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EnglishAsynchronous, event-driven sampling techniques adapt the sampling rate of sensory signals to their dynamics by effectively compressing the data with respect to synchronous, clock-driven sampling. In robotics, such techniques offer data and bandwidth reduction, together with high temporal resolution and low latency. Despite the fact that vision and auditory event-driven sensors are currently available, robots are still equipped with a plethora of other sensors that might benefit from the event-driven encoding. In this paper, we study five estimation algorithms that implement the event-driven encoding for off-the-shelf clock-driven sensors. Digital accelerometer datasets were used to validate the system in robotic applications; other datasets have been used to assess the general performance of the proposed approach. The two best algorithms in terms of six performance parameters have been implemented on a Xilinx Artix-7 FPGA platform, using 2892 LUTs and 3620 flip-flops and reducing the output bandwidth from -44% to -75%, over the considered datasets.
Event-Driven Encoding Algorithms for Synchronous Front-End Sensors in Robotic Platforms / Ros, P. M.; Laterza, M.; Demarchi, D.; Martina, M.; Bartolozzi, C.. - In: IEEE SENSORS JOURNAL. - ISSN 1530-437X. - ELETTRONICO. - 19:16(2019), pp. 7149-7161. [10.1109/JSEN.2019.2911668]
| Titolo: | Event-Driven Encoding Algorithms for Synchronous Front-End Sensors in Robotic Platforms | |
| Autori: | ||
| Data di pubblicazione: | 2019 | |
| Rivista: | ||
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/JSEN.2019.2911668 | |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| 08693680.pdf | MottoRos-IEEE-Sensors-2019 | 2a Post-print versione editoriale / Version of Record | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
| Event_Driven_Encoding_Algorithms_for_Synchronous_Front_End_Sensors_in_Robotic_Platforms.pdf | Versione finale articolo | 2. Post-print / Author's Accepted Manuscript | PUBBLICO - Tutti i diritti riservati | Visibile a tuttiVisualizza/Apri |
http://hdl.handle.net/11583/2755952
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