, needs off-the-shelf equipment only and does not require any additional infrastructure like radio beacons or GPS. Contrary to traditional localization algorithms, which use advanced mathematical methods to determine vehicle position, our method uses a more practical approach. In our case, an image-feature-based monocular vision technique determines only the heading of the vehicle while the vehicle's odometry is used to estimate the distance traveled. We present a mathematical proof and experimental evidence indicating that the localization error of a robot guided by this principle is bound. The experiments demonstrate that the method can cope with variable illumination, lighting deficiency and both short- and long-term environment changes. This makes the method especially suitable for deployment in scenarios which require long-term autonomous operation

FPGA-based module for SURF extraction

We present a complete hardware and software solution of an FPGA-based computer vision embedded module capable of carrying out SURF image features extraction algorithm. Aside from image analysis, the module embeds a Linux distribution that allows to run programs specifically tailored for particular applications. The module is based on a Virtex-5 FXT FPGA which features powerful configurable logic and an embedded PowerPC processor. We describe the module hardware as well as the custom FPGA image processing cores that implement the algorithm's most computationally expensive process, the interest point detection. The module's overall performance is evaluated and compared to CPU and GPU based solutions. Results show that the embedded module achieves comparable disctinctiveness to the SURF software implementation running in a standard CPU while being faster and consuming significantly less power and space. Thus, it allows to use the SURF algorithm in applications with power and spatial constraints, such as autonomous navigation of small mobile robots

Decision support system for hot spot detection

Postprint (published version

A new co-design methodology for processor-centric embedded systems in FPGA-based chips

Hoy en día, los sistemas embebidos son partes vitales de equipos de comunicaciones,sistemas de transporte, plantas de energía, electrónica de consumo,robótica entre muchos otros. Su amplio campo de aplicación y lascrecientes complejidades de sus diseños torna esencial la propuesta de nuevasmetodologías, lenguajes y herramientas. El objetivo de esta tesis doctoral escontribuir al campo del co-diseño hardware/software de sistemas embebidos. Primero, presentamos el co-diseño de un sistema embebido de control aplicandoel flujo de diseño tradicional, que combina procesadores y circuitos integrados (ICs): el desarrollo de un nuevo mini-robot llamado ExaBot. Luego,introducimos un flujo de diseño tradicional para Field Programmable Gate Arrays (FPGA), y lo aplicamos a un problema de sensado remoto: procesar videoinfrarrojo en tiempo real en un UAV (Unmanned Aerial Vehicle). Finalmente,de la observación de las dificultades en experiencias anteriores, y analizandolas tendencias y tecnologías actuales, proponemos una nueva metodología deco-diseño para sistemas embebidos centrados en procesador usando FPGAs. Este es un creciente y novedoso campo de los sistemas embebidos: durante 2011, tanto Xilinx como Altera (los dos fabricantes mas grandes de FPGAs)lanzaron nuevas familias de chips que combinan potentes procesadores ARMcon lógica programable de bajo consumo. El objetivo de la nueva metodología de co-diseño es lograr soluciones embebidasde tiempo real, utilizando aceleración por hardware, pero con un tiempode desarrollo similar al de proyectos de software. Para ello, combinamosmetodologías y herramientas bien establecidas del mundo del software, como Diseño Orientado a Objetos, UML, y programación multi-hilos, con nuevas tecnologías del mundo del hardware, como herramientas semi-automáticas parasíntesis de alto nivel. La metodología propuesta fue aplicada a un algoritmode localización de múltiples robots en un sistema de visión global. La soluciónembebida final procesa 32 imágenes de 1600 X 1200 píxeles por segundo, lograndouna aceleración de 16X con respecto a la solución de software másoptimizada, con un 43% de incremento en área pero un 92% de ahorro deenergía.Embedded systems are nowadays vital parts of communication equipment,transportation systems, power plants, consumer electronics, robotics amongmany others. Their vast field of application and the growing complexitiesof their designs turn the proposal of new methodologies, languages and toolsessential. The goal of this thesis is to make such contributions in the field ofhardware/software co-design of embedded systems. First, we present the co-design of a control embedded system applying thetraditional flow in which processors and off-the-shelf Integrated Circuits (ICs)are combined: the development of a mini-robot called ExaBot. Secondly, weintroduce a traditional Field Programmable Gate Array design flow, and applyit to a remote sensing application that processes real-time video from aninfrared camera on an UAV (Unmanned Aerial Vehicle). Finally, from theobservation of difficulties in previous experiences and analyzing current technologiesand trends, we propose a new co-design methodology for processorcentricembedded systems in FPGA-based chips. This is a growing and novelfield of embedded systems: during 2011, both Xilinx and Altera (the two leading FPGA vendors) launched new chip families that combine powerful ARMprocessor cores with low-power programmable logic. The goal of the proposed co-design methodology is to achieve real-timeembedded solutions, using hardware acceleration, but with development timesimilar to that of software projects. For this, well-established methodologiesand tools from the software domain, such as Object Oriented Design, Unified Modeling Language or multithreaded programming, are combined with newtechniques from the hardware world, like semi-automatic high level synthesistools. The proposed methodology was successfully applied to a multiple robotlocalization algorithm in a global vision system. The final embedded solutionprocesses 1600 X 1200 pixel images at 32 frames per second, achieving a 16Xacceleration with respect to the most optimized software solution, with a 43%increase in area but a 92% energy saving.Fil: Pedre, Sol. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales; Argentina

Monocular navigation for long-term autonomy

We present a reliable and robust monocular navigation system for an autonomous vehicle.The proposed method is computationally efficient, needs off-the-shelf equipment only and does not require any additional infrastructure like radio beacons or GPS.Contrary to traditional localization algorithms, which use advanced mathematical methods to determine vehicle position, our method uses a more practical approach.In our case, an image-feature-based monocular vision technique determines only the heading of the vehicle while the vehicle's odometry is used to estimate the distance traveled.We present a mathematical proof and experimental evidence indicating that the localization error of a robot guided by this principle is bound.The experiments demonstrate that the method can cope with variable illumination, lighting deficiency and both short- and long-term environment changes.This makes the method especially suitable for deployment in scenarios which require long-term autonomous operation.</p

A Behavior-based approach for educational robotics activities

Educational robotics proposes the use of robots as a teaching resource that enables inexperienced students to approach topics in fields unrelated to robotics. In recent years, these activities have grown substantially in elementary and secondary school classrooms and also in outreach experiences to interest students in science, technology, engineering, and math (STEM) undergraduate programs. A key problem in educational robotics is providing a satisfactory, adequate, easy-to-use interface between an inexpert public and the robots. This paper presents a behavior-based application for programming robots and the design of robotic-centered courses and other outreach activities. Evaluation data show that over 90% of students find it easy to use. These activities are part of a comprehensive outreach program conducted by the Exact and Natural Science Faculty of the University of Buenos Aires, Argentina (FCEN-UBA). Statistical data show that since 2009 over 35% of new students at the FCEN-UBA have participated in some outreach activity, suggesting their significant impact on student enrollment in STEM-related programs.Fil: de Cristóforis, Pablo. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Pedre, Sol. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Nitsche, Matias Alejandro. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Fischer, Thomas. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Pessacg, Facundo Hugo. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Di Pietro, Carlos. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentin

Decision support system for hot spot detection

Postprint (published version