Implementation-aware design of image-based control with on-line measurable variable-delay

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Abstract

Image-based control uses image-processing algorithms to acquire sensing information. The sensing delay associated with the image-processing algorithm is typically platform-dependent and time-varying. Modern embedded platforms allow to characterize the sensing delay at design-time obtaining a delay histogram, and at run-time measuring its precise value. We exploit this knowledge to design variable-delay controllers. This design also takes into account the resource configuration of the image processing algorithm: sequential (with one processing resource) or pipelined (with multiprocessing capabilities). Since the control performance strongly depends on the model quality, we present a simulation benchmark that uses the model uncertainty and the delay histogram to obtain bounds on control performance. Our benchmark is used to select a variable-delay controller and a resource configuration that outperform a constant worst-case delay controller.

Original languageEnglish
Title of host publicationProceedings of the 2019 Design, Automation and Test in Europe Conference and Exhibition, DATE 2019
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages240-245
Number of pages6
ISBN (Electronic)9783981926323
DOIs
Publication statusPublished - 14 May 2019
Event22nd Design, Automation and Test in Europe Conference and Exhibition, (DATE2019) - Florence, Italy
Duration: 25 Mar 201929 Mar 2019

Conference

Conference22nd Design, Automation and Test in Europe Conference and Exhibition, (DATE2019)
Abbreviated titleDATE2019
CountryItaly
CityFlorence
Period25/03/1929/03/19

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    Medina, R., Stuijk, S., Goswami, D., & Basten, T. (2019). Implementation-aware design of image-based control with on-line measurable variable-delay. In Proceedings of the 2019 Design, Automation and Test in Europe Conference and Exhibition, DATE 2019 (pp. 240-245). [8714840] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.23919/DATE.2019.8714840