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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

2 Downloads (Pure)

Samenvatting

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.

Originele taal-2Engels
TitelProceedings of the 2019 Design, Automation and Test in Europe Conference and Exhibition, DATE 2019
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's240-245
Aantal pagina's6
ISBN van elektronische versie9783981926323
DOI's
StatusGepubliceerd - 14 mei 2019
Evenement22nd Design, Automation and Test in Europe Conference and Exhibition, (DATE2019) - Florence, Italië
Duur: 25 mrt 201929 mrt 2019

Congres

Congres22nd Design, Automation and Test in Europe Conference and Exhibition, (DATE2019)
Verkorte titelDATE2019
LandItalië
StadFlorence
Periode25/03/1929/03/19

    Vingerafdruk

Citeer dit

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 (blz. 240-245). [8714840] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.23919/DATE.2019.8714840