Authors: Ozana, S.; Pies, M.

Abstract: This paper deals with possibilities and concepts of design and implementation of embedded systems in Matlab&Simulink environment and their toolboxes and blocksets. It describes implementation of embedded system control design on mechatronic models in the Laboratory of Control systems and Instrumentation within the frame of education of automation at the Department of Measurement and Control.

Keywords: hardware-in-the-loop simulation,mechatronic systems,modelling,embedded systems,Matlab&Simulink

Identifier: 10.3182/20090210-3-CZ-4002.00016

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Zielinski, Bartłomiej M.

Abstract: TNC controller allows for connection of computer or other DTE hardware to Packet Radio network. TNC is an autonomous microprocessor system with a modem that allows control radio transceiver directly from TNC. Nowadays there are various TNC controllers available; they are designed using 8-, 16- and 32-bit microprocessors and microcontrollers. In the article, efficiency of transmission using various types of TNC controllers is compared basing on results obtained in an experimental network. The article also explains which factors may have influence upon TNC efficiency.

Keywords: communication networks,communication protocols

Identifier: 10.3182/20090210-3-CZ-4002.00017

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Khani, Hadi; Yazdani, Naser; Shahabfar, Majid

Abstract: This paper presents a hardware implementation of a high-performance switch core. It routes incoming data packets to proper output ports according to the destination field in the packet header. The Switch cores are key switching element in routers and other network equipments. Flexibility is the most significant feature of this implementation. FPGA design methodology let this implementation can be modified to meet various customer requirements in a short time and at low cost. The switch has been implemented only on a single chip (XCE4VFX60 from Xilinx) completely. The FPGA design flow is based on Xilinx Foundation ISE environment for synthesis and mapping onto the target device. This switch core can handle up to 100Gbps traffic with eight incoming ports and eight outgoing ports.

Keywords: FPGA,configurable system,switch core,shared memory,barrel shifter

Identifier: 10.3182/20090210-3-CZ-4002.00011

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Lie, Ioan; Gontean, Aurel

Abstract: A solution for measuring the thermal energy based on an ultrasonic flowmeter and a resistance temperature detector is presented in this paper. The electronic module was build around a dedicated time to digital converter integrated circuit. Due to the TDC-GP2 implemented functionality, including precision temperature measurement, fire pulse generation, windowing and clock calibration it was sufficient to add a low power microprocessor MSP430 and a transducer dependant driver and receiver. A software application implements the SPI communication, measurement cycle, data processing and the user interface.

Keywords: ultrasonic flowmeter,heatmeter,resistance temperature detector,time to digital converter,SPI interface

Identifier: 10.3182/20090210-3-CZ-4002.00028

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Murgas, J.; Murgas, T.; Fodrek, P.; Farkas, L.; Blaho, M.; Poliacik, M.

Abstract: This article presents the concept of a newly developed control system for industrial machines. It has been applied to a plasma cutting machine and future extensions are planned for laser cutting and electron-beam welding machine. Special emphasis was set on cost reduction, while not compromising performance and reliability. The system utilizes hard real-time open-source projects and builds upon a networked architecture.

Keywords: networked control system,hard real-time control system,industrial control,plasma cutting machine

Identifier: 10.3182/20090210-3-CZ-4002.00045

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Chmiel, M.; Hrynkiewicz, E.

Abstract: The paper presents modified idea of program execution in PLCs. Instead of serial cyclic execution of control program event-driven execution is proposed. Suggested approach to program execution allows for selective execution of program parts or tasks provided calculation condition for this part has changed since last time. There only these blocks from entire program are executed whose variables have changed since last calculation. Proposed method can be implemented as software modification or as hardware accelerated solution. The most important part of the idea is task or subprogram triggering condition computation. Methods of program optimization are discussed. In order to determine program blocks that require recalculation in current program scan execution specific hardware support is planned to be researched. Memory content change detection unit allows to determine changes in memory content since last program block execution.

Keywords: programmable logic controller,central processing unit,control program,process image memory,scan time,throughput time

Identifier: 10.3182/20090210-3-CZ-4002.00005

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Spale, Jiří

Abstract: The netX family of Hilscher company are highly integrated SoC with the system architecture based on ARM9 CPU, optimized for communication in industrial automation. It offers the migration strategy from field bus to Real-Time-Ethernet. Besides the CPU, a couple of communication channels and peripherals are integrated on the chip. This contribution describes a study the goal of which is to test the usability of netX according to solving DSP tasks.

Keywords: controller,network,analog signal processing,FFT,amplitude scaling,spectral monitor

Identifier: 10.3182/20090210-3-CZ-4002.00027

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Dvorsky, Jiří; Martinovic, Jan; Snásel, Václav; Adamus, Lukás; Gacek, Michal; Baca, Radim

Abstract: Three Information Retrieval (IR) inspired methods of signal processing are described in this paper. Standard methods are based on Fourier transformation, wavelet etc. Our approach consider biosignals like language over some alphabet and fulfills some rules i.e. grammar. Introduction of these methods are given in this paper and some preliminary results.

Keywords: EEG,SOM,information retrieval

Identifier: 10.3182/20090210-3-CZ-4002.00033

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Moryc, Pavel; Cernohorsky, Jindrich

Abstract: This paper outlines further research possibilities in the field of Real-Time Database Systems. It is based on the previous research accomplished at the Technical University of Ostrava, including the V4DB Real-Time Database System design and verification.

Keywords:

Identifier: 10.3182/20090210-3-CZ-4002.00046

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Zarychta, Piotr; Zarychta-Bargiela, Anna

Abstract: This paper shows an automatic registration method of the A- and B-group of MRI brain and knee based on the entropy and energy measure of fuzziness. In the first case the time difference between recording the A-group and the B-group is equal six months. In the second case the registration process relies on comparison of each T1-weighted MRI slice with each T2-weighted MRI slice. This procedure has been tested on an overview of clinical exams with misalignment of T1- and T2-weighted MRI knee series, where patient motion has caused a mutual shift of slices. In the both events, first, two sequences (A- and B-group and T1- and T2-weighted series) are converted to a fuzzy representation. Then, the entropy and energy measures are employed in the NCC and GD methods. The alignment based on energy and entropy fuzzy measures shows a significant improvement in comparison with the implementation of the original image. This method has been implemented in MatLab and tested on the clinical exams of MRI images.

Keywords: registration,entropy measure of fuzziness,energy measure of fuzziness,similarity measures

Identifier: 10.3182/20090210-3-CZ-4002.00050

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Ocenasek, Pavel; Sveda, Miroslav

Abstract: This paper proposed an application of AVISPA tool in the area of verification of communication properties. The main part of the paper presents the AVISPA tool and its components and basic ideas of the HLPSL language. The paper concludes with the recent experiences of AVISPA application in the education of network security at the Faculty of Information Technology (Brno University of Technology, CZ).

Keywords: AVISPA,tool,HLPSL,communication properties,verification,education

Identifier: 10.3182/20090210-3-CZ-4002.00030

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Cerny, M.; Penhaker, M.

Abstract: The HomeCare is a special monitoring system of the basic life functions. It has been primarily designed to take care for elderly people. But many of the designed devices could be used in the other branches of biotelemetry. Our HomeCare system is designed with respect to user comfort and it uses as cheap technical solutions as possible. In cooperation with the Ostrava University a Homecare Testing Flat has been realized. There are tested our Homecare solutions in vivo. This article is focused on the Circadian rhythm measurement and its usage in the HomeCare.

Keywords: homecare,ZigBee,circadian rhythm

Identifier: 10.3182/20090210-3-CZ-4002.00056

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Adam, George K.; Garani, Georgia; Srovnal, Vilem; Koziorek, Jiri

Abstract: This paper presents the methodology of developing a microprocessor-based embedded application for a distributed control system. The control system is realized for the operation of a mechatronic lime storage and delivery machine, intended for lime production plants. At the design stage, simulations were carried out in order to verify and reconfirm the functionality of the analytical model of the controller. The simulation results were satisfactory close to those derived by the further on experimental investigation. The proposed flow control system was experimentally verified and evaluated upon a specific prototype of a lime slurry storage and delivery machine. The control system is based upon the Intel 80C188EB microprocessor.

Keywords: microprocessor control embedded control,distributed control,modelling,simulation

Identifier: 10.3182/20090210-3-CZ-4002.00021

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Sveda, Miroslav; Trchalik, Roman; Ocenasek, Pavel

Abstract: This paper presents a safety and security-based approach to networked embedded system design that offers reusable design patterns for applications dedicated to various domains. After introducing dependability requirements for embedded system applications, it deals with industrial, sensor-based applications development support aiming at distributed components interconnected by wired Internet compatible intranets and wireless sensor networks. The paper discusses a safety and security-driven approach to embedded system design for an industrial class of Internet-based applications. It focuses on an integrated networking that stems from the IEEE 1451.1 smart transducer interface standard, which is an object-based networking model supporting client-server and publish-subscribe communication patterns in group messaging, and from the IP multicast communication, all together mediating safe and secure access to smart sensors through Internet and ZigBee. The case study demonstrates how clients can access groups of wireless smart pressure and temperature sensors and valves through Internet effectively using developed system architecture while respecting prescribed requirements for application dependent safety and security.

Keywords: embedded systems,design systems,sensor systems,computer communication networks,communication protocols

Identifier: 10.3182/20090210-3-CZ-4002.00025

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Labza, Z.; Korpas, D.; Penhaker, M.

Abstract: The measurement on a dual-chamber cardiostimulator consists of the construction of a unit for the simulation of the cardiac action in a patient's body. It has an adjustable amplitude (0 - 20 mV), frequency (0 - 100 Hz) and mark-space ratio. The system output impedance should be in the range of 200 - 2000 Ω. It is possible to add a defined noise into the output channel. It is further possible to measure the tolerance of sensing of the atrial and ventricular channel of the dual-chamber cardiostimulator DDDR.

Keywords: transform cardiostimulator,measurement methods,stimulation voltage,detection

Identifier: 10.3182/20090210-3-CZ-4002.00057

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Michna, Viktor; Cernohorsky, Jindřich

Abstract: This paper describes a new industrial communication protocol, dNet protocol suite, and its application in control systems. Protocols in this suite have some useful properties known from higher communication protocols. For example, abstract of addresses and connection, encryption and application services. They also have some characteristics typical rather for industrial protocols, e.g. simple implementation in microcontrollers, compatibility with existing bus standards (CAN), support for program downloading and device configuration. The suite can be operated almost over any data link layer. Document then presents a typical way of protocol usage, definition of application services and networks management.

Keywords: communication protocols,control systems,distributed control,microcontrollers,networks system security

Identifier: 10.3182/20090210-3-CZ-4002.00020

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Grochowski, Krzysztof; Jasinski, Slawomir; Maciejewski, Mariusz; Sitek, Ireneusz

Abstract: The main objective of the paper is to present a railway traffic control system designed by the employees of The Division of Railway Traffic Control of Faculty of Transport of the Warsaw University of Technology with cooperation of industry, and then implemented in several posts in the Warsaw subway. Paper discusses the unique architecture of the system and the results of its functional analysis and analysis of reliability. Thorough knowledge of railway traffic control matters of modern railway traffic control systems allows ensuring the proper safety level and maintaining high efficiency of theses systems. Entirety supplemented by outline of the history of construction Warsaw subway.

Keywords: railway traffic control system,embedded system,multiprocessor system,reliability,security,VME bus

Identifier: 10.3182/20090210-3-CZ-4002.00034

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Pindor, J.; Korpas, D.; Penhaker, M.

Abstract: This paper is engaged in region of valid ECG signal processing, so the algorithm development of the QRS complex's assignation from twelve lead surface ECG record, design of measuring system in MATLAB software and file processing of clinical dates. The algorithm makes use of standard mathematical methods and new method used for signal processing - wavelet transform. Created system is assessed on dates of patient, which are treated by biventricular pacing. Dates are provided by cardiological clinic of hospital IKEM in Prague.

Keywords: daubechies wavelet,thresholding,the QRS complex,wavelet transform

Identifier: 10.3182/20090210-3-CZ-4002.00058

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Zarychta, Piotr

Abstract: This paper shows a method which locates the posterior cruciate ligament (PCL) on the T1- weighted MRI knee images and in the second step permits 3D visualization of the PCL structures. The proposed method of location of the posterior cruciate ligament on the T1-weighted MR knee images is based on entropy (or energy) measure of fuzziness and fuzzy C-means (FCM) algorithm with median modification. On the basis of the analysis of each profile in every slice of the MRI knee T1-weighted after fuzzyfication and fuzzy clustering, a main axis running along thighbone and tibia is determined. In the next step the centering and superposition operation is implemented. Profile analysis after the centering and superposition operation permits to create the membership function. Then, edges of a region of interest containing the PCL are found. The 3D visualization of the PCL structures is based on the location of these ligaments on the T1-weighted MRI knee images and is used in the computer aided diagnosis of the cruciate ligament. This method has been implemented in MatLab and converted to Visualization Toolkit (VTK) and tested on the clinical T1- and T2-weighted MRI knee images.

Keywords: posterior cruciate ligament,membership function,localization,3D visualization,fuzzy C-means

Identifier: 10.3182/20090210-3-CZ-4002.00048

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Beran, Jan; Zezulka, Frantisek; Fiedler, Petr

Abstract: Internetworking technologies have penetrated industrial automation for the last decade gaining enormous popularity. A new trend of network segmentation in automation networks has emerged together with the growing popularity and number of nodes in field. However, neither the Ethernet-based fieldbuses, nor existing network devices are tailored to routed (L3) real-time communication used for time-critical run-time data exchange. The paper presents an approach to delivering real-time communication across LAN segments with the use of existing L3 network devices. Firstly, the real-time requirements of industrial automation and the principles of QoS are presented. Secondly, a test bed designed for evaluation of QoS parameters of the given network devices is introduced. Finally, first findings on the influence of the L3 network devices on QoS parameters are shown.

Keywords: virtual automation networks,networked control systems,QoS,latency measurement

Identifier: 10.3182/20090210-3-CZ-4002.00040

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Floder, J.

Abstract: The project in global is intended to complex control of a mobile flying object with free motion in 3D space. The control is to be designed to work in the object's embedded system. The paper itself is partially focused on the first part of the project, 6DOF inertial measurement unit and on some algorithms to estimate orientation in space.

Keywords: six degrees of freedom inertial measurement unit,embedded system,vector-based filter,extended Kalman filter,coordinate transformations

Identifier: 10.3182/20090210-3-CZ-4002.00022

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Perko, Klemen; Kocik, Rémy; Hamouche, Rédha; Trost, Andrej

Abstract: The real time implementation behaviour of a control algorithm has an impact on its control performances. Metrics used to evaluate performances of real-time embedded systems (RTES) usually considers systems compliance to RT constraints. For RTES in control domain this metrics is insufficient and needs to be extended with control performance metrics. We propose a methodology to evaluate control performances taking into account several RT software implementations on different hardware. This methodology relies on a bridge that we have defined to make a link between a RTES design tool (MoDEST) and a HW-SW system-level modeling tool (ASyMod). This paper focus on model transformation between these two tools, and an example shows the benefits of it.

Keywords: modelling,model transformations,embedded control systems design,real-time systems

Identifier: 10.3182/20090210-3-CZ-4002.00024

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: David, Vala; Jiri, Kazarik

Abstract: Mobile service robots are used in many areas of human activities. Most of them are designed and adapted for operation in high risk area from human point of view. When we switch from mechanical construction of robots to their electronics subsystems we could find several topics to solve which are quite different from classic mechanical engineering topics like is: how we can build robots to climb everywhere. Electronic engineer solve problems about powering, controlling, navigating or stabilizing, communication and so on. And need some places and tools to learn how to do it.... And so we are design universal (form mechanical point of view simple but robust) platform for this purpose.

Keywords: mobile robots,embedded systems,Wifi,bluetooth,Fuel cell

Identifier: 10.3182/20090210-3-CZ-4002.00029

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Zurek, Petr; Peterek, Tomás

Abstract: For the high quality biomedical research work is very important to get a high quality signals from the human body. Many devices provide to measure various biosignals. But many of devices provide to measure only one or a few signals together in one time. The goal of this work was to made a quality system for measure much more biosignals together. This system will be useful for the processing different biosignals (electrocardiogram (ECG), photoplethysmograph (PPG), pulse curve, blood pressure (BP), breathing curve, electroencephalograph (EEG),..) by one time and in one system. We would like to compare and evaluate each of one biosignal separately and together with each other.

Keywords: ECG,EEG,PPG,signal processing,FFT,CSA,FIR,AD converter

Identifier: 10.3182/20090210-3-CZ-4002.00052

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009

Authors: Kornecki, Andrew J.; Zalewski, Janusz

Abstract: This paper discusses issues related to the RTCA document DO-254 Design Assurance Guidance for Airborne Electronic Hardware and its consequences for hardware certification. In particular, problems related to circuits' compliance with DO-254 in avionics and other industries are considered. Extensive literature review of the subject is given, including current views on and experiences with qualification of hardware design tools. Some results of the author's own study on tool qualification are presented.

Keywords: safety-critical systems,real-time systems,tool qualification,hardware certification,FPGA

Identifier: 10.3182/20090210-3-CZ-4002.00003

Conference: 9th IFAC Workshop on Programmable Devices and Embedded Systems (2009)

Location: Technical University of Ostrava,, Czech Republic

Start Date: Tue Feb 10 2009 - End Date: Thu Feb 12 2009