scholarly journals A Mobile Computing Framework for Pervasive Adaptive Platforms

2011 ◽  
Vol 8 (1) ◽  
pp. 193864
Author(s):  
Olivier Brousse ◽  
Jérémie Guillot ◽  
Gilles Sassatelli ◽  
Thierry Gil ◽  
François Grize ◽  
...  
Keyword(s):  
Mobile Computing ◽  
Ubiquitous Computing ◽  
Hardware Acceleration ◽  
Programming Framework ◽  
Driven System ◽  
Computing Framework ◽  
High Level ◽  
Application Requirements ◽  
Programming Solution ◽  
Robotic Applications

Ubiquitous computing is now the new computing trend, such systems that interact with their environment require self-adaptability. Bioinspiration is a natural candidate to provide the capability to handle complex and changing scenarios. This paper presents a programming framework dedicated to pervasive platforms programming. This bioinspired and agentoriented framework has been developed within the frame of the PERPLEXUS European project that is intended to provide support for bioinspiration-driven system adaptability. This framework enables the platform to adapt itself to application requirements at high-level while using hardware acceleration at node level. The resulting programming solution has been used to program three collaborative robotic applications in which robots learn tasks and evolve for achieving a better adaptation to their environment.

scholarly journals A survey: which features are required for dynamic visual simultaneous localization and mapping?

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Zewen Xu ◽  
Zheng Rong ◽  
Yihong Wu
Keyword(s):  
Simultaneous Localization And Mapping ◽  
Dynamic Environments ◽  
Visual Features ◽  
Advantages And Disadvantages ◽  
Intelligent Robots ◽  
Localization And Mapping ◽  
High Level ◽  
Static World ◽  
Robotic Applications ◽  
Significant Attention

AbstractIn recent years, simultaneous localization and mapping in dynamic environments (dynamic SLAM) has attracted significant attention from both academia and industry. Some pioneering work on this technique has expanded the potential of robotic applications. Compared to standard SLAM under the static world assumption, dynamic SLAM divides features into static and dynamic categories and leverages each type of feature properly. Therefore, dynamic SLAM can provide more robust localization for intelligent robots that operate in complex dynamic environments. Additionally, to meet the demands of some high-level tasks, dynamic SLAM can be integrated with multiple object tracking. This article presents a survey on dynamic SLAM from the perspective of feature choices. A discussion of the advantages and disadvantages of different visual features is provided in this article.

scholarly journals Mutual Impact between Clock Gating and High Level Synthesis in Reconfigurable Hardware Accelerators

Electronics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 73
Author(s):  
Francesco Ratto ◽  
Tiziana Fanni ◽  
Luigi Raffo ◽  
Carlo Sau
Keyword(s):  
Low Power ◽  
Integrated Circuit ◽  
Systems Design ◽  
Hardware Acceleration ◽  
High Level Synthesis ◽  
Clock Gating ◽  
Technology Application ◽  
Positive Effects ◽  
High Level ◽  
Different Levels

With the diffusion of cyber-physical systems and internet of things, adaptivity and low power consumption became of primary importance in digital systems design. Reconfigurable heterogeneous platforms seem to be one of the most suitable choices to cope with such challenging context. However, their development and power optimization are not trivial, especially considering hardware acceleration components. On the one hand high level synthesis could simplify the design of such kind of systems, but on the other hand it can limit the positive effects of the adopted power saving techniques. In this work, the mutual impact of different high level synthesis tools and the application of the well known clock gating strategy in the development of reconfigurable accelerators is studied. The aim is to optimize a clock gating application according to the chosen high level synthesis engine and target technology (Application Specific Integrated Circuit (ASIC) or Field Programmable Gate Array (FPGA)). Different levels of application of clock gating are evaluated, including a novel multi level solution. Besides assessing the benefits and drawbacks of the clock gating application at different levels, hints for future design automation of low power reconfigurable accelerators through high level synthesis are also derived.

Transmutation of high-level nuclear waste by means of accelerator driven system

2013 ◽  
Vol 3 (1) ◽  
pp. 60-69 ◽  
Author(s):  
Hamid Aït Abderrahim ◽  
Didier De Bruyn ◽  
Gert Van den Eynde ◽  
Sidney Michiels
Keyword(s):  
Nuclear Waste ◽  
Driven System ◽  
High Level Nuclear Waste ◽  
Accelerator Driven System ◽  
High Level

scholarly journals Design and Analysis of a Novel Variable Stiffness Joint for Robot

2018 ◽  
Vol 249 ◽  
pp. 03005
Author(s):  
Xiang Zhang ◽  
Twan Capehart ◽  
Carl A. Moore
Keyword(s):  
High Frequency ◽  
Joint Stiffness ◽  
Variable Stiffness ◽  
Robotic Systems ◽  
Compliant Joint ◽  
Variable Transmission ◽  
Application Requirements ◽  
Base Application ◽  
Robotic Applications ◽  
Human Robotic Interaction

As people pay more attention to the safety of human-robotic interaction, the flexibility of machine joints is becoming more and more important. To address the needs of future robotic applications, many kinds of variable stiffness mechanisms have been designed by scientists. But most of the structures are complex. By studying and comparing many different mechanism designs of variable stiffness joint, we recognize the need to miniaturization and reduce weight of variable stiffness joints with high frequency operation. To address this, need a continuously Variable Compliant Joint (CVCJ) was designed. The core of the joint is based on the structure of the spherical continuously variable transmission (SCVT) which is the catalyst to change the stiffness continuously and smoothly. In this paper, we present a compact variable stiffness joint structure to meet the volume and weight requirements of the future robotic systems. We show the connection between the joint stiffness coefficient and the structure parameters by making mathematical analysis, modelling and simulation for the system to verify the ability to satisfy the base application requirements of the compliant joint.

Accelerator-driven system for transmutation of high-level waste

2000 ◽  
Vol 37 (1-4) ◽  
pp. 339-344 ◽  
Author(s):  
Kazufumi Tsujimoto ◽  
Toshinobu Sasa ◽  
Kenji Nishihara ◽  
Takakazu Takizuka ◽  
Hideki Takano
Keyword(s):  
High Level Waste ◽  
Driven System ◽  
Accelerator Driven System ◽  
High Level

scholarly journals Mapping High-Level Application Requirements onto Low-Level Cloud Resources

2012 ◽  
Vol 05 (11) ◽  
pp. 894-902 ◽  
Author(s):  
Yih Leong Sun ◽  
Terence Harmer ◽  
Alan Stewart
Keyword(s):  
Low Level ◽  
High Level ◽  
Application Requirements ◽  
Cloud Resources

scholarly journals FPGA Implementation for GMM-Based Speaker Identification

2011 ◽  
Vol 2011 ◽  
pp. 1-8 ◽  
Author(s):  
Phaklen EhKan ◽  
Timothy Allen ◽  
Steven F. Quigley
Keyword(s):  
Vocal Tract ◽  
Speaker Identification ◽  
Hardware Acceleration ◽  
Statistical Modelling ◽  
Gaussian Mixture ◽  
Personal Identification ◽  
Identification System ◽  
Call Centre ◽  
Mel Frequency Cepstral Coefficients ◽  
High Level

In today's society, highly accurate personal identification systems are required. Passwords or pin numbers can be forgotten or forged and are no longer considered to offer a high level of security. The use of biological features, biometrics, is becoming widely accepted as the next level for security systems. Biometric-based speaker identification is a method of identifying persons from their voice. Speaker-specific characteristics exist in speech signals due to different speakers having different resonances of the vocal tract. These differences can be exploited by extracting feature vectors such as Mel-Frequency Cepstral Coefficients (MFCCs) from the speech signal. A well-known statistical modelling process, the Gaussian Mixture Model (GMM), then models the distribution of each speaker's MFCCs in a multidimensional acoustic space. The GMM-based speaker identification system has features that make it promising for hardware acceleration. This paper describes the hardware implementation for classification of a text-independent GMM-based speaker identification system. The aim was to produce a system that can perform simultaneous identification of large numbers of voice streams in real time. This has important potential applications in security and in automated call centre applications. A speedup factor of ninety was achieved compared to a software implementation on a standard PC.

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