Embedded Hardware and Software Design of Omnidirectional Autonomous Robotic Platform Suitable for Advanced Driver Assistance Systems Testing with Focus on Modularity and Safety

This paper deals with the problem of using Autonomous Robotic Platforms (ARP) for the ADAS (Advanced Driver Assistance Systems) testing in automotive. There are different possibilities of the testing already in development and lately, the ARP are beginning to be used more and more widely. ARP discussed in this paper explores the hardware and software design possibilities related to the field of embedded systems. The paper focuses in its chapters on the introduction of the problem in general, then it describes the proposed prototype concept and its principles from the embedded HW and SW point of view. It talks about the key features that can be used for the innovation of these platforms (e.g., modularity, omnidirectional movement, common and non-traditional sensors used for localization, synchronization of more platforms and cars together or safety mechanisms). In the end, the future possible development of the project is discussed as well.

Evaluating the Impact of Replacement Policies on the Cache Performance and Energy Consumption in Different Multicore Embedded Systems

The cache has an important role in the reduction of access delay between a processor and memory in high-performance embedded systems. In these systems, the energy consumption is one of the most important concerns, and it will become more important with smaller processor feature sizes and higher frequencies. Meanwhile, the cache system dissipates a significant portion of energy compared to the other components of a processor. There are some elements that can affect the energy consumption of the cache such as replacement policy and degree of associativity. Due to these points, it can be inferred that selecting an appropriate configuration for the cache is a crucial part of designing a system. In this paper, we investigate the effect of different cache replacement policies on both cache’s performance and energy consumption. Furthermore, the impact of different Instruction Set Architectures (ISAs) on cache’s performance and energy consumption has been investigated.

A Study of the Trade-off Energy Consumption-Performance-Schedulability for DVFS Multicore Systems

Dynamic Voltage and Frequency Scaling (DVFS) multicore platforms are promising execution platforms that enable high computational performance, less energy consumption and flexibility in scheduling the system processes. However, the resulting interleaving and memory interference together with per-core frequency tuning make real-time guarantees hard to be delivered. Besides, energy consumption represents a strong constraint for the deployment of such systems on energy-limited settings. Identifying the system configurations that would achieve a high performance and consume less energy while guaranteeing the system schedulability is a complex task in the design of modern embedded systems. This work studies the trade-off between energy consumption, cores utilization and memory bottleneck and their impact on the schedulability of DVFS multicore time-critical systems with a hierarchy of shared memories. We build a model-based framework using Parametrized Timed Automata of UPPAAL to analyze the mutual impact of performance, energy consumption and schedulability of DVFS multicore systems, and demonstrate the trade-off on an actual case study.

Evaluation of Model-Based Code Generation for Embedded Systems–Mature Approach for Development in Evolution

Model-based development approach is gaining more support and acceptance. Its higher abstraction level brings simplification of systems’ description that allows domain experts to do their best without particular knowledge in programming. The different levels of simulation support the rapid prototyping, verifying and validating the product even before it exists physically. Nowadays model-based approach is beneficial for modelling of complex embedded systems as well as a generation of code for many different hardware platforms. Moreover, it is possible to be applied in safety-relevant industries like automotive, which brings extra automation of the expensive device certification process and especially in the software qualification. Using it, some companies report about cost savings and quality improvements, but there are others claiming no major changes or even about cost increases. This publication demonstrates the level of maturity and autonomy of model-based approach for code generation. It is based on a real live automotive seat heater (ASH) module, developed using The Mathworks, Inc. tools. The model, created with Simulink, Stateflow and Matlab is used for automatic generation of C code with Embedded Coder. To prove the maturity of the process, Code generation advisor is used for automatic configuration. All additional configuration parameters are set to auto, when applicable, leaving the generation process to function autonomously. As a result of the investigation, the publication compares the quality of generated embedded code and a manually developed one. The measurements show that generally, the code generated by automatic approach is not worse than the manual one. A deeper analysis of the technical parameters enumerates the disadvantages, part of them identified as topics for our future work.

An Implementation of a Configurable UART-to-Ethernet Converter

This paper presents an implementation of a configurable UART-to-Ethernet converter using an ARM-based 32-bit microcontroller as well as a dedicated configuration program running on a PC for configuring the operating parameters of the converter. The program was written in Python. Various parameters pertaining to the operation of the converter can be modified by the configuration program through the Ethernet interface of the converter. The converter supports 3 representative asynchronous serial communication protocols, RS-232, RS-422, and RS-485 and supports 3 network modes, TCP/IP server, TCP/IP client, and UDP client. The TCP/IP and UDP protocols were implemented on the microcontroller using an open source TCP/IP protocol stack called lwIP (A lightweight TCP/IP) and FreeRTOS, a free real-time operating system for embedded systems. Due to the use of a real-time operating system, the firmware of the converter was implemented as a multi-thread application and as a result becomes more modular and easier to develop. The converter can provide a seamless bridge between a serial port and an Ethernet port, thereby allowing existing legacy apparatuses with no Ethernet connectivity to communicate using the Ethernet protocol.

A Study of Recent Contribution on Simulation Tools for Network-on-Chip

The growth in the number of Intellectual Properties (IPs) or the number of cores on the same chip becomes a critical issue in System-on-Chip (SoC) due to the intra-communication problem between the chip elements. As a result, Network-on-Chip (NoC) has emerged as a system architecture to overcome intra-communication issues. This paper presents a study of recent contributions on simulation tools for NoC. Furthermore, an overview of NoC is covered as well as a comparison between some NoC simulators to help facilitate research in on-chip communication.

An Optimal Steganalysis Based Approach for Embedding Information in Image Cover Media with Security

This paper deals with the study of interest in the fields of Steganography and Steganalysis. Steganography involves hiding information in a cover media to obtain the stego media in such a way that the cover media is perceived not to have any embedded message for its unintended recipients. Steganalysis is the mechanism of detecting the presence of hidden information in the stego media and it can lead to the prevention of disastrous security incidents. In this paper, we provide a critical review of the steganalysis algorithms available to analyze the characteristics of an image stego media against the corresponding cover media and understand the process of embedding the information and its detection. We anticipate that this paper can also give a clear picture of the current trends in steganography so that we can develop and improvise appropriate steganalysis algorithms.

Towards a Framework for Embedded Weight Comparison Algorithm with Business Intelligence in the Plantation Domain

Embedded systems have emerged as important elements in various domains with extensive applications in automotive, commercial, consumer, healthcare and transportation markets, as there is emphasis on intelligent devices. On the other hand, Business Intelligence (BI) has also been extensively used in a range of applications, especially in the agriculture domain which is the area of this research. The aim of this research is to create a framework for Embedded Weight Comparison Algorithm with Business Intelligence (EWCA-BI). The weight comparison algorithm will be embedded within the plantation management system and the weighbridge system. This algorithm will be used to estimate the weight at the site and will be compared with the actual weight at the plantation. The algorithm will be used to build the necessary alerts when there is a discrepancy in the weight, thus enabling better decision making. In the current practice, data are collected from various locations in various forms. It is a challenge to consolidate data to obtain timely and accurate information for effective decision making. Adding to this, the unstable network connection leads to difficulty in getting timely accurate information. To overcome the challenges embedding is done on a portable device that will have the embedded weight comparison algorithm to also assist in data capture and synchronize data at various locations overcoming the network short comings at collection points. The EWCA-BI will provide real-time information at any given point of time, thus enabling non-latent BI reports that will provide crucial information to enable efficient operational decision making. This research has a high potential in bringing embedded system into the agriculture industry. EWCA-BI will provide BI reports with accurate information with uncompromised data using an embedded system and provide alerts, therefore, enabling effective operation management decision-making at the site.

Parametrization of Piezoelectric Vibration Energy Harvesters for Low Power Embedded Systems

Matching an embedded electronic application with a cantilever vibration energy harvester remains a difficult endeavour due to the large number of factors influencing the output power. In the presented work, complementary balanced energy harvester parametrization is used as a methodology for simplification of harvester integration in electronic applications. This is achieved by a dual approach consisting of an adaptation of the general parametrization methodology in conjunction with a straight forward harvester benchmarking strategy. For this purpose, the design and implementation of a suitable user friendly cantilever energy harvester benchmarking platform is discussed. Its effectiveness is demonstrated by applying the methodology to a commercially available Mide V21BL vibration energy harvester, with excitation amplitude and frequency as variables.

Robotics and Embedded Systems Applied to the Buried Pipeline Inspection

The work aims to develop a robot in the form of autonomous vehicle to detect, inspection and mapping of underground pipelines through the ATmega328 Arduino platform. Hardware prototyping is very similar to C / C ++ language that facilitates its use in robotics open source, resembles PLC used in large industrial processes. The robot will traverse the surface independently of direct human action, in order to automate the process of detecting buried pipes, guided by electromagnetic induction. The induction comes from coils that send the signal to the Arduino microcontroller contained in that will make the difference in intensity and the treatment of the information, and then this determines actions to electrical components such as relays and motors, allowing the prototype to move on the surface and getting the necessary information. This change of direction is performed by a stepper motor with a servo motor. The robot was developed by electrical and electronic assemblies that allowed test your application. The assembly is made up of metal detector coils, circuit boards and microprocessor, which interconnected circuits previously developed can determine, process control and mechanical actions for a robot (autonomous car) that will make the detection and mapping of buried pipelines plates. This type of prototype can prevent and identifies possible landslides and they can prevent the buried pipelines suffer an external pressure on the walls with the possibility of oil leakage and thus pollute the environment.

How Virtualization, Decentralization and Network Building Change the Manufacturing Landscape: An Industry 4.0 Perspective

The German manufacturing industry has to withstand an increasing global competition on product quality and production costs. As labor costs are high, several industries have suffered severely under the relocation of production facilities towards aspiring countries, which have managed to close the productivity and quality gap substantially. Established manufacturing companies have recognized that customers are not willing to pay large price premiums for incremental quality improvements. As a consequence, many companies from the German manufacturing industry adjust their production focusing on customized products and fast time to market. Leveraging the advantages of novel production strategies such as Agile Manufacturing and Mass Customization, manufacturing companies transform into integrated networks, in which companies unite their core competencies. Hereby, virtualization of the process- and supply-chain ensures smooth inter-company operations providing real-time access to relevant product and production information for all participating entities. Boundaries of companies deteriorate, as autonomous systems exchange data, gained by embedded systems throughout the entire value chain. By including Cyber-Physical-Systems, advanced communication between machines is tantamount to their dialogue with humans. The increasing utilization of information and communication technology allows digital engineering of products and production processes alike. Modular simulation and modeling techniques allow decentralized units to flexibly alter products and thereby enable rapid product innovation. The present article describes the developments of Industry 4.0 within the literature and reviews the associated research streams. Hereby, we analyze eight scientific journals with regards to the following research fields: Individualized production, end-to-end engineering in a virtual process chain and production networks. We employ cluster analysis to assign sub-topics into the respective research field. To assess the practical implications, we conducted face-to-face interviews with managers from the industry as well as from the consulting business using a structured interview guideline. The results reveal reasons for the adaption and refusal of Industry 4.0 practices from a managerial point of view. Our findings contribute to the upcoming research stream of Industry 4.0 and support decision-makers to assess their need for transformation towards Industry 4.0 practices. 

Development of 3D Laser Scanner for Robot Navigation

Autonomous robotic systems need an equipment like a human eye for their movement. In this study a 3D laser scanner has been designed and implemented for those autonomous robotic systems. In general 3D laser scanners are using 2 dimension laser range finders that are moving on one-axis (1D) to generate the model. In this study, the model has been obtained by a one-dimensional laser range finder that is moving in two –axis (2D) and because of this the laser scanner has been produced cheaper.

Evaluation of Features Extraction Algorithms for a Real-Time Isolated Word Recognition System

Paper presents an comparative evaluation of features extraction algorithm for a real-time isolated word recognition system based on FPGA. The Mel-frequency cepstral, linear frequency cepstral, linear predictive and their cepstral coefficients were implemented in hardware/software design. The proposed system was investigated in speaker dependent mode for 100 different Lithuanian words. The robustness of features extraction algorithms was tested recognizing the speech records at different signal to noise rates. The experiments on clean records show highest accuracy for Mel-frequency cepstral and linear frequency cepstral coefficients. For records with 15 dB signal to noise rate the linear predictive cepstral coefficients gives best result. The hard and soft part of the system is clocked on 50 MHz and 100 MHz accordingly. For the classification purpose the pipelined dynamic time warping core was implemented. The proposed word recognition system satisfy the real-time requirements and is suitable for applications in embedded systems.

Development of a Computer Vision System for the Blind and Visually Impaired Person

Eyes are an essential and conspicuous organ of the human body. Human eyes are outward and inward portals of the body that allows to see the outside world and provides glimpses into ones inner thoughts and feelings. Inevitable blindness and visual impairments may results from eye-related disease, trauma, or congenital or degenerative conditions that cannot be corrected by conventional means. The study emphasizes innovative tools that will serve as an aid to the blind and visually impaired (VI) individuals. The researchers fabricated a prototype that utilizes the Microsoft Kinect for Windows and Arduino microcontroller board. The prototype facilitates advanced gesture recognition, voice recognition, obstacle detection and indoor environment navigation. Open Computer Vision (OpenCV) performs image analysis, and gesture tracking to transform Kinect data to the desired output. A computer vision technology device provides greater accessibility for those with vision impairments.

A General Mandatory Access Control Framework in Distributed Environments

In this paper, we propose a general mandatory access framework for distributed systems. The framework can be applied into multiple operating systems and can handle multiple stakeholders. Despite considerable advancements in the area of mandatory access control, a certain approach to enforcing mandatory access control can only be applied in a specific operating system. Other than PC market in which windows captures the overwhelming shares, there are a number of popular operating systems in the emerging smart phone environment, i.e. Android, Windows mobile, Symbian, RIM. It should be noted that more and more stakeholders are involved in smartphone software, such as devices owners, service providers and application providers. Our framework includes three parts—local decision layer, the middle layer and the remote decision layer. The middle layer takes charge of managing security contexts, OS API, operations and policy combination. The design of the remote decision layer doesn’t depend on certain operating systems because of the middle layer’s existence. We implement the framework in windows, linux and other popular embedded systems.

Smart Cane Assisted Mobility for the Visually Impaired

An efficient reintegration of the disabled people in the family and society should be fulfilled; hence it is strongly needful to assist their diminished functions or to replace the totally lost functions. Assistive technology helps in neutralizing the impairment. Recent advancements in embedded systems have opened up a vast area of research and development for affordable and portable assistive devices for the visually impaired. Granted there are many assistive devices on the market that are able to detect obstacles, and numerous research and development currently in process to alleviate the cause, unfortunately the cost of devices, size of devices, intrusiveness and higher learning curve prevents the visually impaired from taking advantage of available devices. This project aims at the design and implementation of a detachable unit which is robust, low cost and user friendly, thus, trying to aggrandize the functionality of the existing white cane, to concede above-knee obstacle detection. The designed obstruction detector uses ultrasound sensors for detecting the obstructions before direct contact. It bestows haptic feedback to the user in accordance with the position of the obstacle.

RTCoord: A Methodology to Design WSAN Applications

Wireless Sensor and Actor Networks (WSANs) constitute an emerging and pervasive technology that is attracting increasing interest in the research community for a wide range of applications. WSANs have two important requirements: coordination interactions and real-time communication to perform correct and timely actions. This paper introduces a methodology to facilitate the task of the application programmer focusing on the coordination and real-time requirements of WSANs. The methodology proposed in this model uses a real-time component model, UM-RTCOM, which will help us to achieve the design and implementation of applications in WSAN by using the component oriented paradigm. This will help us to develop software components which offer some very interesting features, such as reusability and adaptability which are very suitable for WSANs as they are very dynamic environments with rapidly changing conditions. In addition, a high-level coordination model based on tuple channels (TC-WSAN) is integrated into the methodology by providing a component-based specification of this model in UM-RTCOM; this will allow us to satisfy both sensor-actor and actor-actor coordination requirements in WSANs. Finally, we present in this paper the design and implementation of an application which will help us to show how the methodology can be easily used in order to achieve the development of WSANs applications.

Stepwise Refinement in Executable-UML for Embedded System Design: A Preliminary Study

The fast growth in complexity coupled with requests for shorter development periods for embedded systems are bringing demands towards a more effective, i.e. higher-abstract, design process for hardaware/software integrated design. In Software Engineering area, Model Driven Architecture (MDA) and Executable UML (xUML) has been accepted to bring further improvement in software design. This paper constructs MDA and xUML stepwise transformations from an abstract specification model to a more concrete implementation model using the refactoring technique for hardaware/software integrated design. This approach provides clear and structured models which enables quick exploration and synthesis, and early stage verification.

A Tabu Search Heuristic for Scratch-Pad Memory Management

Reducing energy consumption of embedded systems requires careful memory management. It has been shown that Scratch- Pad Memories (SPMs) are low size, low cost, efficient (i.e. energy saving) data structures directly managed at the software level. In this paper, the focus is on heuristic methods for SPMs management. A method is efficient if the number of accesses to SPM is as large as possible and if all available space (i.e. bits) is used. A Tabu Search (TS) approach for memory management is proposed which is, to the best of our knowledge, a new original alternative to the best known existing heuristic (BEH). In fact, experimentations performed on benchmarks show that the Tabu Search method is as efficient as BEH (in terms of energy consumption) but BEH requires a sorting which can be computationally expensive for a large amount of data. TS is easy to implement and since no sorting is necessary, unlike BEH, the corresponding sorting time is saved. In addition to that, in a dynamic perspective where the maximum capacity of the SPM is not known in advance, the TS heuristic will perform better than BEH.

Implementation of a Reed-Solomon Code as an ECC in Yet Another Flash File System

Flash memory has become an important storage device in many embedded systems because of its high performance, low power consumption and shock resistance. Multi-level cell (MLC) is developed as an effective solution for reducing the cost and increasing the storage density in recent years. However, most of flash file system cannot handle the error correction sufficiently. To correct more errors for MLC, we implement Reed-Solomon (RS) code to YAFFS, what is widely used for flash-based file system. RS code has longer computing time but the correcting ability is much higher than that of Hamming code.