Filter for Car Tracking Based on Acceleration and Steering Angle

The motion of a car is described using a stochastic model in which the driving processes are the steering angle and the tangential acceleration. The model incorporates exactly the kinematic constraint that the wheels do not slip sideways. Two filters based on this model have been implemented, namely the standard EKF, and a new filter (the CUF) in which the expectation and the covariance of the system state are propagated accurately. Experiments show that i) the CUF is better than the EKF at predicting future positions of the car; and ii) the filter outputs can be used to control the measurement process, leading to improved ability to recover from errors in predictive tracking.

How soccer players head the ball: a test of optic acceleration cancellation theory with virtual reality

We measured the movements of soccer players heading a football in a fully immersive virtual reality environment. In mid-flight the ball’s trajectory was altered from its normal quasi-parabolic path to a linear one, producing a jump in the rate of change of the angle of elevation of gaze (α) from player to ball. One reaction time later the players adjusted their speed so that the rate of change of α increased when it had been reduced and reduced it when it had been increased. Since the result of the player’s movement was to regain a value of the rate of change close to that before the disturbance, the data suggest that the players have an expectation of, and memory for, the pattern that the rate of change of α will follow during the flight. The results support the general claim that players intercepting balls use servo control strategies and are consistent with the particular claim of Optic Acceleration Cancellation theory that the servo strategy is to allow α to increase at a steadily decreasing rate.

A practical method for testing high-speed networking hardware architectures

This paper deals with the key issues encountered in testing during the development of high-speed networking hardware systems by documenting a practical method for "real-life like" testing. The proposed method is empowered by modern and commonly available Field Programmable Gate Array (FPGA) technology. Innovative application of standard FPGA blocks in combination with reconfigurability are used as a back-bone of the method. A detailed elaboration of the method is given so as to serve as a general reference. The method is fully characterised and compared to alternatives through a case study proving it to be the most efficient and effective one at a reasonable cost.

A compositional framework for hardware/software co-design

We describe a compositional framework, together with its supporting toolset, for hardware/software co-design. Our framework is an integration of a formal approach within a traditional design flow. The formal approach is based on Interval Temporal Logic and its executable subset, Tempura. Refinement is the key element in our framework because it will derive from a single formal specification of the system the software and hardware parts of the implementation, while preserving all properties of the system specification. During refinement simulation is used to choose the appropriate refinement rules, which are applied automatically in the HOL system. The framework is illustrated with two case studies. The work presented is part of a UK collaborative research project between the Software Technology Research Laboratory at the De Montfort University and the Oxford University Computing Laboratory.

Distributed acceleration of mobile radio network optimisation algorithms

The past decade has witnessed explosive growth of mobile subscribers and services. With the purpose of providing better-swifter-cheaper services, radio network optimisation plays a crucial role but faces enormous challenges. The concept of Dynamic Network Optimisation (DNO), therefore, has been introduced to optimally and continuously adjust network configurations, in response to changes in network conditions and traffic. However, the realization of DNO has been seriously hindered by the bottleneck of optimisation speed performance. An advanced distributed parallel solution is presented in this paper, as to bridge the gap by accelerating the sophisticated proprietary network optimisation algorithm, while maintaining the optimisation quality and numerical consistency. The ariesoACP product from Arieso Ltd serves as the main platform for acceleration. This solution has been prototyped, implemented and tested. Real-project based results exhibit a high scalability and substantial acceleration at an average speed-up of 2.5, 4.9 and 6.1 on a distributed 5-core, 9-core and 16-core system, respectively. This significantly outperforms other parallel solutions such as multi-threading. Furthermore, augmented optimisation outcome, alongside high correctness and self-consistency, have also been fulfilled. Overall, this is a breakthrough towards the realization of DNO.

Acceleration of radio network optimisation algorithms

The increasing demand for cheaper-faster-better services anytime and anywhere has made radio network optimisation much more complex than ever before. In order to dynamically optimise the serving network, Dynamic Network Optimisation (DNO), is proposed as the ultimate solution and future trend. The realization of DNO, however, has been hindered by a significant bottleneck of the optimisation speed as the network complexity grows. This paper presents a multi-threaded parallel solution to accelerate complicated proprietary network optimisation algorithms, under a rigid condition of numerical consistency. ariesoACP product from Arieso Ltd serves as the platform for parallelisation. This parallel solution has been benchmarked and results exhibit a high scalability and a run-time reduction by 11% to 42% based on the technology, subscriber density and blocking rate of a given network in comparison with the original version. Further, it is highly essential that the parallel version produces equivalent optimisation quality in terms of identical optimisation outputs.

Hardware development of the Yorick series of active vision systems

This paper presents a review of the design and development of the Yorick series of active stereo camera platforms and their integration into real-time closed loop active vision systems, whose applications span surveillance, navigation of autonomously guided vehicles (AGVs), and inspection tasks for teleoperation, including immersive visual telepresence. The mechatronic approach adopted for the design of the first system, including head/eye platform, local controller, vision engine, gaze controller and system integration, proved to be very successful. The design team comprised researchers with experience in parallel computing, robot control, mechanical design and machine vision. The success of the project has generated sufficient interest to sanction a number of revisions of the original head design, including the design of a lightweight compact head for use on a robot arm, and the further development of a robot head to look specifically at increasing visual resolution for visual telepresence. The controller and vision processing engines have also been upgraded, to include the control of robot heads on mobile platforms and control of vergence through tracking of an operator's eye movement. This paper details the hardware development of the different active vision/telepresence systems.

A specific pole placement technique to minimise hardware requirements within a real time terrestrial and cable video echo canceller

The real time hardware architecture of a deterministic video echo canceller (deghoster) system is presented. The deghoster is capable of calculating all the multipath channel distortion characteristics from terrestrial and cable television in one single pass while performing real time video in-line ghost cancellation. The results from the actual system are also presented in this paper.

Proposal of redundant drive wire mechanism for producing motions with high acceleration and high precision

A new wire mechanism called Redundant Drive Wire Mechanism (RDWM) is proposed. The purpose of this paper is to build up the theory of a RDWM with fast motion and fine motion. First, the basic concepts of the proposed mechanism is presented. Second, the vector closure condition for the proposed mechanism is developed. Next, we present the basic equations, propose the basic structure of RDWM with the Internal DOF module, Double Actuation Modules and Precision Modules together with the properties of the mechanism. Finally, we conduct the simulation to show the validity of the RDWM.