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- Pordel, Mostafa, 1982-, et al.
(författare)
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A component based architecture to improve testability, targeted FPGA-based vision systems
- 2011
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Ingår i: 2011 IEEE 3rd International Conference on Communication Software and Networks, ICCSN 2011. - : IEEE. - 9781612844855 - 9781424497805 ; , s. 601-605
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Konferensbidrag (refereegranskat)abstract
- FPGA has been used in many robotics projects for real-time image processing. It provides reliable systems with low execution time and simplified timing analysis. Many of these systems take a lot of time in development and testing phases. In some cases, it is not possible to test the system in real environments very often, due to accessibility, availability or cost problems. This paper is the result of a case study on vision systems for two robotics projects in which the vision team consisted of seven students working for six months fulltime on developing and implementing different image algorithms. While FPGA has been used for real-time image processing, some steps have been taken in order to reduce the development and testing phases. The main focus of the project is to integrate different testing methods with FPGA development. It includes a component based solution that uses a two-way communication with a PC controller for system evaluation and testing. Once the data is acquired from the vision board, the system stores it and simulates the same environment that has been captured earlier by feeding back the obtained data to FPGA. This approach addresses and implements a debugging methodology for FPGA based solutions which accelerate the development phase. In order to transfer massive information of images, RMII which is an interface for Ethernet communication, has been investigated and implemented. The provided solution makes changes easier, saves time and solves the problems mentioned earlier.
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| 4. |
- Pordel, Mostafa, 1982-
(författare)
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Object Classification and Image Labeling using RGB-Depth Information
- 2013
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This thesis is part of research for the vision systems of four robots in the EU funded project, CROPS[l], where the robots should harvest apples, sweet peppers and grapes, and explore forests. The whole process of designing such a system, including the software architecture, creation of the image database, image labeling and object detection, is presented.The software architecture chapter of this thesis provides a review of some of the latest frameworks for robotics. It describes the structure of robetics components and the communication systems between them. The vision system is a subsystem of the robetics architecture studied in conjunction with other components of the robetics system. To build a vision system, three main steps should be taken. First a collection of images that are similar to what the robots are expected to meet should be created. Second, all the images should be labeled manually or automatically. Finally, learning systems should use the labeled images to build object medels. Details about these steps make up the majority of the content in this thesis. With new widely available low-cost sensors such as Microsoft Kinect, it is possible to use depth imagesalong with RGB images to increase the performance of vision systems. We particularly focus on various methods that integrate depth information in the three steps that are mentioned for building a vision system. More specifically, the image labeling tools help to extract objects in images to be used as ground truth for learning and testing processes in object detection. The inputs for such tools are usually RGB images. Despite the existence of many powerful tools for image labeling, there is still a need for RGB-Depth adapted tools. We present a new interactive labeling tool that partially automates image labeling, with two major contributions. First, the method extends the concept of image segmentatian from RGB to RGB-Depth. Second, it minimizes the interadion time needed for object extraction by using a highly efficient segmentatian method in RGB-Depth space. The ent~re procedure requires very few elieks campared to other already existing tools. In fact, when the desired object is the dosest object to the camera, as is the case in our forestry application, no click is required to extract the object. Finally, while we present state of the art in object detection with 2D environments, object detection using RGB-depth information is mainly addressed for future work.
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| 5. |
- Pordel, Mostafa, 1982-, et al.
(författare)
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Robotics architecture frameworks, available tools and further requirements
- 2013
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- For every robotics project, choosing a suitable framework and middleware for software and hardware is a challenging task which may influence the entire project. Robotics applications typically are resource constrained when it comes to computations and memory usage. They are built on different hardware platforms and applied in different domains. Therefore it is hard to introduce a common framework for all types of projects. However, in recent years several new attempts have been made and received attention from both researchers and industry. These frameworks are still under development and need to be extended. This paper discusses the different features that are needed for robotics frameworks and compares some of the available middleware and standards.
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| 7. |
- Yekeh, Farahnaz, 1980-, et al.
(författare)
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Exploring alternatives to scale FTT-SE to large networks
- 2011
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Ingår i: 6th IEEE International Symposium on Industrial Embedded Systems. ; , s. 107-110
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Konferensbidrag (refereegranskat)abstract
- Nowadays, most complex embedded systems follow a distributed approach in which a network interconnects potentially large numbers of nodes. One technology that is being increasingly used is switched Ethernet, but real-time variants of this protocol typically limit scalability. In this paper, we focus on the scalability of the Flexible Time Triggered communication over Switched Ethernet (FTT-SE), which has been proposed to support hard real-time applications in a flexible and predictable manner. Moreover, time-triggered and event-triggered communication methods are supported in this protocol. FTT-SE has already been explored and investigated for small scale networked applications. In this paper we address the protocol scalability and suggest three different solutions with a qualitative assessment. © 2011 IEEE.
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