Abstract: Model Predictive Control (MPC) is increasingly being
proposed for real time applications and embedded systems. However
comparing to PID controller, the implementation of the MPC in
miniaturized devices like Field Programmable Gate Arrays (FPGA)
and microcontrollers has historically been very small scale due to its
complexity in implementation and its computation time requirement.
At the same time, such embedded technologies have become an
enabler for future manufacturing enterprises as well as a transformer
of organizations and markets. Recently, advances in microelectronics
and software allow such technique to be implemented in embedded
systems. In this work, we take advantage of these recent advances
in this area in the deployment of one of the most studied and
applied control technique in the industrial engineering. In fact in
this paper, we propose an efficient framework for implementation
of Generalized Predictive Control (GPC) in the performed STM32
microcontroller. The STM32 keil starter kit based on a JTAG interface
and the STM32 board was used to implement the proposed GPC
firmware. Besides the GPC, the PID anti windup algorithm was
also implemented using Keil development tools designed for ARM
processor-based microcontroller devices and working with C/Cµ
langage. A performances comparison study was done between both
firmwares. This performances study show good execution speed and
low computational burden. These results encourage to develop simple
predictive algorithms to be programmed in industrial standard hardware.
The main features of the proposed framework are illustrated
through two examples and compared with the anti windup PID
controller.
Abstract: In this paper, a reliable cooperative multipath routing
algorithm is proposed for data forwarding in wireless sensor networks
(WSNs). In this algorithm, data packets are forwarded towards the
base station (BS) through a number of paths, using a set of relay
nodes. In addition, the Rayleigh fading model is used to calculate
the evaluation metric of links. Here, the quality of reliability is
guaranteed by selecting optimal relay set with which the probability
of correct packet reception at the BS will exceed a predefined
threshold. Therefore, the proposed scheme ensures reliable packet
transmission to the BS. Furthermore, in the proposed algorithm,
energy efficiency is achieved by energy balancing (i.e. minimizing
the energy consumption of the bottleneck node of the routing path)
at the same time. This work also demonstrates that the proposed
algorithm outperforms existing algorithms in extending longevity of
the network, with respect to the quality of reliability. Given this, the
obtained results make possible reliable path selection with minimum
energy consumption in real time.
Abstract: Developments in scientific and technical area cause to use new methods and techniques in education, as is the case in all fields. Especially, the internet contributes a variety of new methods to design virtual and real time laboratory applications in education. In this study, a real time virtual laboratory is designed and implemented for analog and digital communications laboratory experiments by using Lab VIEW program for Marmara University Electronics-Communication Department. In this application, students can access the virtual laboratory web site and perform their experiments without any limitation of time and location so as the students can observe the signals by changing the parameters of the experiment and evaluate the results.
Abstract: This paper introduces a hand gesture recognition system to recognize real time gesture in unstrained environments. Efforts should be made to adapt computers to our natural means of communication: Speech and body language. A simple and fast algorithm using orientation histograms will be developed. It will recognize a subset of MAL static hand gestures. A pattern recognition system will be using a transforrn that converts an image into a feature vector, which will be compared with the feature vectors of a training set of gestures. The final system will be Perceptron implementation in MATLAB. This paper includes experiments of 33 hand postures and discusses the results. Experiments shows that the system can achieve a 90% recognition average rate and is suitable for real time applications.
Abstract: Principal Component Analysis (PCA) has many
different important applications especially in pattern detection
such as face detection / recognition. Therefore, for real time
applications, the response time is required to be as small as
possible. In this paper, new implementation of PCA for fast
face detection is presented. Such new implementation is
designed based on cross correlation in the frequency domain
between the input image and eigenvectors (weights).
Simulation results show that the proposed implementation of
PCA is faster than conventional one.
Abstract: Multimedia information availability has increased
dramatically with the advent of video broadcasting on handheld
devices. But with this availability comes problems of maintaining the
security of information that is displayed in public. ISMA Encryption
and Authentication (ISMACryp) is one of the chosen technologies for
service protection in DVB-H (Digital Video Broadcasting-
Handheld), the TV system for portable handheld devices. The
ISMACryp is encoded with H.264/AVC (advanced video coding),
while leaving all structural data as it is. Two modes of ISMACryp are
available; the CTR mode (Counter type) and CBC mode (Cipher
Block Chaining) mode. Both modes of ISMACryp are based on 128-
bit AES algorithm. AES algorithms are more complex and require
larger time for execution which is not suitable for real time
application like live TV. The proposed system aims to gain a deep
understanding of video data security on multimedia technologies and
to provide security for real time video applications using selective
encryption for H.264/AVC. Five level of security proposed in this
paper based on the content of NAL unit in Baseline Constrain profile
of H.264/AVC. The selective encryption in different levels provides
encryption of intra-prediction mode, residue data, inter-prediction
mode or motion vectors only. Experimental results shown in this
paper described that fifth level which is ISMACryp provide higher
level of security with more encryption time and the one level provide
lower level of security by encrypting only motion vectors with lower
execution time without compromise on compression and quality of
visual content. This encryption scheme with compression process
with low cost, and keeps the file format unchanged with some direct
operations supported. Simulation was being carried out in Matlab.
Abstract: This paper presents a new method for the
implementation of a direct rotor flux control (DRFOC) of induction
motor (IM) drives. It is based on the rotor flux components
regulation. The d and q axis rotor flux components feed proportional
integral (PI) controllers. The outputs of which are the target stator
voltages (vdsref and vqsref). While, the synchronous speed is depicted at
the output of rotor speed controller. In order to accomplish variable
speed operation, conventional PI like controller is commonly used.
These controllers provide limited good performances over a wide
range of operations even under ideal field oriented conditions. An
alternate approach is to use the so called fuzzy logic controller. The
overall investigated system is implemented using dSpace system
based on digital signal processor (DSP). Simulation and experimental
results have been presented for a one kw IM drives to confirm the
validity of the proposed algorithms.
Abstract: Crucial information barely visible to the human eye is
often embedded in a series of low resolution images taken of the
same scene. Super resolution reconstruction is the process of
combining several low resolution images into a single higher
resolution image. The ideal algorithm should be fast, and should add
sharpness and details, both at edges and in regions without adding
artifacts. In this paper we propose a super resolution blind
reconstruction technique for linearly degraded images. In our
proposed technique the algorithm is divided into three parts an image
registration, wavelets based fusion and an image restoration. In this
paper three low resolution images are considered which may sub
pixels shifted, rotated, blurred or noisy, the sub pixel shifted images
are registered using affine transformation model; A wavelet based
fusion is performed and the noise is removed using soft thresolding.
Our proposed technique reduces blocking artifacts and also
smoothens the edges and it is also able to restore high frequency
details in an image. Our technique is efficient and computationally
fast having clear perspective of real time implementation.
Abstract: Based on a non-linear single track model which
describes the dynamics of vehicle, an optimal path planning strategy
is developed. Real time optimization is used to generate reference
control values to allow leading the vehicle alongside a calculated lane
which is optimal for different objectives such as energy consumption,
run time, safety or comfort characteristics. Strict mathematic
formulation of the autonomous driving allows taking decision on
undefined situation such as lane change or obstacle avoidance. Based
on position of the vehicle, lane situation and obstacle position, the
optimization problem is reformulated in real-time to avoid the
obstacle and any car crash.
Abstract: Small cracks or chips of a product appear very
frequently in the course of continuous production of an automatic
press process system. These phenomena become the cause of not only
defective product but also damage of a press mold. In order to solve
this problem AE system was introduced. AE system was expected to
be very effective to real time detection of the defective product and to
prevention of the damage of the press molds.
In this study, for pick and analysis of AE signals generated from the
press process, AE sensors/pre-amplifier/analysis and processing board
were used as frequently found in the other similar cases. For analysis
and processing the AE signals picked in real time from the good or bad
products, specialized software called cdm8 was used. As a result of
this work it was conformed that intensity and shape of the various AE
signals differ depending on the weight and thickness of metal sheet
and process type.
Abstract: With the advent of inexpensive 32 bit floating point digital signal processor-s availability in market, many computationally intensive algorithms such as Kalman filter becomes feasible to implement in real time. Dynamic simulation of a self excited DC motor using second order state variable model and implementation of Kalman Filter in a floating point DSP TMS320C6713 is presented in this paper with an objective to introduce and implement such an algorithm, for beginners. A fractional hp DC motor is simulated in both Matlab® and DSP and the results are included. A step by step approach for simulation of DC motor in Matlab® and “C" routines in CC Studio® is also given. CC studio® project file details and environmental setting requirements are addressed. This tutorial can be used with 6713 DSK, which is based on floating point DSP and CC Studio either in hardware mode or in simulation mode.
Abstract: This document details the process of developing a
wireless device that captures the basic movements of the foot (plantar
flexion, dorsal flexion, abduction, adduction.), and the knee
movement (flexion). It implements a motion capture system by using
a hardware based on optical fiber sensors, due to the advantages in
terms of scope, noise immunity and speed of data transmission and
reception. The operating principle used by this system is the detection
and transmission of joint movement by mechanical elements and
their respective measurement by optical ones (in this case infrared).
Likewise, Visual Basic software is used for reception, analysis and
signal processing of data acquired by the device, generating a 3D
graphical representation in real time of each movement. The result is
a boot in charge of capturing the movement, a transmission module
(Implementing Xbee Technology) and a receiver module for
receiving information and sending it to the PC for their respective
processing.
The main idea with this device is to help on topics such as
bioengineering and medicine, by helping to improve the quality of
life and movement analysis.
Abstract: The practical implementation of audio-video coupled speech recognition systems is mainly limited by the hardware complexity to integrate two radically different information capturing devices with good temporal synchronisation. In this paper, we propose a solution based on a smart CMOS image sensor in order to simplify the hardware integration difficulties. By using on-chip image processing, this smart sensor can calculate in real time the X/Y projections of the captured image. This on-chip projection reduces considerably the volume of the output data. This data-volume reduction permits a transmission of the condensed visual information via the same audio channel by using a stereophonic input available on most of the standard computation devices such as PC, PDA and mobile phones. A prototype called VMIKE (Visio-Microphone) has been designed and realised by using standard 0.35um CMOS technology. A preliminary experiment gives encouraged results. Its efficiency will be further investigated in a large variety of applications such as biometrics, speech recognition in noisy environments, and vocal control for military or disabled persons, etc.
Abstract: We introduce a new interactive 3D simulator of ocular motion and expressions suitable for: (1) character animation applications to game design, film production, HCI (Human Computer Interface), conversational animated agents, and virtual reality; (2) medical applications (ophthalmic neurological and muscular pathologies: research and education); and (3) real time simulation of unconscious cognitive and emotional responses (for use, e.g., in psychological research). Using state-of-the-art computer animation technology we have modeled and rigged a physiologically accurate 3D model of the eyes, eyelids, and eyebrow regions and we have 'optimized' it for use with an interactive and web deliverable platform. In addition, we have realized a prototype device for realtime control of eye motions and expressions, including unconsciously produced expressions, for application as in (1), (2), and (3) above. The 3D simulator of eye motion and ocular expression is, to our knowledge, the most advanced/realistic available so far for applications in character animation and medical pedagogy.
Abstract: Cosmic showers, during the transit through space, produce
sub - products as a result of interactions with the intergalactic
or interstellar medium which after entering earth generate secondary
particles called Extensive Air Shower (EAS). Detection and analysis
of High Energy Particle Showers involve a plethora of theoretical and
experimental works with a host of constraints resulting in inaccuracies
in measurements. Therefore, there exist a necessity to develop a
readily available system based on soft-computational approaches
which can be used for EAS analysis. This is due to the fact that soft
computational tools such as Artificial Neural Network (ANN)s can be
trained as classifiers to adapt and learn the surrounding variations. But
single classifiers fail to reach optimality of decision making in many
situations for which Multiple Classifier System (MCS) are preferred
to enhance the ability of the system to make decisions adjusting
to finer variations. This work describes the formation of an MCS
using Multi Layer Perceptron (MLP), Recurrent Neural Network
(RNN) and Probabilistic Neural Network (PNN) with data inputs
from correlation mapping Self Organizing Map (SOM) blocks and
the output optimized by another SOM. The results show that the setup
can be adopted for real time practical applications for prediction
of primary energy and location of EAS from density values captured
using detectors in a circular grid.
Abstract: In this paper, we propose a robust face relighting
technique by using spherical space properties. The proposed method
is done for reducing the illumination effects on face recognition.
Given a single 2D face image, we relight the face object by
extracting the nine spherical harmonic bases and the face spherical
illumination coefficients. First, an internal training illumination
database is generated by computing face albedo and face normal
from 2D images under different lighting conditions. Based on the
generated database, we analyze the target face pixels and compare
them with the training bootstrap by using pre-generated tiles. In this
work, practical real time processing speed and small image size were
considered when designing the framework. In contrast to other works,
our technique requires no 3D face models for the training process
and takes a single 2D image as an input. Experimental results on
publicly available databases show that the proposed technique works
well under severe lighting conditions with significant improvements
on the face recognition rates.
Abstract: Development of intelligent assembly cell conception includes new solution kind of how to create structures of automated and flexible assembly system. The current trend of the final product quality increasing is affected by time analysis of the entire manufacturing process. The primary requirement of manufacturing is to produce as many products as soon as possible, at the lowest possible cost, but of course with the highest quality. Such requirements may be satisfied only if all the elements entering and affecting the production cycle are in a fully functional condition. These elements consist of sensory equipment and intelligent control elements that are essential for building intelligent manufacturing systems. Intelligent behavior of the system as the control system will repose on monitoring of important parameters of the system in the real time. Intelligent manufacturing system itself should be a system that can flexibly respond to changes in entering and exiting the process in interaction with the surroundings.
Abstract: The group mutual exclusion (GME) problem is an
interesting generalization of the mutual exclusion problem. Several
solutions of the GME problem have been proposed for message
passing distributed systems. However, none of these solutions is
suitable for real time distributed systems. In this paper, we propose a
token-based distributed algorithms for the GME problem in soft real
time distributed systems. The algorithm uses the concepts of priority
queue, dynamic request set and the process state. The algorithm uses
first come first serve approach in selecting the next session type
between the same priority levels and satisfies the concurrent
occupancy property. The algorithm allows all n processors to be
inside their CS provided they request for the same session. The
performance analysis and correctness proof of the algorithm has also
been included in the paper.
Abstract: In MPEG and H.26x standards, to eliminate the
temporal redundancy we use motion estimation. Given that the
motion estimation stage is very complex in terms of computational
effort, a hardware implementation on a re-configurable circuit is
crucial for the requirements of different real time multimedia
applications. In this paper, we present hardware architecture for
motion estimation based on "Full Search Block Matching" (FSBM)
algorithm. This architecture presents minimum latency, maximum
throughput, full utilization of hardware resources such as embedded
memory blocks, and combining both pipelining and parallel
processing techniques. Our design is described in VHDL language,
verified by simulation and implemented in a Stratix II
EP2S130F1020C4 FPGA circuit. The experiment result show that the
optimum operating clock frequency of the proposed design is 89MHz
which achieves 160M pixels/sec.
Abstract: Today, transport and logistic systems are often tightly
integrated in the production. Lean production and just-in-time delivering create multiple constraints that have to be fulfilled. As transport networks often have evolved over time they are very
expensive to change. This paper describes a discrete-event-simulation
system which simulates transportation models using real time
resource routing and collision avoidance. It allows for the
specification of own control algorithms and validation of new
strategies. The simulation is integrated into a virtual reality (VR)
environment and can be displayed in 3-D to show the progress.
Simulation elements can be selected through VR metaphors. All data
gathered during the simulation can be presented as a detailed summary afterwards. The included cost-benefit calculation can help to optimize the financial outcome. The operation of this approach is shown by the example of a timber harvest simulation.