Reconfigurable pipelined sensing for image-based control

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

5 Citaten (Scopus)
6 Downloads (Pure)

Samenvatting

Image-based control systems are becoming common in domains such as robotics, healthcare and industrial automation. Coping with a long sample period because of the latency of the image processing algorithm is an open challenge. Modern multi-core platforms allow to address this challenge by pipelining the sensing algorithm. Often, such systems share the resources with other tasks. We show that the performance of an image-based controller can be improved by pipelining the image processing algorithm on unallocated cores. It can be further improved by dynamically allocating (i.e. reconfiguring) cores that are temporarily not used by other tasks to the sensing pipeline. We present a state-based modelling strategy for pipelined and reconfigurable pipelined sensing. We introduce a control design strategy for reconfigurable pipelined systems that assures stability and shows improvement in the control performance.
Originele taal-2Engels
Titel2016 11th IEEE International Symposium on Industrial Embedded Systems (SIES), Krakow, Poland, 23-25 May 2016 : Proceedings
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Aantal pagina's8
ISBN van geprinte versie978-1-5090-2282-3
DOI's
StatusGepubliceerd - 2016
Evenement11th IEEE International Symposium on Industrial Embedded Systems (SIES 2016), May 23-25, 2016, Krakow, Poland - Krakow, Polen
Duur: 23 mei 201625 mei 2016
http://sies2016.org/

Congres

Congres11th IEEE International Symposium on Industrial Embedded Systems (SIES 2016), May 23-25, 2016, Krakow, Poland
Verkorte titelSIES 2016
LandPolen
StadKrakow
Periode23/05/1625/05/16
Internet adres

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  • Citeer dit

    Medina , R., Stuijk, S., Goswami, D., & Basten, T. (2016). Reconfigurable pipelined sensing for image-based control. In 2016 11th IEEE International Symposium on Industrial Embedded Systems (SIES), Krakow, Poland, 23-25 May 2016 : Proceedings Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/SIES.2016.7509406