Linux has become one of the most important software to run the civil infrastructure systems such as power plants, water distribution, traffic control and healthcare. From computer system viewpoint, the systems require a very high level of quality on real-time performance, reliability and security to avoid serious failure. To overcome the issues to apply Linux on such systems, as the first step, we need to gather the actual requirements. Past few months, some companies who are interested in this area actually got together and discussed to put those requirements together. In this talk, we would like to share the current status of this requirement discussion and our future collaboration plan. Please join us to improve Linux together and make the world better place!
Improvement of Scheduling Granularity for Deadline Scheduler Yoshitake Kobayashi
(Embedded Linux Conference Europe 2012)
https://github.com/ystk/sched-deadline/tree/dlmiss-detection-dev
Real-time system need to meet deadline. In this point of view, the system is required two functions to have determinism. One is interruptlatency stabilization and the other one is processing time reservation. The SCHED_DEADLINE has a feature to reserve CPU time in advance to ensure predictable behavior. In our evaluation, the granularity of CPU reservation is millisecond order.In this presentation, we show the evaluation results of current implementation to make clear the issue. Then we explain how to overcome this issue and its results.
Real-time system need to meet deadline. In this point of view, the system is required two functions to have determinism. One is interruptlatency stabilization and the other one is processing time reservation. The SCHED_DEADLINE has a feature to reserve CPU time in advance to ensure predictable behavior. In our evaluation, the granularity of CPU reservation is millisecond order.In this presentation, we show the evaluation results of current implementation to make clear the issue. Then we explain how to overcome this issue and its results.
Some data written on data storage are very important for users. The data needs to ensure consistency when the application received a result from a file write functions even if the system crashed.
In this talk, we will show the evaluation results on data consistency for SYNC mode write on a number of Linux file systems. The evaluation is also conducted on more than one kernel version and disk types, and we will show all the results from different perspectives.
Yoshitake Kobayashi joined Corporate Software Engineering Center, Toshiba Corporation in 2008. Before that he received his Ph.D. degree in computer science at University of Electro-Communications in 2002 and worked as an assistant professor. His research interests include operating systems, distributed systems and dynamically reconfigurable systems.
https://github.com/ystk/fs-test
Linux has become one of the most important software to run the civil infrastructure systems such as power plants, water distribution, traffic control and healthcare. From computer system viewpoint, the systems require a very high level of quality on real-time performance, reliability and security to avoid serious failure. To overcome the issues to apply Linux on such systems, as the first step, we need to gather the actual requirements. Past few months, some companies who are interested in this area actually got together and discussed to put those requirements together. In this talk, we would like to share the current status of this requirement discussion and our future collaboration plan. Please join us to improve Linux together and make the world better place!
Improvement of Scheduling Granularity for Deadline Scheduler Yoshitake Kobayashi
(Embedded Linux Conference Europe 2012)
https://github.com/ystk/sched-deadline/tree/dlmiss-detection-dev
Real-time system need to meet deadline. In this point of view, the system is required two functions to have determinism. One is interruptlatency stabilization and the other one is processing time reservation. The SCHED_DEADLINE has a feature to reserve CPU time in advance to ensure predictable behavior. In our evaluation, the granularity of CPU reservation is millisecond order.In this presentation, we show the evaluation results of current implementation to make clear the issue. Then we explain how to overcome this issue and its results.
Real-time system need to meet deadline. In this point of view, the system is required two functions to have determinism. One is interruptlatency stabilization and the other one is processing time reservation. The SCHED_DEADLINE has a feature to reserve CPU time in advance to ensure predictable behavior. In our evaluation, the granularity of CPU reservation is millisecond order.In this presentation, we show the evaluation results of current implementation to make clear the issue. Then we explain how to overcome this issue and its results.
Some data written on data storage are very important for users. The data needs to ensure consistency when the application received a result from a file write functions even if the system crashed.
In this talk, we will show the evaluation results on data consistency for SYNC mode write on a number of Linux file systems. The evaluation is also conducted on more than one kernel version and disk types, and we will show all the results from different perspectives.
Yoshitake Kobayashi joined Corporate Software Engineering Center, Toshiba Corporation in 2008. Before that he received his Ph.D. degree in computer science at University of Electro-Communications in 2002 and worked as an assistant professor. His research interests include operating systems, distributed systems and dynamically reconfigurable systems.
https://github.com/ystk/fs-test
An Essential Relationship between Real-time and Resource PartitioningYoshitake Kobayashi
(ELC Europe 2013)
Running real-time and general purpose applications on a same hardware is normally a crazy idea in most case. However, we strongly focus to run both applications on a hardware without virtualization. Resource Partitioning enables the assignment of hardware resource (e.g.: core, execution time, memory bandwidth or device access) to processes with special requirements (e.g: real-time performance or safety requirements).
In this talk, we would like to discuss current limitation on Linux kernel and describe how to solve it.
Embedded Linux Conference 2013
https://github.com/ystk/sched-deadline/tree/dlmiss-detection-dev
Real-time system need to meet deadline. In this point of view, the system is required two functions to have determinism. One is interrupt latency stabilization and the other one is processing time reservation. SCHED_DEADLINE has a feature to reserve CPU time in advance to ensure predictable behavior. However there is a lack of feature to control deadline missed processes.
In this presentation, we would like to discuss the requirement for the feature and also show a sample implementation to control deadline missed processes.
(Embedded Linux Conference Europe 2014)
Linux uses many kind of embedded products. The products include not only consumer electronics but also control systems such as programmable logic controllers. There are many type of infrastructure systems and each system has different technical requirements. The requirements include not only real-time performance but also reliability-related functions. The infrastructure systems have to meet all the requirements. This presentation gives a summary of our study and development to adapt the Linux to infrastructure systems. Then we discuss the direction of future development. Please note, this presentation doesn't focus on a specific product.
Poky meets Debian: Understanding how to make an embedded Linux by using an ex...Yoshitake Kobayashi
Embedded Linux Conference 2015
Poky has already become one of the most popular build system to make an embedded Linux environment. Poky refers to OpenEmbedded originally. However if you want to use other source code, how to do it? We have some experience we would like to share with you. For this study, We choose Debian source and already tried two ways to use it. The first try was probably an incorrect way and the second try may be a correct way.
In this talk, we will show both of them and also describe why we choose Debian. If you are interested in this implementation, you can download the source code from GitHub. There are some implementations available for development boards such as pandaboard, minnowboard and etc. Let's enjoy Bitbake!
ELC 2014
The LTSI kernel has a high degree of usability for embedded systems. However lack of real-time extension makes it difficult to adapt LTSI to control systems. We made LTSI kernel with RT patch (LTSI-RT) to follow the LTS kernel and are evaluating it on several boards. This presentation shows requirement and issues to make LTSI-RT. LTSI-RT is available on GitHub
https://github.com/ystk/linux-ltsi-work/tree/ltsi-3.10.y-rt
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【DLゼミ】XFeat: Accelerated Features for Lightweight Image Matchingharmonylab
公開URL:https://arxiv.org/pdf/2404.19174
出典:Guilherme Potje, Felipe Cadar, Andre Araujo, Renato Martins, Erickson R. ascimento: XFeat: Accelerated Features for Lightweight Image Matching, Proceedings of the 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (2023)
概要:リソース効率に優れた特徴点マッチングのための軽量なアーキテクチャ「XFeat(Accelerated Features)」を提案します。手法は、局所的な特徴点の検出、抽出、マッチングのための畳み込みニューラルネットワークの基本的な設計を再検討します。特に、リソースが限られたデバイス向けに迅速かつ堅牢なアルゴリズムが必要とされるため、解像度を可能な限り高く保ちながら、ネットワークのチャネル数を制限します。さらに、スパース下でのマッチングを選択できる設計となっており、ナビゲーションやARなどのアプリケーションに適しています。XFeatは、高速かつ同等以上の精度を実現し、一般的なラップトップのCPU上でリアルタイムで動作します。
セル生産方式におけるロボットの活用には様々な問題があるが,その一つとして 3 体以上の物体の組み立てが挙げられる.一般に,複数物体を同時に組み立てる際は,対象の部品をそれぞれロボットアームまたは治具でそれぞれ独立に保持することで組み立てを遂行すると考えられる.ただし,この方法ではロボットアームや治具を部品数と同じ数だけ必要とし,部品数が多いほどコスト面や設置スペースの関係で無駄が多くなる.この課題に対して音𣷓らは組み立て対象物に働く接触力等の解析により,治具等で固定されていない対象物が組み立て作業中に運動しにくい状態となる条件を求めた.すなわち,環境中の非把持対象物のロバスト性を考慮して,組み立て作業条件を検討している.本研究ではこの方策に基づいて,複数物体の組み立て作業を単腕マニピュレータで実行することを目的とする.このとき,対象物のロバスト性を考慮することで,仮組状態の複数物体を同時に扱う手法を提案する.作業対象としてパイプジョイントの組み立てを挙げ,簡易な道具を用いることで単腕マニピュレータで複数物体を同時に把持できることを示す.さらに,作業成功率の向上のために RGB-D カメラを用いた物体の位置検出に基づくロボット制御及び動作計画を実装する.
This paper discusses assembly operations using a single manipulator and a parallel gripper to simultaneously
grasp multiple objects and hold the group of temporarily assembled objects. Multiple robots and jigs generally operate
assembly tasks by constraining the target objects mechanically or geometrically to prevent them from moving. It is
necessary to analyze the physical interaction between the objects for such constraints to achieve the tasks with a single
gripper. In this paper, we focus on assembling pipe joints as an example and discuss constraining the motion of the
objects. Our demonstration shows that a simple tool can facilitate holding multiple objects with a single gripper.