FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service
Autor(a) principal: | |
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Data de Publicação: | 2013 |
Outros Autores: | , |
Tipo de documento: | Livro |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://hdl.handle.net/10216/70146 |
Resumo: | The main goal of this work is to build an hardware-aided autonomous navigation system based on real-time stereo images and to study Partial Reconfiguration aspects applied to the system. The system is built on an reconfigurable embedded development platform consisting of an IBM PowerPC 440 processor embedded in a Xilinx Virtex-5 FPGA to accelerate the most critical task. Three Reconfigurable Units were incorporated in the designed system architecture. The dynamic adjustment of systems quality of service was achieved by using different reconfiguration strategies to match vehicle speed. A speedup of 2 times for the critical task was obtained, compared with a software-only version. For larger images, the same implementation would achieve an estimated speedup of 2.5 times. |
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7160 |
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FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of serviceEngenharia electrotécnica, electrónica e informáticaElectrical engineering, Electronic engineering, Information engineeringThe main goal of this work is to build an hardware-aided autonomous navigation system based on real-time stereo images and to study Partial Reconfiguration aspects applied to the system. The system is built on an reconfigurable embedded development platform consisting of an IBM PowerPC 440 processor embedded in a Xilinx Virtex-5 FPGA to accelerate the most critical task. Three Reconfigurable Units were incorporated in the designed system architecture. The dynamic adjustment of systems quality of service was achieved by using different reconfiguration strategies to match vehicle speed. A speedup of 2 times for the critical task was obtained, compared with a software-only version. For larger images, the same implementation would achieve an estimated speedup of 2.5 times.20132013-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://hdl.handle.net/10216/70146engJose Carlos SáJoão Canas FerreiraJosé Carlos Alvesinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T12:40:50Zoai:repositorio-aberto.up.pt:10216/70146Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:24:42.802411Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service |
title |
FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service |
spellingShingle |
FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service Jose Carlos Sá Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
title_short |
FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service |
title_full |
FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service |
title_fullStr |
FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service |
title_full_unstemmed |
FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service |
title_sort |
FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service |
author |
Jose Carlos Sá |
author_facet |
Jose Carlos Sá João Canas Ferreira José Carlos Alves |
author_role |
author |
author2 |
João Canas Ferreira José Carlos Alves |
author2_role |
author author |
dc.contributor.author.fl_str_mv |
Jose Carlos Sá João Canas Ferreira José Carlos Alves |
dc.subject.por.fl_str_mv |
Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
topic |
Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
description |
The main goal of this work is to build an hardware-aided autonomous navigation system based on real-time stereo images and to study Partial Reconfiguration aspects applied to the system. The system is built on an reconfigurable embedded development platform consisting of an IBM PowerPC 440 processor embedded in a Xilinx Virtex-5 FPGA to accelerate the most critical task. Three Reconfigurable Units were incorporated in the designed system architecture. The dynamic adjustment of systems quality of service was achieved by using different reconfiguration strategies to match vehicle speed. A speedup of 2 times for the critical task was obtained, compared with a software-only version. For larger images, the same implementation would achieve an estimated speedup of 2.5 times. |
publishDate |
2013 |
dc.date.none.fl_str_mv |
2013 2013-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/book |
format |
book |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://hdl.handle.net/10216/70146 |
url |
https://hdl.handle.net/10216/70146 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
_version_ |
1799135550832115712 |