Hardware-in-the-loop simulation for real-time software verification of an autonomous underwater robot

2016 ◽  
Vol 4 (3) ◽  
pp. 163-181
Author(s):  
Pouria Sarhadi ◽  
Reza Nad Ali Niachari ◽  
Morteza Pouyan Rad ◽  
Javad Enayati
Keyword(s):  
Software Engineering ◽  
Real Time ◽  
Autonomous Systems ◽  
Systems Design ◽  
Development Stage ◽  
Underwater Robot ◽  
Real Time System ◽  
Content Type ◽  
The Real ◽  
Time Performance

Purpose The purpose of this paper is to propose a software engineering procedure for real-time software development and verification of an autonomous underwater robotic system. High performance and robust software are one of the requirements of autonomous systems design. A simple error in the software can easily lead to a catastrophic failure in a complex system. Then, a systematic procedure is presented for this purpose. Design/methodology/approach This paper utilizes software engineering tools and hardware-inthe-loop (HIL) simulations for real-time system design of an autonomous underwater robot. Findings In this paper, the architecture of the system is extracted. Then, using software engineering techniques a suitable structure for control software is presented. Considering the desirable targets of the robot, suitable algorithms and functions are developed. After the development stage, proving the real-time performance of the software is disclosed. Originality/value A suitable approach for analyzing the real-time performance is presented. This approach is implemented using HIL simulations. The developed structure is applicable to other autonomous systems.

Single Depth View Based Real-Time Reconstruction of Hand-Object Interactions

2021 ◽  
Vol 40 (3) ◽  
pp. 1-12
Author(s):  
Hao Zhang ◽  
Yuxiao Zhou ◽  
Yifei Tian ◽  
Jun-Hai Yong ◽  
Feng Xu
Keyword(s):  
Real Time ◽  
Synthetic Data ◽  
Real Data ◽  
Depth Image ◽  
Real Time System ◽  
The Real ◽  
Time Performance ◽  
Contact Constraint ◽  
Object Shapes ◽  
Object Interactions

Reconstructing hand-object interactions is a challenging task due to strong occlusions and complex motions. This article proposes a real-time system that uses a single depth stream to simultaneously reconstruct hand poses, object shape, and rigid/non-rigid motions. To achieve this, we first train a joint learning network to segment the hand and object in a depth image, and to predict the 3D keypoints of the hand. With most layers shared by the two tasks, computation cost is saved for the real-time performance. A hybrid dataset is constructed here to train the network with real data (to learn real-world distributions) and synthetic data (to cover variations of objects, motions, and viewpoints). Next, the depth of the two targets and the keypoints are used in a uniform optimization to reconstruct the interacting motions. Benefitting from a novel tangential contact constraint, the system not only solves the remaining ambiguities but also keeps the real-time performance. Experiments show that our system handles different hand and object shapes, various interactive motions, and moving cameras.

Real-Time System for Sending Data from Three Clients to One Server with MATLAB

2015 ◽  
Vol 2 (1) ◽  
pp. 35-41
Author(s):  
Rivan Risdaryanto ◽  
Houtman P. Siregar ◽  
Dedy Loebis
Keyword(s):  
Information System ◽  
Real Time ◽  
Time System ◽  
Real Time System ◽  
The Real ◽  
Performance Time ◽  
Data Process ◽  
Effectiveness And Efficiency

The real-time system is now used on many fields, such as telecommunication, military, information system, evenmedical to get information quickly, on time and accurate. Needless to say, a real-time system will always considerthe performance time. In our application, we define the time target/deadline, so that the system should execute thewhole tasks under predefined deadline. However, if the system failed to finish the tasks, it will lead to fatal failure.In other words, if the system cannot be executed on time, it will affect the subsequent tasks. In this paper, wepropose a real-time system for sending data to find effectiveness and efficiency. Sending data process will beconstructed in MATLAB and sending data process has a time target as when data will send.

Single Chip Microcomputer Cluster Management

2014 ◽  
Vol 933 ◽  
pp. 584-589
Author(s):  
Zhi Chun Zhang ◽  
Song Wei Li ◽  
Wei Ren Wang ◽  
Wei Zhang ◽  
Li Jun Qi
Keyword(s):  
Real Time ◽  
Management System ◽  
Large Scale ◽  
Fault Tolerant ◽  
Single Chip ◽  
Single Chip Microcomputer ◽  
Cluster Management ◽  
The Real ◽  
Time Performance ◽  
Operational Phase

This paper presents a system in which the cluster devices are controlled by single-chip microcomputers, with emphasis on the cluster management techniques of single-chip microcomputers. Each device in a cluster is controlled by a single-chip microcomputer collecting sample data sent to and driving the device by driving data received from the same cluster management computer through COMs. The cluster management system running on the cluster management computer carries out such control as initial SCM identification, run time slice management, communication resource utilization, fault tolerance and error corrections on single-chip microcomputers. Initial SCM identification is achieved by signal responses between the single-chip microcomputers and the cluster management computer. By using the port priority and the parallelization of serial communications, the systems real-time performance is maximized. The real-time performance can be adjusted and improved by increasing or decreasing COMs and the ports linked to each COM, and the real-time performance can also be raised by configuring more cluster management computers. Fault-tolerant control occurs in the initialization phase and the operational phase. In the initialization phase, the cluster management system incorporates unidentified single-chip microcomputers into the system based on the history information recorded on external storage media. In the operational phase, if an operation error of reading and writing on a single-chip microcomputer reaches a predetermined threshold, the single-chip microcomputer is regarded as serious fault or not existing. The cluster management system maintains accuracy maintenance database on external storage medium to solve nonlinear control of specific devices and accuracy maintenance due to wear. The cluster management system uses object-oriented method to design a unified driving framework in order to enable the implementation of the cluster management system simplified, standardized and easy to transplant. The system has been applied in a large-scale simulation system of 230 single-chip microcomputers, which proves that the system is reliable, real-time and easy to maintain.

Switching filtering method for interactive systems

2019 ◽  
Vol 233 (10) ◽  
pp. 1340-1350
Author(s):  
Junyi Hou ◽  
Lei Yu ◽  
Yifan Fang ◽  
Shumin Fei
Keyword(s):  
Real Time ◽  
Subjective Evaluation ◽  
Objective Evaluation ◽  
Interactive Systems ◽  
Interactive System ◽  
The Real ◽  
Noise Interference ◽  
Filtering Method ◽  
Time Performance ◽  
Filtering Effect

Aiming at the problem that the mixed noise interference caused by the mixed projection noise system is not accurate and the real-time performance is poor, this article proposes an adaptive system switching filtering method based on Bayesian estimation switching rules. The method chooses joint bilateral filtering and improved adaptive median filtering as the filtering subsystems and selects the sub-filtering system suitable for the noise by switching rules to achieve the purpose of effectively removing noise. The simulation experiment was carried out by the self-developed human–computer interactive projection image system platform. Through the subjective evaluation, objective evaluation, and running time comparison analysis, a better filtering effect was achieved, and the balance between the filtering precision and the real-time performance of the interactive system was well obtained. Therefore, the proposed method can be widely applied to various human–computer interactive image filtering systems.

scholarly journals Review and Comparison of Path Tracking Based on Model Predictive Control

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1077 ◽  
Author(s):  
Guoxing Bai ◽  
Yu Meng ◽  
Li Liu ◽  
Weidong Luo ◽  
Qing Gu ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Real Time ◽  
Predictive Control ◽  
Path Tracking ◽  
Error Model ◽  
The Real ◽  
Time Performance ◽  
Reference Path ◽  
Reference Velocity ◽  
Positioning Errors

Recently, model predictive control (MPC) is increasingly applied to path tracking of mobile devices, such as mobile robots. The characteristics of these MPC-based controllers are not identical due to the different approaches taken during design. According to the differences in the prediction models, we believe that the existing MPC-based path tracking controllers can be divided into four categories. We named them linear model predictive control (LMPC), linear error model predictive control (LEMPC), nonlinear model predictive control (NMPC), and nonlinear error model predictive control (NEMPC). Subsequently, we built these four controllers for the same mobile robot and compared them. By comparison, we got some conclusions. The real-time performance of LMPC and LEMPC is good, but they are less robust to reference paths and positioning errors. NMPC performs well when the reference velocity is high and the radius of the reference path is small. It is also robust to positioning errors. However, the real-time performance of NMPC is slightly worse. NEMPC has many disadvantages. Like LMPC and LEMPC, it performs poorly when the reference velocity is high and the radius of the reference path is small. Its real-time performance is also not good enough.

Customer behavior analysis using real-time data processing

2019 ◽  
Vol 31 (1) ◽  
pp. 265-290 ◽  
Author(s):  
Ganjar Alfian ◽  
Muhammad Fazal Ijaz ◽  
Muhammad Syafrudin ◽  
M. Alex Syaekhoni ◽  
Norma Latif Fitriyani ◽  
...  
Keyword(s):  
Data Processing ◽  
Real Time ◽  
Association Rule ◽  
Customer Behavior ◽  
Time Data ◽  
Content Type ◽  
The Real ◽  
Real Time Data ◽  
Real Time Data Processing ◽  
Big Data Technology

PurposeThe purpose of this paper is to propose customer behavior analysis based on real-time data processing and association rule for digital signage-based online store (DSOS). The real-time data processing based on big data technology (such as NoSQL MongoDB and Apache Kafka) is utilized to handle the vast amount of customer behavior data.Design/methodology/approachIn order to extract customer behavior patterns, customers’ browsing history and transactional data from digital signage (DS) could be used as the input for decision making. First, the authors developed a DSOS and installed it in different locations, so that customers could have the experience of browsing and buying a product. Second, the real-time data processing system gathered customers’ browsing history and transaction data as it occurred. In addition, the authors utilized the association rule to extract useful information from customer behavior, so it may be used by the managers to efficiently enhance the service quality.FindingsFirst, as the number of customers and DS increases, the proposed system was capable of processing a gigantic amount of input data conveniently. Second, the data set showed that as the number of visit and shopping duration increases, the chance of products being purchased also increased. Third, by combining purchasing and browsing data from customers, the association rules from the frequent transaction pattern were achieved. Thus, the products will have a high possibility to be purchased if they are used as recommendations.Research limitations/implicationsThis research empirically supports the theory of association rule that frequent patterns, correlations or causal relationship found in various kinds of databases. The scope of the present study is limited to DSOS, although the findings can be interpreted and generalized in a global business scenario.Practical implicationsThe proposed system is expected to help management in taking decisions such as improving the layout of the DS and providing better product suggestions to the customer.Social implicationsThe proposed system may be utilized to promote green products to the customer, having a positive impact on sustainability.Originality/valueThe key novelty of the present study lies in system development based on big data technology to handle the enormous amounts of data as well as analyzing the customer behavior in real time in the DSOS. The real-time data processing based on big data technology (such as NoSQL MongoDB and Apache Kafka) is used to handle the vast amount of customer behavior data. In addition, the present study proposed association rule to extract useful information from customer behavior. These results can be used for promotion as well as relevant product recommendations to DSOS customers. Besides in today’s changing retail environment, analyzing the customer behavior in real time in DSOS helps to attract and retain customers more efficiently and effectively, and retailers can get a competitive advantage over their competitors.

Cassandra-based data repository design for food supply chain traceability

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Sandeep Kumar Singh ◽  
Mamata Jenamani
Keyword(s):  
Supply Chain ◽  
Real Time ◽  
Radio Frequency Identification ◽  
Query Language ◽  
Data Repository ◽  
Time Data ◽  
Content Type ◽  
The Real ◽  
Traceability System ◽  
Real Time Data

Purpose The purpose of this paper is to design a supply chain database schema for Cassandra to store real-time data generated by Radio Frequency IDentification technology in a traceability system. Design/methodology/approach The real-time data generated in such traceability systems are of high frequency and volume, making it difficult to handle by traditional relational database technologies. To overcome this difficulty, a NoSQL database repository based on Casandra is proposed. The efficacy of the proposed schema is compared with two such databases, document-based MongoDB and column family-based Cassandra, which are suitable for storing traceability data. Findings The proposed Cassandra-based data repository outperforms the traditional Structured Query Language-based and MongoDB system from the literature in terms of concurrent reading, and works at par with respect to writing and updating of tracing queries. Originality/value The proposed schema is able to store the real-time data generated in a supply chain with low latency. To test the performance of the Cassandra-based data repository, a test-bed is designed in the lab and supply chain operations of Indian Public Distribution System are simulated to generate data.

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