Search

Edge computing enables prompt responses in IoT environments, such as the operation of autonomous vehicles and unmanned aerial vehicles. However, with the increase in sensor nodes, the computational burden on the computing node also increases. Specifically, data filtering and reduction at application nodes add to the energy burden for battery-operated devices. In this paper, we propose a preprocessing system at the application node that requires low power consumption for data transmission reduction. Based on our simulations, we identify the minimum data size needed to preserve the signal. We first design the preprocessing system using a hardware description language to evaluate its performance. Then, we implement the open-library-based MCU system, including the proposed preprocessing IP, to assess its operation and overhead. Our implementation of the preprocessing system reduces data transmission by 50% with acceptable information loss. Additionally, the area and power consumption after the logic synthesis of the preprocessing IP within the entire MCU system are evaluated at only 3.6% and 13.1%, respectively. By performing preprocessing using the MCU and proposed IP, nearly 74.4% power reduction is achieved compared to using the existing MCU core. [ABSTRACT FROM AUTHOR]

Localization is an important method for autonomous indoor robots to recognize their positions. Generally, the navigation of a mobile robot is conducted using a camera, Lidar, and global positioning system. However, for an indoor environment, GPS is unavailable. Therefore, a, state-trajectory tracking method is utilized based on a Lidar map. This paper presents the path following of an autonomous indoor mobile robot, that is, a shuttle robot, using a state-flow method via a robot operating system network. MATLAB and Linux high-level computers and an inertial measurement unit sensor are used to obtain the Cartesian coordinate information of a bicycle-type mobile robot. The path following problem can be solved in the state-flow block by setting appropriate time and linear and angular velocity variables. After the predetermined time, the linear and angular velocities are set based on the length of the path and radius of the quarter-circle of the left and right turns in the state-flow block, path planning, which can execute the work effectively, is established using the state-flow algorithm. The state-flow block produces time-series data that are sent to Linux system, which facilitates real-time mobile platform path following scenario. Several cases within the path-following problem of the mobile robot were considered, depending on the linear and angular velocity settings: the mobile robot moved forward and backward, turned in the right and left directions on the circular path. The effectiveness of the method was demonstrated using the desktop-based indoor mobile robot control results. Thus, the paper focuses on the application of the state-flow algorithm to the shuttle robot specifically in the narrow indoor environment. [ABSTRACT FROM AUTHOR]