The Experts below are selected from a list of 1662 Experts worldwide ranked by ideXlab platform

Yiping Li - One of the best experts on this subject based on the ideXlab platform.

  • UKF-based Parameter Estimation Method For Precise UUV Navigation
    2020
    Co-Authors: Xisheng Feng, Yiping Li
    Abstract:

    This paper proposes a parameter estimation method for improving the navigation accuracy of an unmanned underwater vehicle, which is equipped with a doppler, a gyro, a depth sensor and a GPS, using an Unscented Kalman Filter (UKF). The error sources are analyzed, and then a kinematical model is constructed accordingly. Using an UKF, the doppler scaling factor and the rotational alignment offset between the doppler and gyro are accurately estimated. Simulations are carried out on a semi-Physical Platform and the result shows that the proposed method can effectively estimate these parameters. The effectiveness of the method is further verified by field experiments. Copyright c 2010 by The International Society of Offshore and Polar Engineers (ISOPE).

  • Toward a generalized architecture for unmanned underwater vehicles
    2011 IEEE International Conference on Robotics and Automation, 2011
    Co-Authors: Xisheng Feng, Yiping Li
    Abstract:

    A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. We first detail the autonomic element, which is the fundamental unit of the architecture. Then the architecture is constructed, and thorough discussions are given. Finally, simulations on a semi-Physical Platform are carried out to examine the performance of this architecture.

  • ICRA - Toward a generalized architecture for unmanned underwater vehicles
    2011 IEEE International Conference on Robotics and Automation, 2011
    Co-Authors: Xisheng Feng, Yiping Li
    Abstract:

    A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. We first detail the autonomic element, which is the fundamental unit of the architecture. Then the architecture is constructed, and thorough discussions are given. Finally, simulations on a semi-Physical Platform are carried out to examine the performance of this architecture.

  • Autonomic element based architecture for unmanned underwater vehicles
    OCEANS'10 IEEE SYDNEY, 2010
    Co-Authors: Xisheng Feng, Yiping Li, J. Xu
    Abstract:

    The architecture has always been one of the key aspects for designing an unmanned underwater vehicle. The architecture should serve as an aid, not a burden, in the integration of modules that have been developed independently, so it must not be overly restrictive. In this article, three types of architectures (deliberative, reactive, and hybrid architecture) are reviewed. Then the criteria for evaluating architectures are discussed. By borrowing the idea of autonomic computing, the autonomic element based architecture for unmanned underwater vehicles is constructed. Finally, simulations are carried out on a semi-Physical Platform to validate the feasibility of this architecture.

Xisheng Feng - One of the best experts on this subject based on the ideXlab platform.

  • UKF-based Parameter Estimation Method For Precise UUV Navigation
    2020
    Co-Authors: Xisheng Feng, Yiping Li
    Abstract:

    This paper proposes a parameter estimation method for improving the navigation accuracy of an unmanned underwater vehicle, which is equipped with a doppler, a gyro, a depth sensor and a GPS, using an Unscented Kalman Filter (UKF). The error sources are analyzed, and then a kinematical model is constructed accordingly. Using an UKF, the doppler scaling factor and the rotational alignment offset between the doppler and gyro are accurately estimated. Simulations are carried out on a semi-Physical Platform and the result shows that the proposed method can effectively estimate these parameters. The effectiveness of the method is further verified by field experiments. Copyright c 2010 by The International Society of Offshore and Polar Engineers (ISOPE).

  • Toward a generalized architecture for unmanned underwater vehicles
    2011 IEEE International Conference on Robotics and Automation, 2011
    Co-Authors: Xisheng Feng, Yiping Li
    Abstract:

    A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. We first detail the autonomic element, which is the fundamental unit of the architecture. Then the architecture is constructed, and thorough discussions are given. Finally, simulations on a semi-Physical Platform are carried out to examine the performance of this architecture.

  • ICRA - Toward a generalized architecture for unmanned underwater vehicles
    2011 IEEE International Conference on Robotics and Automation, 2011
    Co-Authors: Xisheng Feng, Yiping Li
    Abstract:

    A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. We first detail the autonomic element, which is the fundamental unit of the architecture. Then the architecture is constructed, and thorough discussions are given. Finally, simulations on a semi-Physical Platform are carried out to examine the performance of this architecture.

  • Autonomic element based architecture for unmanned underwater vehicles
    OCEANS'10 IEEE SYDNEY, 2010
    Co-Authors: Xisheng Feng, Yiping Li, J. Xu
    Abstract:

    The architecture has always been one of the key aspects for designing an unmanned underwater vehicle. The architecture should serve as an aid, not a burden, in the integration of modules that have been developed independently, so it must not be overly restrictive. In this article, three types of architectures (deliberative, reactive, and hybrid architecture) are reviewed. Then the criteria for evaluating architectures are discussed. By borrowing the idea of autonomic computing, the autonomic element based architecture for unmanned underwater vehicles is constructed. Finally, simulations are carried out on a semi-Physical Platform to validate the feasibility of this architecture.

Carlo Ratti - One of the best experts on this subject based on the ideXlab platform.

  • MRS - Trajectory Planning for the Shapeshifting of Autonomous Surface Vessels
    2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2019
    Co-Authors: Banti Gheneti, Shinkyu Park, Ryan L. Kelly, Drew Meyers, Pietro Leoni, Carlo Ratti
    Abstract:

    We present a trajectory planning algorithm for the shapeshifting of reconfigurable modular surface vessels. Each vessel is designed to latch with and unlatch from other vessels, which we aim to use to create dynamic infrastructure, such as on-demand bridges and temporary market squares, in canal environments. Our algorithm generates smooth and collision-free trajectories that the vessels can track to reconfigure their connections. We formulate the trajectory planning problem as Mixed Integer Quadratic Programming (MIQP) with a B-spline representation. We conceive a Physical Platform of the reconfigurable modular vessels and, through swimming pool experiments, show the efficacy of our trajectory planning algorithm for the shapeshifting of the vessels.

  • Trajectory Planning for the Shapeshifting of Autonomous Surface Vessels
    2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2019
    Co-Authors: Banti Gheneti, Shinkyu Park, Drew Meyers, Pietro Leoni, Ryan Kelly, Carlo Ratti
    Abstract:

    We present a trajectory planning algorithm for the shapeshifting of reconfigurable modular surface vessels. Each vessel is designed to latch with and unlatch from other vessels, which we aim to use to create dynamic infrastructure, such as on-demand bridges and temporary market squares, in canal environments. Our algorithm generates smooth and collision-free trajectories that the vessels can track to reconfigure their connections. We formulate the trajectory planning problem as Mixed Integer Quadratic Programming (MIQP) with a B-spline representation. We conceive a Physical Platform of the reconfigurable modular vessels and, through swimming pool experiments, show the efficacy of our trajectory planning algorithm for the shapeshifting of the vessels.

Alvin W.y. Su - One of the best experts on this subject based on the ideXlab platform.

  • SoCC - Functional verifications for SoC software/hardware co-design: From virtual Platform to Physical Platform
    2011 IEEE International SOC Conference, 2011
    Co-Authors: Alvin W.y. Su
    Abstract:

    This paper applies heterogeneous simulation to achieve system and functional level co-verification throughout SoC design flow. It reduces high verification complexity resulted from covering software and hardware works and involving various tools. Stubs for data transport and a Verification Router for heterogeneous simulation management are proposed. A functional module is transformed from a highly abstract model to its target design progressively through a series of intermediate models. Those models can be validated as a portion of a complete SoC system model. The proposed heterogeneous verification is demonstrated with a jpeg encoder.

  • Functional verifications for SoC software/hardware co-design: From virtual Platform to Physical Platform
    2011 IEEE International SOC Conference, 2011
    Co-Authors: Alvin W.y. Su
    Abstract:

    This paper applies heterogeneous simulation to achieve system and functional level co-verification throughout SoC design flow. It reduces high verification complexity resulted from covering software and hardware works and involving various tools. Stubs for data transport and a Verification Router for heterogeneous simulation management are proposed. A functional module is transformed from a highly abstract model to its target design progressively through a series of intermediate models. Those models can be validated as a portion of a complete SoC system model. The proposed heterogeneous verification is demonstrated with a jpeg encoder.

Enrico Bini - One of the best experts on this subject based on the ideXlab platform.

  • RTSS - A Framework for Hierarchical Scheduling on Multiprocessors: From Application Requirements to Run-Time Allocation
    2010 31st IEEE Real-Time Systems Symposium, 2010
    Co-Authors: Giuseppe Lipari, Enrico Bini
    Abstract:

    Hierarchical scheduling is a promising methodology for designing and deploying real-time applications, since it enables component-based design and analysis, and supports temporal isolation among competing applications. In hierarchical scheduling an application is described by means of a temporal interface. The designer faces the problem of how to derive the interface parameters so to make the application schedulable, at the same time minimizing the waste of computational resources. The problem is particularly relevant in multiprocessor systems, where it is not clear yet how the interface parameters influence the schedulability of the application and allocation on the Physical Platform. In this paper we present three novel contributions to hierarchical scheduling for multiprocessor systems. First, we propose the Bounded-Delay Multipartition (BDM), a new interface specification model that allows the designer to balance resource usage versus flexibility in selecting the virtual Platform parameters. Second, we explore the schedulability region of a real-time application on top of a generic virtual Platform, and derive the interface parameter. Finally, we propose Fluid Best-Fit, an algorithm that takes advantage of the extra degree of flexibility provided by the BDM to compute the virtual Platform parameters and allocate it on the Physical Platform. The performance of the algorithm is evaluated by simulations.

  • A Framework for Hierarchical Scheduling on Multiprocessors: From Application Requirements to Run-Time Allocation
    2010 31st IEEE Real-Time Systems Symposium, 2010
    Co-Authors: Giuseppe Lipari, Enrico Bini
    Abstract:

    Hierarchical scheduling is a promising methodology for designing and deploying real-time applications, since it enables component-based design and analysis, and supports temporal isolation among competing applications. In hierarchical scheduling an application is described by means of a temporal interface. The designer faces the problem of how to derive the interface parameters so to make the application schedulable, at the same time minimizing the waste of computational resources. The problem is particularly relevant in multiprocessor systems, where it is not clear yet how the interface parameters influence the schedulability of the application and allocation on the Physical Platform. In this paper we present three novel contributions to hierarchical scheduling for multiprocessor systems. First, we propose the Bounded-Delay Multipartition (BDM), a new interface specification model that allows the designer to balance resource usage versus flexibility in selecting the virtual Platform parameters. Second, we explore the schedulability region of a real-time application on top of a generic virtual Platform, and derive the interface parameter. Finally, we propose Fluid Best-Fit, an algorithm that takes advantage of the extra degree of flexibility provided by the BDM to compute the virtual Platform parameters and allocate it on the Physical Platform. The performance of the algorithm is evaluated by simulations.

  • The Multi Supply Function Abstraction for Multiprocessors
    2009 15th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, 2009
    Co-Authors: Enrico Bini, Giorgio Buttazzo, Marko Bertogna
    Abstract:

    Multi-core Platforms are becoming the dominant computing architecture for next generation embedded systems. Nevertheless, designing, programming, and analyzing such systems is not easy and a solid methodology is still missing. In this paper, we propose two powerful abstractions to model the computing power of a parallel machine, which provide a general interface for developing and analyzing real-time applications in isolation, independently of the Physical Platform. The proposed abstractions can be applied on top of different types of service mechanisms, such as periodic servers, static partitions, and P-fair time partitions. In addition, we developed the schedulability analysis of a set of real-time tasks on top of a parallel machine that is compliant with the proposed abstractions.