Wireless sensors; Real-time support; Wireless communication; XBee modules; Predictability

The ZigBee standard is focused on low-cost, low-power, wireless mesh networking, having a wide applicability mainly in the field of wireless sensor networks. A growing number of such applications require real-time behavior, both at the wireless communication and at the sensor levels. This paper proposes a solution to the problem of providing sensor-level real-time support for wireless platforms using ZigBee-based devices such as the XBee module. The discussion of the experimental results proves the predictable behavior of the XBee sensor platform used as a case study.

Data acquisition; Signal conditioning; Operational amplifiers; Analog multiplexers; Sample and hold; Digital-to-analog converters; Analog-to-digital converters; DAQ systems

This work focuses on the data acquisition and signal conditioning systems, allocating up to three sections to discuss each of the system components. Thus, the main topics of the workbook are: operational amplifiers, analog multiplexers/de-multiplexers, sample and hold circuits, digital-to-analog converters, analog-to-digital converters, and the structure, operation, programming principles and modes of use of a fully-equipped data acquisition and conditioning system. Two distinct sections are allocated for each of these topics. The theoretical section focuses on the architecture and operating principles of the respective class of circuits, with particular emphasis on the presentation and discussion of the main catalog parameters, with real-life exemplifications. The practical section consists of a set of practical (experimental) workshops and applications, specifically designed to study, test and measure each of the main parameters of the respective class of circuits. The measurement results will also be compared with the catalog specifications. Each workshop defines the parameter of interest, the graphical schematics of the electronic setup of the experiment, the required measurement and control equipment, and the necessary steps of the experiment. The audience of this workbook is intended to contain, besides the students of the DAQ Systems course, also professionals or even amateurs which are interested in this very attractive field of engineering.

Battery; Large-scale battery pack; Reconfigurable battery management system; State of health; Wear leveling

As the market and the application areas of high capacity battery energy storage systems are rapidly increasing, there is a correspondingly high interest in the topic of minimizing battery state of health degradation in battery packs. In this article, a novel method for battery management in large-scale battery packs is introduced, aiming to minimize battery degradation by enforcing a special wear leveling (WL) policy, adapted from the flash memory arrays. Using this method in conjunction with a hybrid mathematical-electrochemical battery model, a reconfigurable battery management system (BMS) is proposed and evaluated. The results of the performance analysis and in-depth comparisons with other state-of-the-art solution shows that the proposed method achieves significantly longer operating times for the battery packs-for example, 415% improvement over the classical BMS in the load current variation scenario. As the computing and memory requirements are relatively low, the new battery WL method can also be implemented on embedded systems with limited resources.

Battery management system; Gated recurrent unit; Lithium-ion battery; Long-short term memory; Online state prediction; Recurrent neural networks; State of health

Online state of health {SOH) prediction of lithium-ion batteries remains a very important problem in assessing the safety and reliability of batterypowered systems. Deep learning techniques based on recurrent neural networks with memory, such as the long short-term memory {LSTM) and gated recurrent unit {GRU), have very promising advantages, when compared to other SOH estimation algorithms. This work addresses the battery SOH prediction based on GRU. A complete BMS is presented along with the internal structure and configuration parameters. The neural network was highly optimized by adaptive moment estimation {Adam) algorithm. Experimental data show very good estimation results for different temperature values, not only at room value. Comparisons performed against other relevant estimation methods highlight the performance of the recursive neural network algorithms such as GRU and LSTM, with the exception ofthe battery regeneration points. Compared to LSTM, the GRU algorithm gives slightly higher estimation errors, but within similar prediction error range, while needing significantly fewer parameters {about 25% fewer), thus making it a very suitable candidate for embedded implementations.

Cyber physical systems; Real-time scheduling; Mixed criticality systems; Multiple processing units

Cyber physical systems (CPSs) are a fast-evolving technology based on a strong synergy between heterogeneous sensing, networking, computation and control modules. When coping with critical applications that require real-time performance and autonomous operation in uncertain conditions, the design of such complex systems is still facing significant difficulties. A particular challenge in this respect derives from the software intensive nature of these systems - the need to develop flexible and specifically tailored task scheduling techniques. In our view, an appropriate line of thinking is to take advantage of mixed criticality concepts following the lessons learned from avionics and automotive domains, where complexity, safety, determinism and real-time constraints are extreme. From this perspective, our work aims at facilitating the integration of mixed criticality systems-based strategy in cyber physical systems by identifying the particularities of the latter and their influence on scheduling mechanisms, by describing the standard mixed-criticality task model in the cyber physical systems context, and by analyzing and proposing the most suitable scheduling algorithms to be implemented in cyber physical systems. Moreover, the perspectives on future developments in this area are discussed, as new horizons in research arise with the integration of mixed criticality concepts in the cyber physical systems context.

Battery state estimation; State of health; Remaining useful life; Battery model; Embedded application; Battery fuel gauge

Estimating the dynamic status parameters of a battery, such as its state of health (SoH) and remaining useful life (RUL), is still a very difficult and complex task. In this paper we perform a structured review of the most relevant state of the art models, algorithms and commercial devices employed in the estimation of the SoH/RUL battery performance figures, in the context of embedded applications. The models and estimation techniques are thoroughly classified and, for each taxonomy class, a presentation of the working principles is made. A comprehensive set of metrics is then introduced for the evaluation of the SoH/RUL estimation techniques from the perspective of their implementation and operation efficiency in embedded systems. These algorithms are then analyzed and discussed in a comparative manner, with concrete figures and results. The capability and the performance of the different types of off-the-shelf fuel gauges to estimate the battery SoH/RUL parameters are also evaluated in this paper.

Wireless sensor networks; Real-time systems; Wireless communication; Access protocol; Time measurement

Low-level communication protocols and their timing behavior are essential to developing wireless sensor networks (WSNs) able to provide the support and operating guarantees required by many current real-time applications. Nevertheless, this aspect still remains an issue in the state-of-the-art. In this paper we provide a detailed analysis of a recently proposed MAC-level communication timing model and demonstrate its usability in designing real-time protocols. The results of a large set of measurements are also presented and discussed here, in direct relation to the main time parameters of the analyzed model.

Foreground extraction; Videoconference; Optical flow; Graph cut; Motion segmentation; Real-time video processing

Immersive videoconferences have added a new dimension to remote collaboration by bringing participants together in a common virtual space. To achieve this, the conferencing system must extract in real-time the foreground from each incoming video stream and translate it into the shared virtual space. The method presented in this paper differentiates itself in the sense that no prior training or assumptions on the video content are used during foreground extraction. A temporally coherent mask is created based on motion cues obtained from the video stream and is used to provide a set of hard constraints. Based on these constraints, a graph cut algorithm is employed to produce the pixel-accurate foreground segmentation. The obtained results are evaluated using a state-of-the-art perceptual metric to provide an objective assessment of the method accuracy and reliability. Furthermore, the presented approach makes use of parallel execution in order to achieve real-time processing capabilities.

Battery management; Battery-powered device; Nickel-metal hydride (Ni-MH); State-of-health (SoH) prediction

Battery-powered embedded systems have known a rapid evolution in recent years, as nickel-metal hydride (Ni-MH) battery technology has enabled important reductions in size and proportional increases in total capacity over the older nickel-cadmium (Ni-Cd) and lead-acid battery types. This paper addresses the problem of state-of-health (SoH) estimation and prediction for use in resource-constrained Ni-MH-battery-powered embedded systems. We propose a novel SoH prediction methodology, presenting both a theoretical analysis of the estimation algorithm and the detailed description of hardware and software implementation. Two versions of estimation algorithms are proposed, along with the analysis of their performances in terms of prediction accuracy and required processing power, as the SoH prediction is designed to run online, being part of an embedded battery management system.

Communication protocols; Hard real-time (HRT); Predictability; Serial peripheral interface (SPI); Smart sensors; Time triggered

This paper studies the problem of data communication protocols for multiprocessor smart sensors and embedded applications with hard real-time (HRT) or critical requirements. We propose a time-triggered communication interface and set of protocols, called Predictable ARchitecture for Sensor Communication Systems (PARSECS), specifically designed to sustain, at low costs and complexity, the predictable operation of such HRT systems. The general interface architecture, data format, and communication protocols are discussed, along with a case study-the implementation of PARSECS on the full-duplex serial peripheral interface for the COllaborative Robotic Environment-the Timisoara eXperiment (CORE-TX) smart sensors platform. Its predictability, timeliness, and overall performance evaluation and validation are presented in detail based on experimental results and measurements. A comparative study with some of the most prominent systems in the field is also provided.

Collaborative system; Distance measurement; Indoor communication; Mobile robots; Sonar

This paper focuses on the problem of autonomous distance calculation between multiple mobile robots in collaborative systems. We propose and discuss two distinct methods, specifically developed under important design and functional constraints, such as the speed of operation, accuracy, energy and cost efficiency. Moreover, the methods are designed to be applied to indoor robotic systems and are independent of fixed landmarks. The measurement results, performed on the CORE-TX case study, show that the proposed solutions meet the design requirements previously specified.

Genetic algorithms; Job-shop scheduling; Initial populations; Chromosomes

This paper presents an efficient method of enhancing genetic algorithms (GAs) for solving the Job-Shop Scheduling Problem (JSSP), by generating near optimal initial populations. Since the choice of the initial population has a high impact on the speed of the evolution and the quality of the final results, we focused on generating its individuals using genetically evolved priority dispatching rules. Our experiments show a significant increase in quality and speed of scheduling with GAs, and in some cases the evolved priority rules alone determined better solutions then the GA itself. The analyzed reference GA uses Giffler & Thompson (GT) heuristic and priority lists. To speed up the generation of priority rules, we have used a weighted sum of priority rules formula that revealed significantly better performances than Genetic Programming (GP). For evaluation of the proposed algorithm, the well known benchmark data sets from Fisher & Thompson (F&T) and Laurence Kramer (LA) have been used.

Power consumption; Multi-threading; Multi-core; Mobile applications; Power profiling

One constant in computing which is true also for mobile computing is the continue requirement for greater performance. Every performance advance in mobile processors leads to another level of greater performance demands from newest mobile applications. However, on battery powered devices performance is strictly limited by the battery capacity, therefore energy efficient applications and systems have to be developed. The power consumption problem of mobile systems is in general a very complex one and remained very actual for quite a long time. In this paper we aim to define a software execution framework for mobile systems in order to characterize the power consumption profile of multi-threading mobile applications. Study results for different thread libraries, multi-core processors and multithreaded parallelized applications are also presented.

Execution context; Fixed execution; Operating kernel; Predictability; Real-time; Scheduling; Signal generation; Task model

This paper addresses the problem of the predictability of the critical digital-signal acquisition and processing applications while interacting with signals. The hard real-time compact kernel (HARETICK) is briefly presented along with the model of the hard real-time tasks: the ModX. This paper focuses on the specification, analysis, scheduling, and implementation of the applications able to generate perfectly periodic signals on the HARETICK-based platforms. A specific nonpreemptive technique for scheduling a set of the ModXs with fixed-execution times during their periods-the fixed execution nonpreemptive (FENP) algorithm-was introduced. Some of the most interesting experimental results are also discussed.

Embedded; Real-time; Program analysis; WCET; Non-preemptive; Signal; Task

This paper addresses the problem of program modeling and analysis of real-time (embedded) applications, providing a homogenous set of models and methods that enable the development of applications with hard real-time or even critical timing behavior requirements. Program timing analysis resulting in WCET calculation for hard real-time tasks is also studied.

DSP; Digital audio effect; Chain of effects; Real-time; Communication protocol

Digital signal processors are highly used in a large variety of today's domestic and industrial applications. This paper emphasizes on the principles and techniques involved in professional audio processing field. Some basic digital audio effects are described along with the corresponding guidelines for DSP implementation.

Data acquisition; Signal conditioning; Hardware and software interface; Digital Signal Processor

Signal conditioning and acquisition is a basic application field for digital signal processing. In most cases the input of the digital signal processing systems comes from data acquisition structures. This paper discusses the techniques used for interfacing a data acquisition system (referred to as DAQ system) to digital signal processors. Both the hardware and software aspects of the interface are presented starting from a particular case of DAQ system towards more generic data acquisition structures. As a case study, the Motorola DSP56303 processor was chosen, to control the data acquisition process over the DAQ system. Some prospects and related future work are also mentioned as conclusion.

Unmanned aerial vehicle (UAV); Quadcopter; Coverage path planning; Mapping

Finding a suitable UAV path to cover a given ground area is of paramount importance when accomplishing monitoring or mapping missions. In order to obtain an appropriate UAV route to inspect a rectangular ground area using a sensor with a conical field of view, this paper analysis three classic trajectories, namely scan, rectangular spiral and Hilbert paths. Using carefully chosen metrics we conclude that the scan path is the right solution to this static coverage planning problem.

Real-time systems; Computational intelligence; Informatics; Scheduling algorithms; Task analysis

This paper addresses the problem of real-time scheduling on multiprocessor systems for periodic tasks when scheduling jitter is not allowed. A partitioned real-time scheduling method based on a table-driven uniprocessor algorithm called fixed execution non-preemptive (FENP) is proposed as a solution for this problem. An analysis of the new proposed algorithm is provided in terms of scheduling jitter and schedulability ratio, by comparison against other popular partitioned real-time scheduling algorithms.

Internet of things (IoT); Wireless sensor networks; Real-time applications; Real-time systems; Communication protocol

This paper aims at providing a communication architecture in order to enable the integration of traditional Wireless Sensor Networks into the Internet of Things paradigm. We focus especially on a communication protocol for providing connectivity between the smart objects and a central IoT hub. From the implementation and testing of the proposed IoT protocol, we measured the smallest memory footprint, which demonstrates that such a protocol may be easily integrated into smart objects represented by small embedded systems low on hardware resources.

Internet of things (IoT); Wireless sensor network; Home automation system

Home Automation Systems have been continuously evolving in the past few years: some of the systems are focusing their attention on providing remote access and control of the system, while others are more focused on the interconnectivity of the devices and on integrating them into greater systems, like smart cities. In this paper we propose a hierarchical architecture for Home Automation Systems, which aims at integrating both approaches. We propose a modular and scalable system, with multiple layers, each layer having its own distinct structure, functionality and challenges.

Ultrasonic waves; Line of sight; Indoor positioning; Collaborative robots; Least squares; Particle filter

This paper presents basic characteristics of the problem of positioning errors propagation in collaborative multi robot environments. We propose two localization methods to achieve a cooperative positioning system using a collaborative autonomous robotic team for indoor surveillance applications. Based on case study simulation results, we were able to evaluate the error propagation process and to obtain the two-dimensional (2D) localization errors for the two proposed methods: Iterative Least Square (ILS) Localization and Backtracking Particle Filter (BPF) Localization.

TDMA; Slot-stealing; Real-time; Wired sensor network; Wireless sensor network

Time division multiple access (TDMA) schemes are intensively being the main solution to provide predictability and timeliness in data communication systems requiring real-time operation. In this paper we investigate the problem of low efficiency and channel utilization, common to the TDMA algorithms. As a solution, we propose a general slot stealing version of TDMA, able to significantly increase the channel utilization factor, while preserving the required level of predictability, both in wired and in wireless real-time networks.

Project-based learning; Robotics; Project management; Industrial partnership; Collaboration; Team work

Due to its high potential and encouraging results, project-based learning emerges as a highly interesting paradigm in the education systems worldwide. Moreover, robotics is an interdisciplinary field where students could learn and apply their skills in mechanics, electronics, computer science, mathematics and control engineering. This paper presents a robotics project-based learning methodology which focuses on collaborating with the industry to design, develop, evaluate, integrate and manage projects designated to be used in real-life applications. This learning method emphasizes and enables the students to apprehend the importance of fulfilling client requirements and the interactions with the client, the suppliers and with the other members of the team. The students, coached by a partner from industry, have the opportunity to apply and to improve their project management skills under a large-scale, highly complex project. This method is being applied since 2008 at ISEN Lille, France, with good results and significant impact.

Hard real-time (HRT); Real-time operating system (RTOS); Execution context; Jitter

In this paper, a hard real-time execution environment extension is proposed for an open source real-time operating system, FreeRTOS, in order to support a special case of hard real-time tasks, called ModXs. The goal is to obtain a real-time system which has both the capabilities offered by a dynamic, preemptive, priority based scheduling and execution environment and the determinism and predictability of a hard real time execution environment. This paper also presents an implementation of the system which was tested and validated on a hardware platform EFM32-G8900-STK.

Omnidirectional; Indoor; Ultrasound; Odometry

This paper focuses on the problem of relative localization system in collaborative environments based on our previous proposed relative localization methodology. We propose a low cost hardware module to achieve a relative positioning system used in research scope to develop some methods, techniques and algorithms in Multi Mobile Autonomous Robotic Systems (2MARS) applications. We discuss about existing hardware modules in literature by showing some constraints. We present some important design aspects of our proposed relative positioning system using the low cost hardware module: Inter-Robot Ultrasonic Localization Turret (IRULT).

WSN; Real time applications; IEEE 802.15.4; ZigBee

Nowadays, systems based on Wireless Sensor Networks are intensively used in various fields. However, there are few real time applications employing WSNs. The problem resides in various limitations especially at the level of their communication capabilities. Various researches were conducted in this direction but theoretical models are still far from physical reality. The work presented in this paper aims to identify some hard-to-be-modeled aspects using practical measurements on a real time WSN. Experiments were conducted on a network using IEEE 802.15.4 compliant communication modules, including the widespread ZigBee solution.

Power-Aware; Real Time Systems; Scheduling; Dynamic Voltage Scaling (DVS); Dynamic Power Management (DPM)

As the embedded and real-time control systems become ubiquitous, with increasingly stringent requirements of smaller size, their energy efficiency emerges as a problem of key interest. In this paper we review the state of the art of energy optimization techniques from the real-time systems point of view. The survey approaches both hardware and software aspects, including the real-time hardware support, various power-saving mechanisms, battery models, real-time power-aware scheduling and dynamic power management methods. The relevant solutions found in the literature are classified and briefly presented. A comparative discussion of these methods, focusing on a set of key aspects, summarizes the survey.

Location management; Triangulation method; Trilateration method; Localization confidence

This paper focuses on the problem of relative location management in a robotic systems starting from the previous developed methods, techniques and algorithms. We discuss about inter-robot alignment, distance measurement and localization using the triangulation and trilateration methods. We will show the importance of the confidence number of the robotic nodes in the system, to the relative localization approaches. The measurement results, performed on the CORE-TX case study, show that the proposed solutions meet the design requirements previously specified.

Mathematical model; Mobile robots; Robot kinematics; Robot sensing systems; Wheels

Robotic collectives have been a very popular research topic in the last years. Also, applying emergent behavior patterns to such collectives has been similarly popular. This article introduces a mathematical model for resource gathering applications which is based on the study of ant colonies and validates it by simulating it inside Microsoft Robotics Studio simulator. The model is based on the implementation of a new emergent pattern, called Patrol. During the course of the simulations, another emergent behavior pattern, called Foodball, is studied.

Precision Time Protocol; Collaborative environments; Robotic collectives; Synchronization protocols; Wireless sensor networks

In this paper we consider the problem of time synchronization in collaborative environments of robots and intelligent sensors. Due to its superior performance, the Precision Time Protocol (PTP) has been implemented and tested using various topologies of complex, multi-hop networks. Two distinct approaches have been studied. The first one uses boundary clocks, while the second uses a transparent clock for the intermediary nodes. A set of experiments and simulations have been conducted with the OMNeT++ environment. Finally, we propose and discuss a modified version of the PTP protocol, specifically designed to consider the particular problems of networks with mobile robotic nodes.

Image feature extraction; Edge localization; Phase congruency; Ridge detection

Edge localization is an important factor when choosing between various image feature extraction techniques. Lesser edge displacement means more accurate results, and this is the aim of most edge detectors. We present a novel algorithm for obtaining highly localized edges from grayscale images, based on an analogy between phase congruency maps and digital elevation models. In the first step, phase congruency is used to obtain an initial edge map, which is then processed in a second step by a modified ridge-detection algorithm in order to obtain an increased edge localization.

Behavior-based systems; Fish shoal inspired movement; Obstacle avoidance; Robotic collectives; Robotic navigation

In this paper we consider the evaluation of fish shoal inspired movement in collaborative robotic environments. Based on two new metrics, the polarization and the cohesion, a navigation and obstacle avoidance environment composed of LEGO Mindstorm NXT robots has been implemented and evaluated. A set of experiments have been conducted using the LEGO robotic set, targeting specific emergent behavior patterns such as flash expansion and fountain effect (which are typical fish shoal evasive maneuvers). These experimental results prove the quality of the metrics when used for the evaluation and validation of fish shoal inspired models for navigation and obstacle avoidance in complex movement applications which demand collaborative intelligence.

Emergent behavior; Collective robotics; Resource gathering; Exploration

The last years demonstrated a significant increase in the interest for emergent, collaborative robotics as a viable alternative to the more centralized classic approach. The design and implementation of a system of numerous cheaper robots have become more attractive than the construction of a larger, more expensive robot. This paper describes the algorithm which is used by a collaborative system of autonomous robots to find food sources (resources) on an unknown territory. As a case study, the implementations of this algorithm using a robotic collective composed of LEGO Mindstorm robots is discussed in this article. Some of the more interesting experimental results are also presented.

Inter-process communication; Synchronization; Hard real-time; HARETICK

HARETICK is a hard real-time compact operating kernel designed specifically to support critical applications on DSP and embedded platforms including intelligent sensor networks and robotic environments. It provides operating support for both hard real-time and soft/non real-time tasks. The hard real-time task execution context is based on non-preemptive mechanisms. This paper focuses on the inter-task communication and synchronization techniques involving the two types of tasks previously mentioned. As a case study, a highly predictable synchronous serial communication (i.e., SPI) interface implemented on an ARM7-based HARETICK platform, is presented and discussed, along with some of the most interesting experimental results.

Battery-powered mobile applications; Power consumption; Power profile evaluation; Semiconductor technologies; Wireless communication

Advances in semiconductor technologies and wireless communication are contributing to the rapid growth of the mobile devices market. They have a large number of applications but all of them depend on their battery lifetime. Therefore we present in this paper how power benchmarks can be used to characterize power consumption of battery-powered devices running different applications.

Human spine geometry; Scoliosis

The majority of the population suffers of mild or severe spinal column deformations, such as scoliosis, lordosis, cifosis, leading to the reduction of the personal comfort and the reduction of the physical and intellectual effort capacity, also leading to severe distortions of thorax shape and alteration of the respiratory process. In order to emit the right diagnosis it is necessary to measure 3D geometry parameters of the human spine including the rotations angle between the vertebrae. The classical non-invasive investigations methods don't establish vertebrae rotation angle. This paper presents a method for the determination of the vertebrae rotation angle with a noninvasive investigations method using the ultrasound device. It is assumed that every vertebra is associated with a precision point and a characteristic line.

Cryptography; Data communication; Data encapsulation; Video coding; Video communication; Video streaming; Watermarking

The transmission of streaming data, because of its real-time nature, is subject to bandwidth constraints. We propose a MPEG-2 compliant decoder which uses data hiding to transmit additional data with no extra bandwidth while creating an almost imperceptible degradation of the picture. The additional data can be anything from subtitles to correction signals and watermarking.

Wireless sensor networks; Network deployment; Mobile nodes; Obstacle avoidance

In this paper we address the topic of wireless sensor networks deployment, redeployment and post-deployment network maintenance based on mobile robotic nodes in order to achieve optimal connectivity and minimum energy consumption. The research is based on the CORE-TX platform, which provides the necessary hardware and software modules used for evaluation and testing of the solutions discussed. The quality of the communication link has an important role in energy saving due to packet loss ratio and the required power level of the transceiver. The paper proposes and discusses an automated approach to network deployment and network maintenance based on local connectivity evaluation.

Local area networks; Routing protocols; Time division multiplexing

This paper focuses on describing the data routing techniques and their applications to remote protocol analysis, of a digital equipment capable of acting as a bridge between a plesiochronous digital hierarchy and a Fast-Ethernet network. The paper also describes aspects related to the design and implementation of this device, named TETHRA (an acronym of TDM over Ethernet router and analyzer), which is capable of routing data contained in the received time-division multiplex (TDM) frames towards equipments connected to the Fast-Ethernet network, and vice-versa, in a transparent and flexible manner.

Serial communications; Monitoring; Embeeded systems; Microcontrollers

More and more microcontrollers are embedded in a large area of products from industrial to domestic domains. A good example is the automobile, a modern one containing tens of microcontrollers. As their number increased the communication between them became necessary. The serial solution was preferred and a lot of serial buses and protocols were developed optimizing different parameters of the communication. Several examples are: RS232, LIN, SPI, CAN and so on. Monitoring serial communications is necessary in R&D phase, e.g. for creating virtual transfer partners, and in testing and debugging phases. The paper describes a message based monitoring tool for the RS232 bus and monitoring tools for the LIN and SPI buses. Many microcontrollers contain the LIN and SPI buses and almost all of them include the RS232 bus. The created tools work in passive mode, monitoring the transfers and sending the data to a PC or in active mode (only for the LIN bus), interfering in the communication and sending headers, responses or injecting typical errors.

Collective robotic environments; Emergence; Robotic behavior

In a ubiquitous environment, intellignet functions are embedded in objects around the user, thus enabling him to create variuos functionalities by combining those objects. The collaborative robotic environments are a new approach to the coordination of multirobot systems which usually consist of numerous, relatively simple, small sized robots. The CORE-TX system (COllaborative Robotic Environment - the Timisoara eXperiment) is conceived as a complex platform composed by a heterogeneous set of autonomous microsystems with embedded intelligence, a collaborative communication environment and a central entity with supervising functions. This paper describes the general architecture of the CORE-TX system, the system model; this paper also contains a brief comparison bBetween CORE-TX and state-of-the-art collaborative environments.

Human spine geometry; CCD camera; Target points algorithm

The geometric determination of the spine in 3D it represents interest from medical point of view for determination of deviation comparative with the vertebral columns geometry of a standard subject. In order to determinate the geometry of the vertebral column one can use a non-contact method, which allows a non-interference approach of the human subject, increasing speed and accuracy.

Digital Signal Processing; DSP-based system; Communication protocol; RS232; SPP; EPP; ECP

In this paper we focus on the implementation techniques of some communication protocols between a DSP-based system and a host computer. We describe the specific communication protocol specifications along with the characteristic details of their implementation on the DSP-based system. We also emphasize the routines created for testing the implemented communication protocols and the interpretation of their results. Finally, we make some comparative study and performance analysis on the implemented communication protocols.