Lodestar: An Integrated Embedded Real-Time Control Engine
Hamza El-Kebir, Joseph Bentsman, Melkior Ornik

TL;DR
Lodestar is a comprehensive real-time control engine that simplifies complex control system development through a functional block diagram approach, supporting rapid prototyping, execution, and integration with hardware and software.
Contribution
It introduces a unified framework for control, signal processing, and vision routines that enables real-time performance and easy translation to source code for embedded systems.
Findings
Successfully implemented real-time torque control for a robotic arm.
Developed a novel autofocus algorithm for thermography-based localization.
Demonstrated Lodestar's ease of use and integration in various control and simulation scenarios.
Abstract
In this work we present Lodestar, an integrated engine for rapid real-time control system development. Using a functional block diagram paradigm, Lodestar allows for complex multi-disciplinary control software design, while automatically resolving execution order, circular data-dependencies, and networking. In particular, Lodestar presents a unified set of control, signal processing, and computer vision routines to users, which may be interfaced with external hardware and software packages using interoperable user-defined wrappers. Lodestar allows for user-defined block diagrams to be directly executed, or for them to be translated to overhead-free source code for integration in other programs. We demonstrate how our framework departs from approaches used in state-of-the-art simulation frameworks to enable real-time performance, and compare its capabilities to existing solutions in the…
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Taxonomy
TopicsAdvanced Vision and Imaging · Teleoperation and Haptic Systems · Robotics and Sensor-Based Localization
