Marcel-Titus Marginean

The usage of well-tried software design patterns and application frameworks is often encountered in Mission and Safety Critical Applications development due to the high stakes involved in the case of failures. To increase reliability, some frameworks attempt to separate the implementation of business logic and low level implementation details and move the latter inside of framework-implementation in order to allow the developers to focus on the problem as much as possible, while still providing… Show more

The usage of well-tried software design patterns and application frameworks is often encountered in Mission and Safety Critical Applications development due to the high stakes involved in the case of failures. To increase reliability, some frameworks attempt to separate the implementation of business logic and low level implementation details and move the latter inside of framework-implementation in order to allow the developers to focus on the problem as much as possible, while still providing the necessary infrastructure in easy to use API’s. In this paper we present a framework for message processing which takes advantage of the newer C++11 features to enforce
separation of concerns, perform dead-lock avoidance, and encourage unit testing. This paper expands on our previous work presented in June 2016 at IEEE/ACIS SERA.
Show less

The usage of well-tried software design patterns and application frameworks is often encountered in Mission and Safety Critical Applications development due to the high stakes involved in the case of failures.
To increase reliability, some frameworks attempt to separate the implementation of business logic and low level implementation details and move the latter inside of framework-implementation in order to allow the developers to focus as much as possible on the problem to be solved while… Show more

The usage of well-tried software design patterns and application frameworks is often encountered in Mission and Safety Critical Applications development due to the high stakes involved in the case of failures.
To increase reliability, some frameworks attempt to separate the implementation of business logic and low level implementation details and move the latter inside of framework-implementation in order to allow the developers to focus as much as possible on the problem to be solved while providing the necessary infrastructure into easy to use API’s.
In this paper we present a framework for message processing which takes advantage of the newer C++11 features to enforce separation of concerns, perform dead-lock avoidance, and encourage unit testing. Show less

sDOMO is a communication protocol developed for home automation and the building of
robotic systems. Being optimized for small devices, sDOMO allows some 8 bit
microcontrollers to be a full featured, independent node in the domotic network, yet the
protocol is powerful enough to provide soft-real-time communication for our computer-
vision distributed system for domestic robots. Being designed with security and privacy
concerns in mind, sDOMO has unique features to protect the… Show more

sDOMO is a communication protocol developed for home automation and the building of
robotic systems. Being optimized for small devices, sDOMO allows some 8 bit
microcontrollers to be a full featured, independent node in the domotic network, yet the
protocol is powerful enough to provide soft-real-time communication for our computer-
vision distributed system for domestic robots. Being designed with security and privacy
concerns in mind, sDOMO has unique features to protect the residents. Show less

Today’s market for domotic systems is dominated by proprietary communication protocols incompatible with each other. This not only prevents engineers from building highly integrated home automation and domestic robotic systems, but keeps prices artificially high due to a lack of competition in the market since the customers have to restrict their choices to components compatible with the system already deployed. In this paper, we propose a communication protocol for fully integrated domotic… Show more

Today’s market for domotic systems is dominated by proprietary communication protocols incompatible with each other. This not only prevents engineers from building highly integrated home automation and domestic robotic systems, but keeps prices artificially high due to a lack of competition in the market since the customers have to restrict their choices to components compatible with the system already deployed. In this paper, we propose a communication protocol for fully integrated domotic systems running on top of house network, protocol which is simple enough to accommodate as peers micro-controller based sensors but scalable enough to handle a house wide distributed computer vision system for domestic robot assisted living. Based on a house centered philosophy, the protocol is putting emphasis on privacy and protection of the residents. Show less

Tracking multiple persons / robots / pets and moving objects is an essential task for situation awareness in robot navigation and operation. It is also a relatively complicated problem of computer
vision and multiple solutions have been proposed in literature. In this paper we are exploring a novel method of object tracking using computer vision by fusing multiple techniques into a single
tracker implementation. The main goal of this method is to perform high confidence data associations… Show more

Tracking multiple persons / robots / pets and moving objects is an essential task for situation awareness in robot navigation and operation. It is also a relatively complicated problem of computer
vision and multiple solutions have been proposed in literature. In this paper we are exploring a novel method of object tracking using computer vision by fusing multiple techniques into a single
tracker implementation. The main goal of this method is to perform high confidence data associations as soon as possible in order to be able to provide tracking information to a moving robot in real time with attempts to minimize the CPU utilization for tracking whenever possible since the Base Station computer is being shared with multiple software modules. Show less

The paper proposes a distributed control architecture for indoor robot navigation employing both
on board and external computer vision units. A communication protocol for cooperative localization and obstacle avoidance is developed, where the visual processing is performed cooperatively between an on board unit (robot) and an external unit (base station), each of which has access to the on-board (mobile) and house mounted (fixed) cameras respectively. A set of data-structures and algorithms… Show more

The paper proposes a distributed control architecture for indoor robot navigation employing both
on board and external computer vision units. A communication protocol for cooperative localization and obstacle avoidance is developed, where the visual processing is performed cooperatively between an on board unit (robot) and an external unit (base station), each of which has access to the on-board (mobile) and house mounted (fixed) cameras respectively. A set of data-structures and algorithms for distributed video processing and decision making are proposed. The idea of an aspect oriented indexing system for a database of visual objects used in object recognition is introduced. Show less