Towards Real-time Speech Emotion Recognition for Affective E-Learning

The original article is available as an open access file on the Springer website in the following link: http://link.springer.com/article/10.1007/s10639-015-9388-2

Real-time GPU color-based segmentation of football players

In this paper, we propose a multi-camera application capable of processing high resolution images and extracting features based on colors patterns over graphic processing units (GPU). The goal is to work in real time under the uncontrolled environment of a sport event like a football match. Since football players are composed for diverse and complex color patterns, a Gaussian Mixture Models (GMM) is applied as segmentation paradigm, in order to analyze sport live images and video. Optimization techniques have also been applied over the C++ implementation using profiling tools focused on high performance. Time consuming tasks were implemented over NVIDIA's CUDA platform, and later restructured and enhanced, speeding up the whole process significantly. Our resulting code is around 4-11 times faster on a low cost GPU than a highly optimized C++ version on a central processing unit (CPU) over the same data. Real time has been obtained processing until 64 frames per second. An important conclusion derived from our study is the scalability of the application to the number of cores on the GPU. © 2011 Springer-Verlag.

Dependable wireless real-time communications for open environments

Wireless communication technologies have become widely adopted, appearing in heterogeneous applications ranging from tracking victims, responders and equipments in disaster scenarios to machine health monitoring in networked manufacturing systems. Very often, applications demand a strictly bounded timing response, which, in distributed systems, is generally highly dependent on the performance of the underlying communication technology. These systems are said to have real-time timeliness requirements since data communication must be conducted within predefined temporal bounds, whose unfulfillment may compromise the correct behavior of the system and cause economic losses or endanger human lives. The potential adoption of wireless technologies for an increasingly broad range of application scenarios has made the operational requirements more complex and heterogeneous than before for wired technologies. On par with this trend, there is an increasing demand for the provision of cost-effective distributed systems with improved deployment, maintenance and adaptation features. These systems tend to require operational flexibility, which can only be ensured if the underlying communication technology provides both time and event triggered data transmission services while supporting on-line, on-the-fly parameter modification. Generally, wireless enabled applications have deployment requirements that can only be addressed through the use of batteries and/or energy harvesting mechanisms for power supply. These applications usually have stringent autonomy requirements and demand a small form factor, which hinders the use of large batteries. As the communication support may represent a significant part of the energy requirements of a station, the use of power-hungry technologies is not adequate. Hence, in such applications, low-range technologies have been widely adopted. In fact, although low range technologies provide smaller data rates, they spend just a fraction of the energy of their higher-power counterparts. The timeliness requirements of data communications, in general, can be met by ensuring the availability of the medium for any station initiating a transmission. In controlled (close) environments this can be guaranteed, as there is a strict regulation of which stations are installed in the area and for which purpose. Nevertheless, in open environments, this is hard to control because no a priori abstract knowledge is available of which stations and technologies may contend for the medium at any given instant. Hence, the support of wireless real-time communications in unmanaged scenarios is a highly challenging task. Wireless low-power technologies have been the focus of a large research effort, for example, in the Wireless Sensor Network domain. Although bringing extended autonomy to battery powered stations, such technologies are known to be negatively influenced by similar technologies contending for the medium and, especially, by technologies using higher power transmissions over the same frequency bands. A frequency band that is becoming increasingly crowded with competing technologies is the 2.4 GHz Industrial, Scientific and Medical band, encompassing, for example, Bluetooth and ZigBee, two lowpower communication standards which are the base of several real-time protocols. Although these technologies employ mechanisms to improve their coexistence, they are still vulnerable to transmissions from uncoordinated stations with similar technologies or to higher power technologies such as Wi- Fi, which hinders the support of wireless dependable real-time communications in open environments. The Wireless Flexible Time-Triggered Protocol (WFTT) is a master/multi-slave protocol that builds on the flexibility and timeliness provided by the FTT paradigm and on the deterministic medium capture and maintenance provided by the bandjacking technique. This dissertation presents the WFTT protocol and argues that it allows supporting wireless real-time communication services with high dependability requirements in open environments where multiple contention-based technologies may dispute the medium access. Besides, it claims that it is feasible to provide flexible and timely wireless communications at the same time in open environments. The WFTT protocol was inspired on the FTT paradigm, from which higher layer services such as, for example, admission control has been ported. After realizing that bandjacking was an effective technique to ensure the medium access and maintenance in open environments crowded with contention-based communication technologies, it was recognized that the mechanism could be used to devise a wireless medium access protocol that could bring the features offered by the FTT paradigm to the wireless domain. The performance of the WFTT protocol is reported in this dissertation with a description of the implemented devices, the test-bed and a discussion of the obtained results.

SPARTS: simulator for power aware and real-time systems

Real-time systems demand guaranteed and predictable run-time behaviour in order to ensure that no task has missed its deadline. Over the years we are witnessing an ever increasing demand for functionality enhancements in the embedded real-time systems. Along with the functionalities, the design itself grows more complex. Posed constraints, such as energy consumption, time, and space bounds, also require attention and proper handling. Additionally, efficient scheduling algorithms, as proven through analyses and simulations, often impose requirements that have significant run-time cost, specially in the context of multi-core systems. In order to further investigate the behaviour of such systems to quantify and compare these overheads involved, we have developed the SPARTS, a simulator of a generic embedded real- time device. The tasks in the simulator are described by externally visible parameters (e.g. minimum inter-arrival, sporadicity, WCET, BCET, etc.), rather than the code of the tasks. While our current implementation is primarily focused on our immediate needs in the area of power-aware scheduling, it is designed to be extensible to accommodate different task properties, scheduling algorithms and/or hardware models for the application in wide variety of simulations. The source code of the SPARTS is available for download at [1].

Capacity sharing and stealing in dynamic server-based real-time systems

This paper proposes a dynamic scheduler that supports the coexistence of guaranteed and non-guaranteed bandwidth servers to efficiently handle soft-tasks’ overloads by making additional capacity available from two sources: (i) residual capacity allocated but unused when jobs complete in less than their budgeted execution time; (ii) stealing capacity from inactive non-isolated servers used to schedule best-effort jobs. The effectiveness of the proposed approach in reducing the mean tardiness of periodic jobs is demonstrated through extensive simulations. The achieved results become even more significant when tasks’ computation times have a large variance.

A self-healing real-time system based on run-time self-reconfiguration

The new generations of SRAM-based FPGA (field programmable gate array) devices are the preferred choice for the implementation of reconfigurable computing platforms intended to accelerate processing in real-time systems. However, FPGA's vulnerability to hard and soft errors is a major weakness to robust configurable system design. In this paper, a novel built-in self-healing (BISH) methodology, based on run-time self-reconfiguration, is proposed. A soft microprocessor core implemented in the FPGA is responsible for the management and execution of all the BISH procedures. Fault detection and diagnosis is followed by repairing actions, taking advantage of the dynamic reconfiguration features offered by new FPGA families. Meanwhile, modular redundancy assures that the system still works correctly

Real-time scheduling with resource sharing on heterogeneous multiprocessors

Consider the problem of scheduling a task set τ of implicit-deadline sporadic tasks to meet all deadlines on a t-type heterogeneous multiprocessor platform where tasks may access multiple shared resources. The multiprocessor platform has m k processors of type-k, where k∈{1,2,…,t}. The execution time of a task depends on the type of processor on which it executes. The set of shared resources is denoted by R. For each task τ i , there is a resource set R i ⊆R such that for each job of τ i , during one phase of its execution, the job requests to hold the resource set R i exclusively with the interpretation that (i) the job makes a single request to hold all the resources in the resource set R i and (ii) at all times, when a job of τ i holds R i , no other job holds any resource in R i . Each job of task τ i may request the resource set R i at most once during its execution. A job is allowed to migrate when it requests a resource set and when it releases the resource set but a job is not allowed to migrate at other times. Our goal is to design a scheduling algorithm for this problem and prove its performance. We propose an algorithm, LP-EE-vpr, which offers the guarantee that if an implicit-deadline sporadic task set is schedulable on a t-type heterogeneous multiprocessor platform by an optimal scheduling algorithm that allows a job to migrate only when it requests or releases a resource set, then our algorithm also meets the deadlines with the same restriction on job migration, if given processors 4×(1+MAXP×⌈|P|×MAXPmin{m1,m2,…,mt}⌉) times as fast. (Here MAXP and |P| are computed based on the resource sets that tasks request.) For the special case that each task requests at most one resource, the bound of LP-EE-vpr collapses to 4×(1+⌈|R|min{m1,m2,…,mt}⌉). To the best of our knowledge, LP-EE-vpr is the first algorithm with proven performance guarantee for real-time scheduling of sporadic tasks with resource sharing on t-type heterogeneous multiprocessors.

Efficient schedulability tests for real-time embedded systems with urgent routines

Task scheduling is one of the key mechanisms to ensure timeliness in embedded real-time systems. Such systems have often the need to execute not only application tasks but also some urgent routines (e.g. error-detection actions, consistency checkers, interrupt handlers) with minimum latency. Although fixed-priority schedulers such as Rate-Monotonic (RM) are in line with this need, they usually make a low processor utilization available to the system. Moreover, this availability usually decreases with the number of considered tasks. If dynamic-priority schedulers such as Earliest Deadline First (EDF) are applied instead, high system utilization can be guaranteed but the minimum latency for executing urgent routines may not be ensured. In this paper we describe a scheduling model according to which urgent routines are executed at the highest priority level and all other system tasks are scheduled by EDF. We show that the guaranteed processor utilization for the assumed scheduling model is at least as high as the one provided by RM for two tasks, namely 2(2√−1). Seven polynomial time tests for checking the system timeliness are derived and proved correct. The proposed tests are compared against each other and to an exact but exponential running time test.

Cross-Layer Admission Control to Enhance the Support of Real-Time Applications in WSN

Real-time monitoring applications may be used in a wireless sensor network (WSN) and may generate packet flows with strict quality of service requirements in terms of delay, jitter, or packet loss. When strict delays are imposed from source to destination, the packets must be delivered at the destination within an end-to-end delay (EED) hard limit in order to be considered useful. Since the WSN nodes are scarce both in processing and energy resources, it is desirable that they only transport useful data, as this contributes to enhance the overall network performance and to improve energy efficiency. In this paper, we propose a novel cross-layer admission control (CLAC) mechanism to enhance the network performance and increase energy efficiency of a WSN, by avoiding the transmission of potentially useless packets. The CLAC mechanism uses an estimation technique to preview packets EED, and decides to forward a packet only if it is expected to meet the EED deadline defined by the application, dropping it otherwise. The results obtained show that CLAC enhances the network performance by increasing the useful packet delivery ratio in high network loads and improves the energy efficiency in every network load.

Integration of knowledge-based, qualitative and numeric tools for real time dynamic systems supervision

The proposal presented in this thesis is to provide designers of knowledge based supervisory systems of dynamic systems with a framework to facilitate their tasks avoiding interface problems among tools, data flow and management. The approach is thought to be useful to both control and process engineers in assisting their tasks. The use of AI technologies to diagnose and perform control loops and, of course, assist process supervisory tasks such as fault detection and diagnose, are in the scope of this work. Special effort has been put in integration of tools for assisting expert supervisory systems design. With this aim the experience of Computer Aided Control Systems Design (CACSD) frameworks have been analysed and used to design a Computer Aided Supervisory Systems (CASSD) framework. In this sense, some basic facilities are required to be available in this proposed framework: ·

Optimized scheduling in real-time environments with column generation

Im Bereich sicherheitsrelevanter eingebetteter Systeme stellt sich der Designprozess von Anwendungen als sehr komplex dar. Entsprechend einer gegebenen Hardwarearchitektur lassen sich Steuergeräte aufrüsten, um alle bestehenden Prozesse und Signale pünktlich auszuführen. Die zeitlichen Anforderungen sind strikt und müssen in jeder periodischen Wiederkehr der Prozesse erfüllt sein, da die Sicherstellung der parallelen Ausführung von größter Bedeutung ist. Existierende Ansätze können schnell Designalternativen berechnen, aber sie gewährleisten nicht, dass die Kosten für die nötigen Hardwareänderungen minimal sind. Wir stellen einen Ansatz vor, der kostenminimale Lösungen für das Problem berechnet, die alle zeitlichen Bedingungen erfüllen. Unser Algorithmus verwendet Lineare Programmierung mit Spaltengenerierung, eingebettet in eine Baumstruktur, um untere und obere Schranken während des Optimierungsprozesses bereitzustellen. Die komplexen Randbedingungen zur Gewährleistung der periodischen Ausführung verlagern sich durch eine Zerlegung des Hauptproblems in unabhängige Unterprobleme, die als ganzzahlige lineare Programme formuliert sind. Sowohl die Analysen zur Prozessausführung als auch die Methoden zur Signalübertragung werden untersucht und linearisierte Darstellungen angegeben. Des Weiteren präsentieren wir eine neue Formulierung für die Ausführung mit fixierten Prioritäten, die zusätzlich Prozessantwortzeiten im schlimmsten anzunehmenden Fall berechnet, welche für Szenarien nötig sind, in denen zeitliche Bedingungen an Teilmengen von Prozessen und Signalen gegeben sind. Wir weisen die Anwendbarkeit unserer Methoden durch die Analyse von Instanzen nach, welche Prozessstrukturen aus realen Anwendungen enthalten. Unsere Ergebnisse zeigen, dass untere Schranken schnell berechnet werden können, um die Optimalität von heuristischen Lösungen zu beweisen. Wenn wir optimale Lösungen mit Antwortzeiten liefern, stellt sich unsere neue Formulierung in der Laufzeitanalyse vorteilhaft gegenüber anderen Ansätzen dar. Die besten Resultate werden mit einem hybriden Ansatz erzielt, der heuristische Startlösungen, eine Vorverarbeitung und eine heuristische mit einer kurzen nachfolgenden exakten Berechnungsphase verbindet.

Comparison of fecal culture and F57 real-time polymerase chain reaction for the detection of Mycobacterium avium subspecies paratuberculosis in Swiss cattle herds with a history of paratuberculosis

BACKGROUND: Bovine paratuberculosis is an incurable chronic granulomatous enteritis caused by Mycobacterium avium subspecies paratuberculosis (MAP). The prevalence of MAP in the Swiss cattle population is hard to estimate, since only a few cases of clinical paratuberculosis are reported to the Swiss Federal Food Safety and Veterinary Office each year.Fecal samples from 1,339 cattle (855 animals from 12 dairy herds, 484 animals from 11 suckling cow herds, all herds with a history of sporadic paratuberculosis) were investigated by culture and real-time polymerase chain reaction (PCR) for shedding of MAP. RESULTS: By culture, MAP was detected in 62 of 445 fecal pools (13.9%), whereas PCR detected MAP in 9 of 445 pools (2.0%). All 186 samples of the 62 culture-positive pools were reanalyzed individually. By culture, MAP was grown from 59 individual samples (31.7%), whereas PCR detected MAP in 12 individual samples (6.5%), all of which came from animals showing symptoms of paratuberculosis during the study. Overall, MAP was detected in 10 out of 12 dairy herds (83.3%) and in 8 out of 11 suckling cow herds (72.7%). CONCLUSIONS: There is a serious clinically inapparent MAP reservoir in the Swiss cattle population. PCR cannot replace culture to identify individual MAP shedders but is suitable to identify MAP-infected herds, given that the amount of MAP shed in feces is increasing in diseased animals or in animals in the phase of transition to clinical disease

A hierarchical strategy for real-time tracking on-board UAVs

In this paper, we present a real-time tracking strategy based on direct methods for tracking tasks on-board UAVs, that is able to overcome problems posed by the challenging conditions of the task: e.g. constant vibrations, fast 3D changes, and limited capacity on-board. The vast majority of approaches make use of feature-based methods to track objects. Nonetheless, in this paper we show that although some of these feature-based solutions are faster, direct methods can be more robust under fast 3D motions (fast changes in position), some changes in appearance, constant vibrations (without requiring any specific hardware or software for video stabilization), and situations where part of the object to track is out the field of view of the camera. The performance of the proposed strategy is evaluated with images from real-flight tests using different evaluation mechanisms (e.g. accurate position estimation using a Vicon sytem). Results show that our tracking strategy performs better than well known feature-based algorithms and well known configurations of direct methods, and that the recovered data is robust enough for vision-in-the-loop tasks.

Moving object detection for real-time augmented reality applications in a GPGPU

The last generation of consumer electronic devices is endowed with Augmented Reality (AR) tools. These tools require moving object detection strategies, which should be fast and efficient, to carry out higher level object analysis tasks. We propose a lightweight spatio-temporal-based non-parametric background-foreground modeling strategy in a General Purpose Graphics Processing Unit (GPGPU), which provides real-time high-quality results in a great variety of scenarios and is suitable for AR applications.

Extensiones a los métodos de planificación de sistemas de tiempo real críticos basados en prioridades

Los sistemas de tiempo real tienen un papel cada vez más importante en nuestra sociedad. Constituyen un componente fundamental de los sistemas de control, que a su vez forman parte de diversos sistemas de ingeniería básicos en actividades industriales, militares, de comunicaciones, espaciales y médicas. La planificación de recursos es un problema fundamental en la realización de sistemas de tiempo real. Su objetivo es asignar los recursos disponibles a las tareas de forma que éstas cumplan sus restricciones temporales. Durante bastante tiempo, el estado de la técnica en relación con los métodos de planificación ha sido rudimentario. En la actualidad, los métodos de planificación basados en prioridades han alcanzado un nivel de madurez suficiente para su aplicación en entornos industriales. Sin embargo, hay cuestiones abiertas que pueden dificultar su utilización. El objetivo principal de esta tesis es estudiar los métodos de planificación basados en prioridades, detectar las cuestiones abiertas y desarrollar protocolos, directrices y esquemas de realización práctica que faciliten su empleo en sistemas industriales. Una cuestión abierta es la carencia de esquemas de realización de algunos protocolos con núcleos normalizados. El resultado ha sido el desarrollo de esquemas de realización de tareas periódicas y esporádicas de tiempo real, con detección de fallos de temporización, comunicación entre tareas, cambio de modo de ejecución del sistema y tratamiento de fallos mediante grupos de recuperación. Los esquemas se han codificado en Ada 9X y se proporcionan directrices para analizar la planificabilidad de un sistema desarrollado con esta base. Un resultado adicional ha sido la identificación de la funcionalidad mínima necesaria para desarrollar sistemas de tiempo real con las características enumeradas. La capacidad de adaptación a los cambios del entorno es una característica deseable de los sistemas de tiempo real. Si estos cambios no estaban previstos en la fase de diseño o si hay módulos erróneos, es necesario modificar o incluir algunas tareas. La actualización del sistema se suele realizar estáticamente y su instalación se lleva a cabo después de parar su ejecución. Sin embargo, hay sistemas cuyo funcionamiento no se puede detener sin producir daños materiales o económicos. Una alternativa es diseñar el sistema como un conjunto de unidades que se pueden reemplazar, sin interferir con la ejecución de otras unidades. Para tal fin, se ha desarrollado un protocolo de reemplazamiento dinámico para sistemas de tiempo real crítico y se ha comprobado su compatibilidad con los métodos de planificación basados en prioridades. Finalmente se ha desarrollado un esquema de realización práctica del protocolo.---ABSTRACT---Real-time systems are very important now a days. They have become a relevant issue in the design of control systems, which are a basic component of several engineering systems in industrial, telecommunications, military, spatial and medical applications. Resource scheduling is a central issue in the development of real-time systems. Its purpose is to assign the available resources to the tasks, in such a way that their deadlines are met. Historically, hand-crafted techniques were used to develop real-time systems. Recently, the priority-based scheduling methods have reached a sufficient maturity level to be feasible its extensive use in industrial applications. However, there are some open questions that may decrease its potential usefulness. The main goal of this thesis is to study the priority-based scheduling methods, to identify the remaining open questions and to develop protocols, implementation templates and guidelines that will make more feasible its use in industrial applications. One open question is the lack of implementation schemes, based on commercial realtime kernels, of some of the protocols. POSIX and Ada 9X has served to identify the services usually available. A set of implementation templates for periodic and sporadic tasks have been developed with provisión for timing failure detection, intertask coraraunication, change of the execution mode and failure handling based on recovery groups. Those templates have been coded in Ada 9X. A set of guidelines for checking the schedulability of a system based on them are also provided. An additional result of this work is the identification of the minimal functionality required to develop real-time systems based on priority scheduling methods, with the above characteristics. A desirable feature of real-time systems is their capacity to adapt to changes in the environment, that cannot be entirely predicted during the design, or to misbehaving software modules. The traditional maintenance techniques are performed by stopping the whole system, installing the new application and finally resuming the system execution. However this approach cannot be applied to non-stop systems. An alternative is to design the system as a set of software units that can be dynamically replaced within its operative environment. With this goal in mind, a dynamic replacement protocol for hard real-time systems has been defined. Its compatibility with priority-based scheduling methods has been proved. Finally, a execution témplate of the protocol has been implemented.