Implementation-aware design of image-based control with on-line measurable variable-delay

Implementation-aware design of image-based control with on-line measurable variable-delay

Medina Sánchez, R.A.
Stuijk, S.
Goswami, D.
Basten, A.A.

2019

Image-based control uses image-processing algorithms to acquire sensing information. The sensing delay associated with the image-processing algorithm is typically platform-dependent and time-varying. Modern embedded platforms allow to characterize the sensing delay at design-time obtaining a delay histogram, and at run-time measuring its precise value. We exploit this knowledge to design variable-delay controllers. This design also takes into account the resource configuration of the image processing algorithm: sequential (with one processing resource) or pipelined (with multiprocessing capabilities). Since the control performance strongly depends on the model quality, we present a simulation benchmark that uses the model uncertainty and the delay histogram to obtain bounds on control performance. Our benchmark is used to select a variable-delay controller and a resource configuration that outperform a constant worst-case delay controller.

High Tech Systems & Materials
Industrial Innovation
Graphic methods
Pipeline processing systems
Uncertainty analysis
Image processing algorithm
Image-based control
Measurable variables
Model uncertainties
Processing resources
Resource configurations
Sensing information
Simulation benchmark

http://resolver.tudelft.nl/uuid:1fcdac13-dac2-4a16-953d-50e4df59d13f

867421

Institute of Electrical and Electronics Engineers IEEE

9783981926323

22nd Design, Automation and Test in Europe Conference and Exhibition, DATE 2019, 25-29 March 2019, Florence, Italy, 240-245

8714840

conference paper