Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Common architecture for discrete wavelet transform analysis and synthesis with sequential and constant processing elements

This paper adresses the problem on processing biological data such as cardiac beats, audio and ultrasonic range, calculating wavelet coefficients in real time, with processor clock running at frequency of present ASIC's and FPGA. The Paralell Filter Architecture for DWT has been improved, calculating wavelet coefficients in real time with hardware reduced to 60%. The new architecture, which also processes IDWT, is implemented with the Radix-2 or the Booth-Wallace Constant multipliers. Including series memory register banks, one integrated circuit Signal Analyzer, ultrasonic range, is presented.

A multisampling time-domain CMOS imager with synchronous readout circuit

A novel multisampling time-domain architecture for CMOS imagers with synchronous readout and wide dynamic range is proposed. The architecture was implemented in a prototype of imager with 32x32 pixel array fabricated in AMS CMOS 0.35νm and was characterized for sensitivity and color response. The pixel is composed of an n+/psub photodiode, a comparator and a D flip-flop having 16% fill-factor and 30νmx26νm dimensions. The multisampling architecture requires only a 1 bit per pixel memory instead of 8 bits which is typical for time-domain active pixel architectures. The advantage is that the number of transistors in the pixel is low, saving area and providing higher fill-factor. The maximum frame rate is analyzed as a function of number of bits and array size. The analysis shows that it is possible to achieve high frame rates and operation in video mode with 10 bits. Also, we present analysis for the impact of comparator offset voltage in the fixed pattern noise. Copyright 2007 ACM.

Desenvolvimento de Interface gráfica como suporte para soluções numéricas das equações de Maxwell em coordenadas gerais – 3D

Neste trabalho, é implementada uma interface gráfica de usuários (GUI) usando a ferramenta Qt da Nokia (versão 3.0). A interface visa simplificar a criação de cenários para a realização de simulações paralelas usando a técnica numérica Local Nonorthogonal Finite Difference Time-Domain (LN-FDTD), aplicada para solucionar as equações de Maxwell. O simulador foi desenvolvido usando a linguagem de programação C e paralelizado utilizando threads. Para isto, a biblioteca pthread foi empregada. A visualização 3D do cenário a ser simulado (e da malha) é realizada por um programa especialmente desenvolvido que utiliza a biblioteca OpenGL. Para melhorar o desenvolvimento e alcançar os objetivos do projeto computacional, foram utilizados conceitos da Engenharia de Software, tais como o modelo de processo de software por prototipagem. Ao privar o usuário de interagir diretamente com o código-fonte da simulação, a probabilidade de ocorrência de erros humanos durante o processo de construção de cenários é minimizada. Para demonstrar o funcionamento da ferramenta desenvolvida, foi realizado um estudo relativo ao efeito de flechas em linhas de baixa tensão nas tensões transitórias induzidas nas mesmas por descargas atmosféricas. As tensões induzidas nas tomadas da edificação também são estudadas.

Construction virtual prototyping : a survey of use

Purpose –The introduction of Building Information Model tools over the last 20 years is resulting in radical changes in the Architectural, Engineering and Construction industry. One of these changes concerns the use of Virtual Prototyping - an advanced technology integrating BIM with realistic graphical simulations. Construction Virtual Prototyping (CVP) has now been developed and implemented on ten real construction projects in Hong Kong in the past three years. This paper reports on a survey aimed at establishing the effects of adopting this new technology and obtaining recommendations for future development. Design/methodology/approach – A questionnaire survey was conducted in 2007 of 28 key participants involved in four major Hong Kong construction projects – these projects being chosen because the CVP approach was used in more than one stage in each project. In addition, several interviews were conducted with the project manager, planning manager and project engineer of an individual project. Findings –All the respondents and interviewees gave a positive response to the CVP approach, with the most useful software functions considered to be those relating to visualisation and communication. The CVP approach was thought to improve the collaboration efficiency of the main contractor and sub-contractors by approximately 30 percent, and with a concomitant 30 to 50 percent reduction in meeting time. The most important benefits of CPV in the construction planning stage are the improved accuracy of process planning and shorter planning times, while improved fieldwork instruction and reducing rework occur in the construction implementation stage. Although project teams are hesitant to attribute the use of CVP directly to any specific time savings, it was also acknowledged that the workload of project planners is decreased. Suggestions for further development of the approach include incorporation of automatic scheduling and advanced assembly study. Originality/value –Whilst the research, development and implementation of CVP is relatively new in the construction industry, it is clear from the applications and feedback to date that the approach provides considerable added value to the organisation and management of construction projects.

Rapid prototyping framework for visual control of autonomous micro aerial vehicles

Rapid prototyping environments can speed up the research of visual control algorithms. We have designed and implemented a software framework for fast prototyping of visual control algorithms for Micro Aerial Vehicles (MAV). We have applied a combination of a proxy-based network communication architecture and a custom Application Programming Interface. This allows multiple experimental configurations, like drone swarms or distributed processing of a drone's video stream. Currently, the framework supports a low-cost MAV: the Parrot AR.Drone. Real tests have been performed on this platform and the results show comparatively low figures of the extra communication delay introduced by the framework, while adding new functionalities and flexibility to the selected drone. This implementation is open-source and can be downloaded from www.vision4uav.com/?q=VC4MAV-FW

Prototyping the self-authored video interview : Challenges and opportunities

Self-authored video- where participants are in control of the creation of their own footage- is a means of creating innovative design material and including all members of a family in design activities. This paper describes our adaptation to this process called Self Authored Video Interviews (SAVIs) that we created and prototyped to better understand how families engage with situated technology in the home. We find the methodology produces unique insights into family dynamics in the home, uncovering assumptions and tensions unlikely to be discovered using more conventional methods. The paper outlines a number of challenges and opportunities associated with the methodology, specifically, maximising the value of the insights gathered by appealing to children to champion the cause, and how to counter perceptions of the lingering presence of researchers.

Exploiting virtual prototyping for reliability assessment

Products manufactured by the electronics sector are having a major impact in telecommunications, transportation space applications, biomedical applications, consumer products, intelligent hand held devices, and of course,the computer. Demands from end-users in terms of greater product functionality, adoption of environmentally friendly materials, and further miniaturization continually pose several challenges to electronics companies. In the context of electronic product design and manufacture, virtual prototying software tools are allowing companies to dramatically reduce the number of phsysical prototypes and design iterations required in product development and hence reduce costs and time to market. This paper details of the trends in these technolgies and provides an example of their use for flip-chip assembly technology.

FPGA Prototyping of Emerging Manycore Architectures for Parallel Programming Research using Formic Boards

Performance evaluation of parallel software and architectural exploration of innovative hardware support face a common challenge with emerging manycore platforms: they are limited by the slow running time and the low accuracy of software simulators. Manycore FPGA prototypes are difficult to build, but they offer great rewards. Software running on such prototypes runs orders of magnitude faster than current simulators. Moreover, researchers gain significant architectural insight during the modeling process. We use the Formic FPGA prototyping board [1], which specifically targets scalable and cost-efficient multi-board prototyping, to build and test a 64-board model of a 512-core, MicroBlaze-based, non-coherent hardware prototype with a full network-on-chip in a 3D-mesh topology. We expand the hardware architecture to include the ARM Versatile Express platforms and build a 520-core heterogeneous prototype of 8 Cortex-A9 cores and 512 MicroBlaze cores. We then develop an MPI library for the prototype and evaluate it extensively using several bare-metal and MPI benchmarks. We find that our processor prototype is highly scalable, models faithfully single-chip multicore architectures, and is a very efficient platform for parallel programming research, being 50,000 times faster than software simulation.

Metodologia híbrida de desenvolvimento centrado no utilizador: aplicada ao software educativo

No panorama atual do desenvolvimento de software educativo é importante que os processos de desenvolvimento sejam adequados e compatíveis com o contexto em que serão utilizados este tipo de recursos. Desta forma, é importante melhorar continuamente os processos de desenvolvimento bem como se proceder à avaliação de forma a garantir a sua qualidade e viabilidade económica. Este estudo propõe uma Metodologia Híbrida de Desenvolvimento Centrado no Utilizador (MHDCU) aplicada ao software educativo. Trata-se de um processo de desenvolvimento simples, iterativo e incremental que tem como “alicerces” princípios do Design Centrado no Utilizador, especificados na International Organization for Standardization - ISO 13407. Na sua base encontra-se a estrutura disciplinada de processos de desenvolvimento, bem como práticas e valores dos métodos ágeis de desenvolvimento de software. O processo é constituído por 4 fases principais: planeamento (guião didático), design (storyboard), implementação e manutenção/operação. A prototipagem e a avaliação são realizadas de modo transversal a todo o processo. A metodologia foi implementada numa Pequena e Média Empresa de desenvolvimento de recursos educacionais, com o objetivo de desenvolver recursos educacionais com qualidade reconhecida e simultaneamente viáveis do ponto de vista económico. O primeiro recurso que teve por base a utilização desta metodologia foi o Courseware Sere – “O Ser Humano e os Recursos Naturais”. O trabalho seguiu uma metodologia de investigação & desenvolvimento, de natureza mista, em que se pretendeu descrever e analisar/avaliar uma metodologia de desenvolvimento de software educativo, i.e., o processo, bem como o produto final. O estudo é fundamentalmente descritivo e exploratório. A metodologia de desenvolvimento do software (primeira questão de investigação) foi proposta, essencialmente, com base na revisão integrativa da literatura da especialidade e com base nos resultados que emergiram das Fases 2 e 3. Do ponto de vista exploratório, foi avaliado, por um lado, o potencial técnico e didático da 1ª versão do software inserido no Courseware Sere (segunda questão de investigação), e, por outro lado, analisar os pontos fortes e as fragilidades da metodologia utilizada para o seu desenvolvimento (terceira questão de investigação). Como técnicas de recolha de dados recorreu-se a dois inquéritos por questionário e à observação direta participante (mediada pela plataforma moodle). Quanto às técnicas de análise de dados optou-se pela análise estatística descritiva e pela análise de conteúdo. Os resultados indicam que o recurso desenvolvido possui qualidade técnica e didática. Relativamente a análise da Metodologia Híbrida de desenvolvimento Centrado no Utilizador foram propostas algumas melhorias relacionadas com o envolvimento do utilizador e introdução de novos métodos. Apesar de identificadas algumas limitações, este projeto permitiu que a empresa melhorasse significativamente os processos de desenvolvimento de recursos (mesmo os que não são informatizados), bem como permitiu o aumento do seu portefólio com o desenvolvimento do Courseware Sere.

Novel hardware and software combination for automotive motorsport vehicles based on direct processing of graphical functions

The main motivation for the work presented here began with previously conducted experiments with a programming concept at the time named "Macro". These experiments led to the conviction that it would be possible to build a system of engine control from scratch, which could eliminate many of the current problems of engine management systems in a direct and intrinsic way. It was also hoped that it would minimize the full range of software and hardware needed to make a final and fully functional system. Initially, this paper proposes to make a comprehensive survey of the state of the art in the specific area of software and corresponding hardware of automotive tools and automotive ECUs. Problems arising from such software will be identified, and it will be clear that practically all of these problems stem directly or indirectly from the fact that we continue to make comprehensive use of extremely long and complex "tool chains". Similarly, in the hardware, it will be argued that the problems stem from the extreme complexity and inter-dependency inside processor architectures. The conclusions are presented through an extensive list of "pitfalls" which will be thoroughly enumerated, identified and characterized. Solutions will also be proposed for the various current issues and for the implementation of these same solutions. All this final work will be part of a "proof-of-concept" system called "ECU2010". The central element of this system is the before mentioned "Macro" concept, which is an graphical block representing one of many operations required in a automotive system having arithmetic, logic, filtering, integration, multiplexing functions among others. The end result of the proposed work is a single tool, fully integrated, enabling the development and management of the entire system in one simple visual interface. Part of the presented result relies on a hardware platform fully adapted to the software, as well as enabling high flexibility and scalability in addition to using exactly the same technology for ECU, data logger and peripherals alike. Current systems rely on a mostly evolutionary path, only allowing online calibration of parameters, but never the online alteration of their own automotive functionality algorithms. By contrast, the system developed and described in this thesis had the advantage of following a "clean-slate" approach, whereby everything could be rethought globally. In the end, out of all the system characteristics, "LIVE-Prototyping" is the most relevant feature, allowing the adjustment of automotive algorithms (eg. Injection, ignition, lambda control, etc.) 100% online, keeping the engine constantly working, without ever having to stop or reboot to make such changes. This consequently eliminates any "turnaround delay" typically present in current automotive systems, thereby enhancing the efficiency and handling of such systems.

Software Development Life Cycles and process models

This presentation describes the evolution of SDLCs from the first formally proposed linear models including, the Waterfall (Royce 1970) through to iterative prototyping models (Spiral and Win-Win Spiral) and incremental, iterative models used in Agile Methods. We discuss the problems iinherent in ech prpoosal and how successive models attempt to solve them.

Software Development Life Cycles and Process Models

This presentation describes the evolution of Software Development Lifecycles (SDLCs) from the first formally proposed linear models including, the Waterfall (Royce 1970) through to iterative prototyping models (Spiral and Win-Win Spiral) and incremental, iterative models used in Agile Methods. We discuss the problems iinherent in each prpoosal and how successive models attempt to solve them.

Goals Software Construction Process

Generalized hyper competitiveness in the world markets has determined the need to offer better products to potential and actual clients in order to mark an advantagefrom other competitors. To ensure the production of an adequate product, enterprises need to work on the efficiency and efficacy of their business processes (BPs) by means of the construction of Interactive Information Systems (IISs, including Interactive Multimedia Documents) so that they are processed more fluidly and correctly.The construction of the correct IIS is a major task that can only be successful if the needs from every intervenient are taken into account. Their requirements must bedefined with precision, extensively analyzed and consequently the system must be accurately designed in order to minimize implementation problems so that the IIS isproduced on schedule and with the fewer mistakes as possible. The main contribution of this thesis is the proposal of Goals, a software (engineering) construction process which aims at defining the tasks to be carried out in order to develop software. This process defines the stakeholders, the artifacts, and the techniques that should be applied to achieve correctness of the IIS. Complementarily, this process suggests two methodologies to be applied in the initial phases of the lifecycle of the Software Engineering process: Process Use Cases for the phase of requirements, and; MultiGoals for the phases of analysis and design. Process Use Cases is a UML-based (Unified Modeling Language), goal-driven and use case oriented methodology for the definition of functional requirements. It uses an information oriented strategy in order to identify BPs while constructing the enterprise’s information structure, and finalizes with the identification of use cases within the design of these BPs. This approach provides a useful tool for both activities of Business Process Management and Software Engineering. MultiGoals is a UML-based, use case-driven and architectural centric methodology for the analysis and design of IISs with support for Multimedia. It proposes the analysis of user tasks as the basis of the design of the: (i) user interface; (ii) the system behaviour that is modeled by means of patterns which can combine Multimedia and standard information, and; (iii) the database and media contents. This thesis makes the theoretic presentation of these approaches accompanied with examples from a real project which provide the necessary support for the understanding of the used techniques.

Analyzing, Capturing and Taming Software Change

Software systems need to continuously change to remain useful. Change appears in several forms and needs to be accommodated at different levels. We propose ChangeBoxes as a mechanism to encapsulate, manage, analyze and exploit changes to software systems. Our thesis is that only by making change explicit and manipulable can we enable the software developer to manage software change more effectively than is currently possible. Furthermore we argue that we need new insights into assessing the impact of changes and we need to provide new tools and techniques to manage them. We report on the results of some initial prototyping efforts, and we outline a series of research activities that we have started to explore the potential of ChangeBoxes.