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SISAL: User manual
(1990)
Cosynthesis in CASTLE
(1995)
Ein gebräuchliche Methodik beim Entwurf eingebetteter Systeme, in Anwendung besonders bei kleinen- und mittleren Unternehmen, geht folgendermaßen vor: Man nehme das bereits existierende Mikrokontroller Entwicklungspaket und bereits vorhandene Funktionen aus einer alten Systemrealisierung, variiere bzw. passe sie an die neue Aufgabe an und teste dann durch Emulation, ob die Spezifikation erfüllt ist.
Co-design is concerned with the joint design of hardware and software making up an embedded computer system [Wol94]. A top down design flow for an embedded system begins with a system specification. If it is executable, it may be used for simulation, system verification or to identify algorithmical bottlenecks. In contrast to other chapters of this book, the specification is not developed in this case study, rather it is given from the beginning. Furthermore we are not concerned with partitioning or synthesis of dedicated HW. Instead we focus on the problem how to find an off-the-shelf micro-controller which implements the desired functionality and meets all specification constraints. If feasible, this is usually much cheaper then using dedicated hardware. This chapter will answer the question of feasibility for a real life problem from automobile industry.
CASTLE is a co-design platform developed at GMD SET institute. It provides a number of design tools for configuring application specific design flows. This paper presents a walk through the CASTLE co-design environment, following the design flow of a video processing system. The design methodology and the tool usage for this real life example are described, as seen from a designers point of view. The design flow starts with a C/C++ program and gradually derives a register-transfer level description of a processor hardware, as well as the corresponding compiler for generating the processor opcode. The main results of each design step are presented and the usage of the CASTLE tools at each step is explained.
Dual Dynamics (DD) is a mathematical model of a behavior control system for mobile autonomous robots. Behaviors are specified through differential equations; forming a global dynamical system made of behavior subsystems which interact in a number of ways. DD models can be directly compiled into executable code. The article (i) explains the model; (ii) sketches the Dual Dynamics Designer (DDD) environment that we use for the design; simulation; implementation and documentation; and (iii) illustrates our approach with the example of kicking a moving ball into a goal.
GMD-Robots
(2001)
A way of combining a relatively new sensor-technology, that is optical analog VLSI devices, with a standard digital omni-directional vision system is investigated. The sensor used is a neuromorphic analog VLSI sensor that estimates the global visual image motion. The sensor provides two analog output voltages that represent the components of the global optical flow vector. The readout is guided by an omni-directional mirror that maps the location of the ball and directs the robot to align its position so that a sensor-actuator module that includes the analog VLSI optical flow sensor can be activated. The purpose of the sensor-actuator module is to operate with a higher update rate than the standard vision system and thus increase the reactivity of the robot for very specific situations. This paper will demonstrate an application example where the robot is a goalkeeper with the task of defending the goal during a penalty kick.
GMD-Robots
(2002)
Finding good Echo State Networks to control an underwater robot using evolutionary computations
(2004)
Swedish wheeled mobile robots have remarkable mobility properties allowing them to rotate and translate at the same time. Being holonomic systems, their kinematics model results in the possibility of designing separate and independent position and heading trajectory tracking control laws. Nevertheless, if these control laws should be implemented in the presence of unaccounted actuator saturation, the resulting saturated linear and angular velocity commands could interfere with each other thus dramatically affecting the overall expected performance. Based on Lyapunov’s direct method, a position and heading trajectory tracking control law for Swedish wheeled robots is developed. It explicitly accounts for actuator saturation by using ideas from a prioritized task based control framework.