IMACS

IMACS is a framework for performance evaluation of IMAge in the Closed-loop System.

Installation

IMACS SiL with ISP pipeline, C++, and V-REP for LKAS

IMACS software-in-the-loop (SiL) simulator using C++ and V-REP for a vision-based lateral control example can be downloaded from here. This version of the SiL simulator uses a reversible pipeline (see [1] for more details).

IMACS SiL with C++ and V-REP for LKAS

A light-weight SiL simulator using C++ and V-REP to validate your image processing and control algorithms can be downloaded from here. This version of the SiL simulator does not have the reversible pipeline.

Videos

A video for the software-in-the-loop (SiL) simulator of IMACS using C++ and V-REP for a vision-based lateral control example:

A video for the hardware-in-the-loop (HiL) simulator of IMACS using V-REP and NVIDIA AGX Xavier for a vision-based lateral control example can be found here.

A video for the hardware-in-the-loop (HiL) simulator of IMACS using Webots and NVIDIA Drive PX2 for a vision-based lateral control example can be found here.

Publications

[1] S. De, Y. Huang, S. Mohamed, D. Goswami, and H. Corporaal, "Hardware- and Situation-Aware Sensing for Robust Closed-Loop Control Systems," In Design, Automation and Test in Europe Conference (DATE), 2021. [paper]

[2] S. De, S. Mohamed, D. Goswami, and H. Corporaal, "Approximation-Aware Design of an Image-Based Control System," In IEEE Access, 2020. [pdf] [bibtex]

[3] S. De, S. Mohamed, K. Bimpisidis, D. Goswami, T. Basten, and H. Corporaal, "Approximation trade offs in an image-based control system," In Design, Automation and Test in Europe Conference (DATE), 2020. [paper] [slides] [bibtex]

[4] S. Mohamed, S. De, K. Bimpisidis, V, Nathan, D. Goswami, H. Corporaal, and T. Basten, "IMACS: a framework for performance evaluation of image approximation in a closed-loop system," In 8th Mediterranean Conference on Embedded Computing (MECO), 2019. [pdf] [slides] [details] [bibtex] (Best paper award)

The controllers for the LKAS are designed based on the concepts described in the following papers:

[5] S. Mohamed, D. Goswami, V. Nathan, R. Rajappa, and T. Basten, "A scenario-and platform-aware design flow for image-based control systems," In Microprocessors and Microsystems (MICPRO), 2020. [DOI] [pdf] [bibtex]

[6] S. Mohamed, A. U. Awan, D. Goswami, and T. Basten, "Designing image-based control systems considering workload variations," In IEEE 58th Conference on Decision and Control (CDC), 2019. [pdf] [slides] [bibtex]

[7] S. Mohamed, D. Zhu, D. Goswami, and T. Basten, "Optimising Quality-of-Control for Data-intensive Multiprocessor Image-Based Control Systems considering Workload Variations," In Digital System Design (DSD), 2018. [pdf] [slides] [bibtex]

Developers

Sajid Mohamed
Sayandip De
Konstantinos Bimpisidis
Vishak Nathan
Diqing Zhu
Yingkai Huang
Chaolun Ma

Contact

Sajid Mohamed, Researcher, Eindhoven University of Technology
Dip Goswami, Assistant Professor, Eindhoven University of Technology