EAGER: GOALI: Distributed Embedded Vision System for Multi-Unmanned Ground Vehicle Coordination in Indoor Environments
EAGER:GOALI:用于室内环境中多无人地面车辆协调的分布式嵌入式视觉系统
基本信息
- 批准号:1547934
- 负责人:
- 金额:$ 27.36万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Standard Grant
- 财政年份:2015
- 资助国家:美国
- 起止时间:2015-09-01 至 2018-12-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
This collaborative project between academics and industry provides a configurable and portable vision-based infrastructure for decentralized coordination of industrial trucks, also known as Automated Guided Vehicles (AGVs) in indoor environments. AGVs have the potential to revolutionize operations in areas such as manufacturing and distribution, health care, and military by efficiently accomplishing the mundane and often repetitive task of transporting materials in distribution and manufacturing. The research addresses limitations of recent successful introduction of commercial robot systems in distribution centers and manufacturing to transport items, but typically only to specific and restrictive environments. The research extends these technologies to environments that are quickly reconfigured by moving stations and objects around. Generic models, tools, and technologies are developed to actively capture the world with semantically labeled objects, actions and events, and to generate goals, priorities, and plans. The solutions proposed in this research address the requirements of decentralized coordination, real-time environmental changes. The approach uses a set of distributed ceiling-mounted smart cameras with overlapping field-of-view for global view and coordination at the facility level, and cameras mounted on AGVs for short-range truck navigation. Multi-truck coordination is then framed as the problem of routing packets in a dynamic and hierarchical network where cameras represent routers and trucks represent packets. To address the complexity of image processing tasks, the hardware/software implementation utilizes an FPGA-based target platform from a previous NSF-Funded project, where low-level inherent parallel image processing tasks are mapped onto hardware while high-level reasoning is kept in software. This project will provide an interface formalism to specify component integration and system composition along with methods to optimize run-time and resource usage. This research is expected to produce an infrastructure and methods for decentralized vision-based coordination of autonomous vehicles activities in a dynamically changing indoor environment. The developed infrastructure will enable manufacturing and distribution companies, including lean and agile entities, to optimize indoor transportation activities in existing arrangement, without modification of available infrastructure, and reduce labor and operating costs by redeploying employees to value-added roles. In addition, AGVs have the potential to enable autonomous mobile robot applications in numerous other unstructured environments, including hospitals, malls, retail stores, critical infrastructure, airports, schools, and sports venues. The project is conducted as a joint effort between the University of Arkansas in Fayetteville and R-Dex in Atlanta and will provide undergraduate and graduate students opportunities to perform their work in academic and industrial environments. The involvement of under-represented groups will be increased with the support of the University of Arkansas Engineering Career Awareness Program, and the University of Arkansas chapters of the National Society of Black Engineer (NSBE) and the Society of Hispanic Professional Engineers (SHPE).
这个学术界和工业界之间的合作项目提供了一个可配置和便携式的基于视觉的基础设施,用于工业卡车的分散协调,也称为室内环境中的自动导引车(AGV)。AGV有可能通过有效地完成配送和制造中运输材料的平凡且经常重复的任务,彻底改变制造和配送,医疗保健和军事等领域的运营。该研究解决了最近在配送中心和制造业成功引入商业机器人系统以运输物品的局限性,但通常仅限于特定和限制性环境。 该研究将这些技术扩展到通过移动站和物体来快速重新配置的环境。开发通用模型、工具和技术,以通过语义标记的对象、动作和事件主动捕捉世界,并生成目标、优先级和计划。本研究提出的解决方案解决了分散协调、实时环境变化的要求。该方法使用一组分布式的天花板安装式智能摄像机,具有重叠的视野,用于设施级别的全局视图和协调,以及安装在AGV上的摄像机,用于短程卡车导航。多卡车协调,然后帧的问题,在一个动态的和分层的网络中,摄像机代表路由器和卡车代表数据包的路由。为了解决图像处理任务的复杂性,硬件/软件实现利用了一个基于FPGA的目标平台,从以前的NSF资助的项目,其中低级别的固有并行图像处理任务被映射到硬件,而高级别的推理保持在软件中。这个项目将提供一个接口形式主义来指定组件集成和系统组合沿着优化运行时和资源使用的方法。这项研究预计将产生一个基础设施和方法,用于在动态变化的室内环境中分散的基于视觉的自动驾驶车辆活动协调。开发的基础设施将使制造和分销公司,包括精益和敏捷的实体,能够在现有安排中优化室内运输活动,而无需修改现有基础设施,并通过将员工重新部署到增值角色来降低劳动力和运营成本。此外,AGV有潜力在许多其他非结构化环境中实现自主移动的机器人应用,包括医院、商场、零售店、关键基础设施、机场、学校和体育场馆。该项目是由费耶特维尔的阿肯色州大学和亚特兰大的R-Dex大学共同努力进行的,将为本科生和研究生提供在学术和工业环境中工作的机会。在阿肯色州工程职业意识计划大学以及全国黑人工程师协会(NSBE)和西班牙裔专业工程师协会(SHPE)的阿肯色州大学分会的支持下,将增加代表性不足群体的参与。
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
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Christophe Bobda其他文献
Application of ASP for Automatic Synthesis of Flexible Multiprocessor Systems from Parallel Programs
ASP在并行程序自动综合灵活多处理器系统中的应用
- DOI:
10.1007/978-3-642-04238-6_64 - 发表时间:
2009 - 期刊:
- 影响因子:0
- 作者:
Harold Ishebabi;Philipp Mahr;Christophe Bobda;Martin Gebser;Torsten Schaub - 通讯作者:
Torsten Schaub
Heuristics for Flexible CMP Synthesis
灵活 CMP 合成的启发式方法
- DOI:
10.1109/tc.2010.77 - 发表时间:
2010 - 期刊:
- 影响因子:3.7
- 作者:
Harold Ishebabi;Christophe Bobda - 通讯作者:
Christophe Bobda
On-chip transactional memory system for FPGAs using TCC model
使用 TCC 模型的 FPGA 片上事务存储系统
- DOI:
10.1145/1667520.1667525 - 发表时间:
2009 - 期刊:
- 影响因子:0
- 作者:
Philipp Mahr;Alexander Heine;Christophe Bobda - 通讯作者:
Christophe Bobda
Hierarchical Design of a Secure Image Sensor with Dynamic Reconfiguration
- DOI:
10.1007/s11265-020-01564-9 - 发表时间:
2020-06-12 - 期刊:
- 影响因子:1.800
- 作者:
Pankaj Bhowmik;Md Jubaer Hossain Pantho;Christophe Bobda - 通讯作者:
Christophe Bobda
Christophe Bobda的其他文献
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{{ truncateString('Christophe Bobda', 18)}}的其他基金
Travel: NSF Student Travel Grant for The 32nd IEEE International Symposium On Field-Programmable Custom Computing Machines (FCCM 2024)
旅行:第 32 届 IEEE 国际现场可编程定制计算机研讨会 (FCCM 2024) 的 NSF 学生旅行补助金
- 批准号:
2411045 - 财政年份:2024
- 资助金额:
$ 27.36万 - 项目类别:
Standard Grant
Collaborative Research: SHF: Medium: Heterogeneous Architecture for Collaborative Machine Learning
协作研究:SHF:媒介:协作机器学习的异构架构
- 批准号:
2106610 - 财政年份:2021
- 资助金额:
$ 27.36万 - 项目类别:
Continuing Grant
NSF Student Travel Grant for 2020 IEEE International Symposium On Field-Programmable Custom Computing Machines (FCCM 2020)
NSF 学生旅费资助 2020 年 IEEE 国际现场可编程定制计算机研讨会 (FCCM 2020)
- 批准号:
2016161 - 财政年份:2020
- 资助金额:
$ 27.36万 - 项目类别:
Standard Grant
CNS Core: Small: A Hardware/Software Infrastructure for Secured Multi-Tenancy in FPGA-Accelerated Cloud and Datacenters
CNS 核心:小型:用于 FPGA 加速云和数据中心中安全多租户的硬件/软件基础设施
- 批准号:
2007320 - 财政年份:2020
- 资助金额:
$ 27.36万 - 项目类别:
Standard Grant
Collaborative Research: SHF: Small: Decentralized Edge Computing Platform for Privacy-Preserving Mobile Crowdsensing
合作研究:SHF:小型:用于保护隐私的移动群体感知的去中心化边缘计算平台
- 批准号:
2007210 - 财政年份:2020
- 资助金额:
$ 27.36万 - 项目类别:
Standard Grant
CSR: Small: Reconfigurable In-Sensor Architectures for High Speed and Low Power In-situ Image Analysis
CSR:小型:可重构传感器内架构,用于高速、低功耗原位图像分析
- 批准号:
1946088 - 财政年份:2019
- 资助金额:
$ 27.36万 - 项目类别:
Continuing Grant
CSR: Small: Reconfigurable In-Sensor Architectures for High Speed and Low Power In-situ Image Analysis
CSR:小型:可重构传感器内架构,用于高速、低功耗原位图像分析
- 批准号:
1618606 - 财政年份:2016
- 资助金额:
$ 27.36万 - 项目类别:
Continuing Grant
CSR: Medium: Collaborative Research: Self-Coordination in Cooperative Smart Camera Networks Incorporating System-On-Chip Reconfiguration
CSR:媒介:协作研究:结合片上系统重新配置的协作智能相机网络中的自协调
- 批准号:
1302596 - 财政年份:2013
- 资助金额:
$ 27.36万 - 项目类别:
Standard Grant
US-Cameroon Planing Research Visit on Combined Binary Code Translation and Synthesis for Heterogeneous Multiprocessor Systems, January 2014
美国-喀麦隆计划对异构多处理器系统的组合二进制代码翻译和合成进行研究访问,2014 年 1 月
- 批准号:
1346542 - 财政年份:2013
- 资助金额:
$ 27.36万 - 项目类别:
Standard Grant
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