| 1. |
- Björnfot, Lars, et al.
(author)
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Distributed Run-Time System, a Protocol for Ada
- 1993
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In: Proc. Ada-Europe'93, LNCS 688. - Berlin, Heidelberg : Springer Berlin Heidelberg. ; , s. 249-263
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Conference paper (other academic/artistic)abstract
- The requirements and specification of a protocol for low level communication between the run-time systems in a distributed Ada environment is presented. This allows an Ada system to be separated into software resources and run-time controllers. Calls to the local run-time system of a node, concerning task management, are transformed into remote calls to the controller, that schedules all tasks in the application. The calls to the run-time system together with all messages, requests and replies, that are triggered as a consequence, are described. The controller will be implemented in hardware separate from the processors. Communication between processors and controllers are by means of high speed (Gigabit) networks. In the proposed system, partitioning and distribution of Ada programs can fully utilize the inherent and strong type checking in Ada.
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| 2. |
- Björnfot, Lars, et al.
(author)
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Distribution of Tasks Within a Centrally Scheduled Local Area Network
- 1994
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In: Proc. Ada-Europe'94, LNCS 887. - Berlin, Heidelberg : Springer Berlin Heidelberg. ; , s. 421-432
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Conference paper (other academic/artistic)abstract
- Distribution of a single Ada program on a local area network is accomplished by partitioning the run-time system into two parts. A central scheduling module is responsible for task management. Distributed run-time executives handle context switches and remote entry calls; however all activities are supervised by the scheduler. The scheduler can be implemented in hardware in order to achieve high efficiency. A network based on optical fibers is necessary due to the high speed required for system calls. Asynchronous Transfer Mode is suggested as the protocol for the communication. We describe an implementation of the divided run-time system on an Ethernet network, using MC68030-based micro computers as targets and an Ada program executing on a Rational host as the scheduler.
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| 3. |
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| 4. |
- Björnfot, Lars, et al.
(author)
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Termination of Ada Tasks in Hardware
- 1995
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In: Proc. TRI-Ada'95. - New York, New York, USA : ACM Press. - 0897917057 ; , s. 474-486
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Conference paper (other academic/artistic)
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| 5. |
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| 6. |
- Wall, Göran, et al.
(author)
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Performance Expectations on Ada Programs
- 1993
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In: Proc. Ada-Europe'93, LNCS 688. - Berlin, Heidelberg : Springer Berlin Heidelberg. ; , s. 227-239
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Conference paper (other academic/artistic)
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| 7. |
- Ahlberg, Carl, et al.
(author)
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GIMME - A General Image Multiview Manipulation Engine
- 2011
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In: Proceedings of the International Conference on ReConFigurable Computing and FPGAs (ReConFig 2011). - Los Alamitos, Calif : IEEE Computer Society. - 9780769545516
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Conference paper (peer-reviewed)abstract
- This paper presents GIMME (General Image Multiview Manipulation Engine), a highly flexible reconfigurable stand-alone mobile two-camera vision platform with stereo-vision capability. GIMME relies on reconfigurable hardware (FPGA) to perform application-specific low to medium-level image-processing at video rate. The Qseven-extension enables additional processing power. Thanks to its compact design, low power consumption and standardized interfaces (power and communication), GIMME is an ideal vision platform for autonomous and mobile robot applications.
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| 8. |
- Ahlberg, Carl, et al.
(author)
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GIMME2 - An embedded system for stereo vision and processing of megapixel images with FPGA-acceleration
- 2015
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In: 2015 International Conference on ReConFigurable Computing and FPGAs, ReConFig 2015. - 9781467394062
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Conference paper (peer-reviewed)abstract
- This paper presents GIMME2, an embedded stereovision system, designed to be compact, power efficient, cost effective, and high performing in the area of image processing. GIMME2 features two 10 megapixel image sensors and a Xilinx Zynq, which combines FPGA-fabric with a dual-core ARM CPU on a single chip. This enables GIMME2 to process video-rate megapixel image streams at real-time, exploiting the benefits of heterogeneous processing.
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| 9. |
- Ahlberg, Carl, et al.
(author)
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The Black Pearl: An Autonomous Underwater Vehicle
- 2013
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Reports (other academic/artistic)abstract
- The Black Pearl is a custom made autonomous underwater vehicle developed at Mälardalen University, Sweden. It is built in a modular fashion, including its mechanics, electronics and software. After a successful participation at the RoboSub competition in 2012 and winning the prize for best craftsmanship, this year we made minor improvements to the hardware, while the focus of the robot's evolution shifted to the software part. In this paper we give an overview of how the Black Pearl is built, both from the hardware and software point of view.
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| 10. |
- Akan, Batu, 1981-
(author)
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Human Robot Interaction Solutions for Intuitive Industrial Robot Programming
- 2012
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Licentiate thesis (other academic/artistic)abstract
- Over the past few decades the use of industrial robots has increased the efficiency as well as competitiveness of many companies. Despite this fact, in many cases, robot automation investments are considered to be technically challenging. In addition, for most small and medium sized enterprises (SME) this process is associated with high costs. Due to their continuously changing product lines, reprogramming costs are likely to exceed installation costs by a large margin. Furthermore, traditional programming methods for industrial robots are too complex for an inexperienced robot programmer, thus assistance from a robot programming expert is often needed. We hypothesize that in order to make industrial robots more common within the SME sector, the robots should be reprogrammable by technicians or manufacturing engineers rather than robot programming experts. In this thesis we propose a high-level natural language framework for interacting with industrial robots through an instructional programming environment for the user. The ultimate goal of this thesis is to bring robot programming to a stage where it is as easy as working together with a colleague.In this thesis we mainly address two issues. The first issue is to make interaction with a robot easier and more natural through a multimodal framework. The proposed language architecture makes it possible to manipulate, pick or place objects in a scene through high level commands. Interaction with simple voice commands and gestures enables the manufacturing engineer to focus on the task itself, rather than programming issues of the robot. This approach shifts the focus of industrial robot programming from the coordinate based programming paradigm, which currently dominates the field, to an object based programming scheme.The second issue addressed is a general framework for implementing multimodal interfaces. There have been numerous efforts to implement multimodal interfaces for computers and robots, but there is no general standard framework for developing them. The general framework proposed in this thesis is designed to perform natural language understanding, multimodal integration and semantic analysis with an incremental pipeline and includes a novel multimodal grammar language, which is used for multimodal presentation and semantic meaning generation.
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