Monitoring and Controlling Speed for an Autonomous Mobile Platform Based on the Hall Sensor

Ziębiński, Adam; Bregulla, Markus; Fojcik, Marcin; Kłak, Sebastian

doi:10.1007/978-3-319-67077-5_24

Cited by 11 publications

(3 citation statements)

References 18 publications

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“…The movement of vehicles close to each other with high speed influences the appearance of additional dangerous factors. Therefore, the use of a data fusion algorithm [ 10 , 11 ] that will take into account the measurement of speed [ 12 ] and distance to the preceding car and other significant factors such as recognized road signs [ 13 , 14 ], road infrastructure [ 15 ], and driver [ 16 ] or system behavior is essential [ 17 ]. Additionally, the time to retrieve information from the environment by sensors and fast processing of those data is important.…”

Section: Introductionmentioning

confidence: 99%

How Accurate Can UWB and Dead Reckoning Positioning Systems Be? Comparison to SLAM Using the RPLidar System

Grzechca

Ziębiński

Paszek

et al. 2020

Sensors

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This paper compares two positioning systems, namely ultra-wideband (UWB) based micro-location technology and dead reckoning and a RPLidar based simultaneous localization and mapping (SLAM) solution. This new approach can be used to improve the quality of the positioning system and increase the functionality of advanced driver assistance systems (ADAS). This is achieved by using stationary nodes and UWB tags on the vehicles. Thus, the redundancy of localization can be achieved by this approach, e.g., as a backup to onboard sensors like RPlidar or radar. Additionally, UWB based micro-location allows additional data channels to be used for communication purposes. Furthermore, it is shown that the regular use of correction data increases UWB and dead reckoning accuracy. These correction data can be based on onboard sensors. This shows that it is promising to develop a system that fuses onboard sensors and micro-localization for safety-critical tasks like the platooning of commercial vehicles.

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Section: Introductionmentioning

confidence: 99%

How Accurate Can UWB and Dead Reckoning Positioning Systems Be? Comparison to SLAM Using the RPLidar System

Grzechca

Ziębiński

Paszek

et al. 2020

Sensors

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show abstract

“…In general, programmable devices are closely related to CPS, as exemplified by Petri nets [1][2][3]. This layer should be characterized by considerable flexibility of some properties [4] including the implementation of some tasks in a software manner [5]. In some cases, solutions based on programmable logic devices can only provide adequate flexibility.…”

Section: Introductionmentioning

confidence: 99%

“…Mathematics 2019, 7, x FOR PEER REVIEW 2 of 17 considerable flexibility of some properties [4] including the implementation of some tasks in a software manner [5]. In some cases, solutions based on programmable logic devices can only provide adequate flexibility.…”

Section: Introductionmentioning

confidence: 99%

Graph of Outputs in the Process of Synthesis Directed at CPLDs

Kubica¹,

Kania²

2019

Mathematics

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The paper focuses on the methodology of designing a cyber physical systems (CPS) physical layer using programmable devices. The CPS physical layer can be implemented in programmable devices, which leads to a reduction in their costs and increases their versatility. One of the groups of programmable devices are complex programmable logic devices (CPLDs), which are great for energy-saving, low-cost implementations but requiring flexibility. It becomes necessary to develop mathematical CPS design methods focused on CPLD. This paper presents an original technology mapping method for digital circuits in programmable array logic (PAL)-based CPLDs. The idea is associated with the process of multilevel optimization of circuits dedicated to minimization of the area of a final solution. In the technology mapping process, the method of a multioutput function was used in the graph of outputs form. This method is well known from previous papers and proposes optimization of a basic form of the graph of outputs to enable better use of the resources of a programmable structure. The possibilities for the graph of outputs were expanded in the form of sequential circuits. This work presents a new form of a graph that describes the process of mapping and is known as the graph of excitations and outputs. This graph enables effective technology mapping of sequential circuits. The paper presents a series of experiments that prove the efficiency of the proposed methods for technology mapping. Experiments were conducted for various sizes of PAL-based logic blocks and commercially available CPLDs. The presented results indicate the possibility of more effective implementation of the CPS physical layer.

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