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`and processing system featuring two-axis motion” 2010 4th European
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`processing system featuring two-axis motion” was published in the 2010 4th European
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`EXHIBIT A
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`EXHIBIT A
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`Remote controlled DSP based image capturing and processing system featuring two­axis motion ­ IEEE Xplore Document
`1/16/2017
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`Remote controlled DSP based image capturing and
`processing system featuring two­axis motion
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`Author(s)
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` M. Gotsopoulos ; 
`
` A. Kalantzopoulos ; 
`
` E. Zigouris
`
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`Abstract:
`The purpose of this paper is to present the design of a remote controlled DSP based real­time image processing system, equipped with a high
`resolution CMOS image sensor. This system is implemented utilizing the R­DImPr API and supports a two axes motion of the image sensor based on
`two stepper motors. The remote control of the system is achieved through a Graphical User Interface (GUI) via Internet or Ethernet. The user is able to
`configure some parameters of the image sensor such as gain and exposure time. The GUI allows the control of the stepper motors in order to adjust the
`position of the image sensor and the selection of the desired image processing algorithm. The proposed system can be used as a base of embedded
`surveillance or machine vision systems because of its open and flexible structure which allows the integration of advanced image processing
`algorithms.
`
`Published in: Education and Research Conference (EDERC), 2010 4th European
`
`Date of Conference: 1­2 Dec. 2010
`
` INSPEC Accession Number: 12542896
`
`Date Added to IEEE Xplore: 13 February 2012
`
`Publisher: IEEE
`
` ISBN Information:
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`IEEE Keywords
`IP networks, Image resolution, Digital signal processing, Process control, Robustness, Hardware,
`Image color analysis
`
`INSPEC: Controlled Indexing
`local area networks, application program interfaces, computer vision, digital signal processing chips,
`graphical user interfaces, image motion analysis, image sensors, Internet
`
`INSPEC: Non­Controlled Indexing
`machine vision system, remote controlled DSP, DSP based image capturing system, DSP based
`image processing system, two­axis motion, digital signal processor, CMOS image sensor, R­DImPr
`API, application program interface, graphical user interface, Internet, ethernet, embedded surveillance
`system
`http://ieeexplore.ieee.org/document/6151402/
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`Remote controlled DSP based image capturing and processing system featuring two­axis motion ­ IEEE Xplore Document
`system
`
`Authors
`
`M. Gotsopoulos
`Electronics Laboratory, Electronics and Computers Div., Department of
`Physics, University of Patras, GR­265 00, GREECE
`
`A. Kalantzopoulos
`Electronics Laboratory, Electronics and Computers Div., Department of
`Physics, University of Patras, GR­265 00, GREECE
`
`E. Zigouris
`Electronics Laboratory, Electronics and Computers Div., Department of
`Physics, University of Patras, GR­265 00, GREECE
`
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`S. Baker; S.K. Nayar
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`C. Bahlmann; Y. Zhu; Visvanathan Ramesh; M. Pellkofer; T. Koehler
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`Pradeep Natarajan; Shuang Wu; Shiv Vitaladevuni; Xiaodan Zhuang; Stavros Tsakalidis; Unsang
`Park; Rohit Prasad; Premkumar Natarajan
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`Jorg Stuckler; Sven Behnke
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`Yu­Wing Tai; Hao Du; Michael S. Brown; Stephen Lin
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`A. Meta; P. Hoogeboom; L.P. Ligthart
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`Hien Van Nguyen; Amit Banerjee; Rama Chellappa
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`Ric Heishman; Zoran Duric
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` 
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`Remote controlled DSP based image capturing and processing system featuring two­axis motion ­ IEEE Xplore Document
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`
`
`Proceedings of the 4th European DSP in Education and Research Conference
`
`
`
`REMOTE CONTROLLED DSP BASED IMAGE CAPTURING AND PROCESSING
`SYSTEM FEATURING TWO-AXIS MOTION
`
`
`
`M Gotsopoulos, A. Kalantzopoulos and E. Zigouris
`
`
`
`Electronics Laboratory, Electronics and Computers Div., Department of Physics
`
`
`
`
`University of Patras, GR-265 00 Patras, GREECE
`
`
`phone: + (30) 2610997465, fax: + (30) 2610997456, email: ez@physics.upatras.gr
`
`In many cases these systems are controlled through Internet
`
`ABSTRACT
`or Ethernet via Web Pages or suitable designed GUls
`The purpose of this paper is to present the design of a
`
`
`
`(Graphical User Interfaces). Therefore systems that feature
`
`
`remote controlled DSP based real-time image processing
`
`
`
`real-time motion control, image settings adjustments and
`
`
`system, equipped with a high resolution CMOS image
`other similar options over the network, hold a major
`
`
`
`sensor. This system is implemented utilizing the R-DImPr
`
`versatility advantage over those with fixed, non-selectable
`
`API and supports a two axes motion of the image sensor
`settings.
`
`
`
`based on two stepper motors. The remote control of the
`
`
`system is achieved through a Graphical User Interface
`This paper presents a remote controlled DSP based real­
`
`
`
`(GUI) via Internet or Ethernet. The user is able to
`
`time image processing system which is equipped with a
`
`
`configure some parameters of the image sensor such as
`
`
`high resolution CMOS image sensor controlled by a
`
`
`gain and exposure time. The GU I allows the control of the
`powerful FPGA. The proposed system, which is
`
`
`stepper motors in order to adjust the position of the image
`
`implemented utilizing the R-DlmPr API (Application
`
`
`sensor and the selection of the desired image processing
`
`
`Programming Interface) [3,4], supports a two-axis motion
`
`
`algorithm. The proposed system can be used as a base of
`
`
`of the image sensor using a mechanical structure based on
`
`
`
`embedded surveillance or machine vision systems because
`
`
`two stepper motors. The remote control and configuration
`
`of its open and flexible structure which allows the
`of the system is achieved through a LabVIEW based user
`
`
`integration of advanced image processing algorithms.
`friendly GUI. A block diagram of the proposed system is
`in Fig. I.
`presented
`
`1. INTRODUCTION
`
`Lately, digital camera systems have been gaining ground in
`2. SYSTEM HARDWARE
`the market and in various consumer, industry and research
`The system is based on the Spectrum Digital C64 I 6 DSK
`
`
`applications such as surveillance and machine vision
`TMS320C64 I 6T DSP
`systems [1, 2]. These systems are equipped with high
`
`[5] consisting of Texas Instruments
`TMS320C64 I 6T DSP is a very powerful
`
`resolution CCD (Charge Coupled Device) or CMOS
`and peripherals.
`
`
`(Complementary Metal Oxide Semiconductor) image
`DSP and is optimized for image and video processing
`
`
`sensors for real-time image capturing and usually appear in
`applications.
`the form of smart cameras. They cover the needs of object
`
`
`tracking, face recognition and many other application­
`
`specific processing requirements.
`
`A great amount of discussion and research is being held on
`
`
`this topic, focusing on embedded image processing system
`
`design using ASICs (Application Specific Integrated
`
`
`Circuits), FPGAs (Field Programmable Gate Arrays) and
`
`
`
`DSPs (Digital Signal Processors) or combinations of them.
`
`The range to which applications are remotely controlled
`
`through a local network or internet is rapidly becoming
`
`wider. Heading to this direction, numerous system
`
`
`designers tend to integrate networking features into their
`
`
`products. This has led to a significant growth in popularity
`ofIP (or Web) Cameras and Smart Camera Systems.
`
`.
`
`-- -I
`.
`
`of the remote controlled DSP
`
`32
`
`Many surveillance and machine vision applications require
`
`
`
`the movement of the corresponding image sensor. For this
`reason stepper motors or servo motors undertake the
`Figure I - Architecture
`
`rotation of the image sensor in one or two axes depending
`
`on the needs of each application.
`
`based image processing system.
`
`Interface
`�." �
`Memoryexp.
`Peripheral expo Motion Structure
`
`,
`-
`. .
`.� : --,. .
`DSK C6416
`
`

`

`metal motion mechanism was constructed in order to hold
`
`The utilization of Bitec's DSK-EYE Gigabit [6], a
`
`both of the stepper motors and their motion transmission
`
`daughtercard designed for use with C6416 and C6713
`gear sets. The camera module is also attached to and held
`
`
`DSKs, renders the image capturing capability to the system.
`DSK-EYE, which is built around the ALTERA EP2C8
`
`by the motion mechanism while its connection to DSK­
`EYE board was extended with a 26-pin flat cable. The
`Cyclone II FPGA, is connected to and powered by the
`prototype mechanism including stepper motors, motion
`
`C6416 DSK board Peripheral and Memory expansion
`
`connectors [5].
`
`
`transmission sections and the camera module is depicted in
`Fig. 2.
`
`This board is equipped with the Omnivision OV5610 5.2
`
`MPixel CMOS Image Sensor [7], undertaking high
`A stepper motor driving circuit was designed upon two
`
`Allegro UDN2916 dual full-bridge motor driver ICs and
`
`
`resolution image grabbing and easy adjustability to any
`
`
`application. The configuration of the image sensor is
`
`fabricated on a strip board. The resulting board was
`
`achieved by setting its internal registers, which are
`
`
`equipped with two Santa Cruz compatible connectors as
`
`well as two 6-pin stepper motor connectors and fed by an
`
`
`responsible for image resolution mode, gain and exposure
`control along with many other defmable parameters.
`
`external 12V power supply. Receiving pulses generated on
`
`the FPGA [8], through Santa Cruz interface, the driver
`DSK-EYE's Ethernet adapter renders the daughtercard a
`
`
`board is able to control the rotational stepping of the
`powerful tool for any network oriented image processing
`motors.
`
`application, allowing for full remote control of the system.
`DSK-EYE board offers further expansion capabilities
`3. IMPLEMENTATION - DEVICE PROGRAMMING
`through the AL TERA Santa Cruz Interface [6] which
`
`provides easy external connection to FPGA pins, power and
`clock sources of the board.
`
`The generation of all control signals that dominate the
`
`
`operation of the system is dependent on the DSP. The
`
`
`communication between the hardware components, Fig.3, is
`Santa Cruz Interface was exploited in this specific system
`
`
`
`handled by the DSP with functions that perform read/write
`design in order to connect the prototype stepper motor
`
`
`operations and memory addressing. DSP was programmed
`driver board to add a two-axis motion control.
`with Code Composer Studio 3.1 using the DSPIBIOS real­
`A pair of bipolar stepper motors was used, due to their high
`
`time multi-tasking kernel. The main project includes two
`
`speed and holding torque characteristics, as an accurate and
`
`
`
`sub-projects. One of them controls the camera module and
`
`
`
`effective way to attain controlled two-axis camera motion
`the other one implements the IwlP stack [6] that controls
`[8]. The model used is Nanotec SP2575M0206-A bipolar
`the TCP/IP communication.
`stepper motor with a 7.50 step, leading to 48 full steps per
`The management of the OV 5610 sensor and the stepper
`
`revolution. This was scaled down achieving a 0.10 angle
`
`motor driver device interfacing is carried out through the
`
`step or 3600 full steps per revolution utilizing the proper
`AL TERA EP2C8 Cyclone II FPGA. The FPGA lies on the
`worm wheel set for each motor. A prototype two-shaft
`DSK-EYE board and was programmed using the SOPC
`Y-axis
`X-axis
`Image
`Rot�tion
`Mechanism
`Builder tool of Quartus II 8.0 [9, 10]. The schematic block
`Sensor
`r-----------·
`diagram design in Quartus project combines the
`,
`,
`
`components generated in SOPC Builder. These components
`,
`,
`,
`
`control the synchronization and clock signals of the image
`,
`,
`,
`
`sensor, the EMIF memory address decoding, the raw image
`,
`
`data distribution and the stepper motor driving signal
`
`Y-axis
`
`X-axis Y-axis
`
`DSK C6416
`
`I SDRAM I
`�
`B=
`
`Figure 2 - Prototype metal motion mechanism holding
`
`
`
`stepper motors with motion transmission sets and OV5610
`Figure 3 - Hardware interfacing block diagram
`
`camera module.
`
`
`representing interconnection of main system components.
`
`33
`
`

`

`generation. FPGA also contains an implementation of I2C
`
`
`These functions, running on the DSP, are responsible for
`
`
`
`
`
`(Inter-Integrated Circuit) bus for read/write operations of
`the control of the stepper motor driving logic block which
`
`is implemented in the DSK-EYE FPGA.
`
`
`the internal registers of the camera module. An additional
`16-bit SDRAM memory component that acts as a bridge
`Image Processing API
`between DSP and the stepper motor driving logic block, is
`
`also included. The components that comprise the system
`The Image Processing API is specially designed for fixed
`
`
`
`implementation on the FPGA are memory mapped through
`
`point arithmetic DSPs and contains C functions for the
`
`EMIF bus with regard to the DSK-EYE daughtercard base
`
`
`
`implementation of basic image processing algorithms such
`memory address.
`
`
`
`as colour space conversions, filtering, edge detection etc. In
`
`the modified version of this API, algorithms such as White
`The registers of the OV 5610 sensor are set according to the
`
`
`
`
`Balance Colour Correction and Colour Saturation were also
`
`
`
`gain, exposure, and image resolution parameter settings in
`added. The White Balance Colour Correction function
`
`the GUI. As soon as the user requests image grabbing, a
`corrects the captured image taking into account the color
`TCP/IP connection between the DSP server and client
`
`temperature of the light source, which refers to the relative
`
`
`computer is established and a 25-character command is sent
`warmth or coolness of white light. The Colour Saturation
`
`to the DSP. This command contains all the information
`
`function adjusts the Saturation of the captured image for a
`
`
`about image resolution, gain and exposure settings along
`
`more realistic representation.
`
`with the desired number of steps and motion direction for
`both of the stepper motors. DSP then sets the camera
`4.2 Building an Image Processing System
`
`registers via 12C and writes step data to the 16-bit memory
`The main purpose of the R-DImPr API is to allow the
`
`in order to make it available to the stepper motor driver
`
`researchers and the students to build real-time image
`logic block. This block in turn, generates
`the appropriate
`
`processing applications easily and rapidly. The block
`signals to control the stepper motor driver board, moving
`the camera module to the desired position.
`
`Following camera motion completion, OV5610 captures an
`
`
`image and starts data transfer to a FIFO (First In First Out)
`
`stack implemented on the FPGA which packs the raw data
`
`
`
`to DSK's to start EDMA transfer and triggers an interrupt
`memory. Raw image data is then converted to RGB with a
`
`
`demosaicing algorithm and re-organized in memory by
`
`colour component. A function is used to create a Bitmap
`header which together with the RGB data array constitutes
`the BMP image file. The BMP file is then sent via TCP/IP
`and stored on the client computer. When image processing
`is requested by the user, the existing RGB data is
`
`processed, converted to a BMP file and sent to the client
`computer likewise.
`
`4. APPLICATION PROGRAMMING INTERFACE
`(API)
`
`The DSP code of the presented system was designed and
`
`
`
`developed exploiting the features of the extended R-DImPr
`
`API [3 ,4] . This API contains C functions which are divided
`
`in two sections, the System Design API and the Image
`
`Processing API.
`
`4.1 System Design API
`
`,
`'----------' i
`._. -, _. -, -, _. -, _. _. -, _. -, _. _. _. _._'
`Processing Procedure
`
`r'-----'-'
`
`The functions of the System Design API are derived from
`
`the DSK-EYE Gigabit API and enable the design and
`testing of image processing systems for research and
`
`
`educational purposes. This API contains C functions which
`allow DSP to handle the hardware of the proposed system
`
`
`
`and undertake the system initialization, the configuration of
`
`the IP address, port and Gateway. It also includes functions
`which set the values of the CMOS Image Sensor registers
`and transfer the captured image through TCP/IP. In
`
`addition, the modified version of the System Design API
`contains C functions for the control of the stepper motors.
`
`
`Figure 4 - Block diagram of the DSP code architecture.
`
`Not a Valid Command
`
`34
`
`

`

`diagram of the DSP code architecture is presented in Fig. 4.
`
`
`According to this block diagram, the execution of the
`0AlITOCN/OFF
`IMA RfSOL ON
`
`program starts with the system initialization procedure
`� VGA (64OX4OO
`
`which includes functions from the R-DImPr System Design
`EXPOSl.RE
`
`
`API. This procedure sets TCP/IP parameters of the system,
`GAIN
`
`resets the parameters of the image sensor and creates a
`
`TCP/IP socket for the communication with the GUI. Next,
`the Command Decoding procedure enters a wait state until
`
`a command from the GUI is received. This command
`
`
`contains information about the execution of one of the two
`
`following procedures.
`
`GET IMAGE
`
`�Otlsteps
`�200;�400
`..., --
`The Capturing Procedure is executed in order to capture a
`
`new image through the image sensor. Initially it configures
`MotOf2steps
`-2000 zoo
`the image sensor by setting parameters such as image
`-4OO.�/ ;400
`...,I I __
`
`resolution, exposure time and gain. In the next step, rotation
`of the image sensor to the proper angle takes place and a
`
`new image is captured. The image is then converted to
`BMP format and is sent to the GUI through TCP/IP.
`
`Eventually the program returns to the Command Decoding
`procedure.
`
`GET IMAGE
`
`The Processing Procedure performs the application of the
`
`
`
`
`desired image processing algorithm to the captured image.
`
`Initially it processes the captured image using an image
`
`processing algorithm which is designed and developed by
`
`
`the user. The developed image processing algorithm might
`
`
`contain functions from the R-DImPr Image Processing API.
`Figure 5 - GUI window with initial
`Finally the processed image is sent to the GUI in BMP
`
`and processed with
`format and the program returns to the Command Decoding
`
`Sobel Edge Detection images displayed.
`procedure.
`
`In order to meet the needs of each application, the user is
`
`
`free to modify the Capturing and the Processing procedures
`
`
`of the basic code architecture. The integration of user-made
`EXPOSl.RE
`
`
`procedures could easily and rapidly expand the features of
`the system.
`
`GAIN
`
`5. REMOTE SYSTEM CONTROL
`
`The GUI, Fig. 5 and 6, that handles the whole procedure of
`
`image grabbing and processing was designed in LabVIEW
`[11]. The GUI has controls for the camera settings and
`
`image attributes. A pop-up menu enables the user to switch
`
`between four image resolution modes (HF, VGA, SXGA
`
`and QSXGA) while two sliders are responsible for the gain
`and exposure settings of the CMOS image sensor. Two
`
`rotational knobs ranged from -900 to +900 are used to
`
`select the direction and number of steps for each stepper
`
`motor, bearing in mind that 900 steps corresponds to a right
`angle motion (0.10 per step) of the image sensor.
`
`GETlMAGE
`
`MotorIst"""
`.��� �400
`I •
`..,,---
`
`Motor Z steps
`
`_2000200
`=_ \ I';:
`
`When the user hits the "GET IMAGE" button a TCP/IP
`connection with the system is opened. A command,
`
`
`
`containing the selected settings, is sent and stored in DSK's
`
`external memory. At the same time, the GUI calculates the
`
`image size and resizes the corresponding image indicators.
`When the capturing procedure is completed the initial
`
`image is displayed in the upper image indicator and the
`
`TCP/IP connection is closed. The image in BMP format is
`stored in the PC.
`
`Figure 6 - GUI window with initial
`
`and processed with
`
`Colour Correction images displayed.
`
`35
`
`

`

`Fig. 5 and 6 represent the system's GUI after the
`
`
`completion of the processing procedure for two different
`
`
`image processing algorithms. The result of the Sobel Edge
`
`Detection algorithm is displayed in Fig.5 and the result of
`
`the Colour Correction algorithm is appeared in Fig.6.
`
`Following consideration of the displayed image, the user
`
`REFERENCES
`can go over the above procedure revising parameter
`[1] M. Bramberger, A. Doblander, A. Maier, B. Rinner
`
`
`settings, camera position or apply one of the available
`
`and H. Schwabach, "Distributed Embedded Smart
`
`
`processing algorithms to the captured image. This is done
`
`Cameras for Surveillance Applications",
`Computer,
`by pressing the lower "GET IMAGE" button after selecting
`vol. 39, No 2, pp. 68-75, Feb 2006.
`
`the desired algorithm from the related pop-up menu. Finally
`
`[2] E. Norouznezhad, A. Bigdeli, A Postula and B. C.
`the processed image is displayed in the corresponding
`
`Lovell, "A high resolution smart camera with GigE
`image indicator.
`
`
`Vision extension for surveillance applications", in
`
`
`Proc. 2nd ACM/IEEE International Conference on
`Stanford,
`
`Distributed Smart Cameras (ICDSC'08),
`CA, USA, pp. 337-344, Sept. 2008.
`[3] D. Markonis and E. Zigouris, Design and
`
`Implementation of an API for Digital Image
`
`Processing Systems Based on DSPs, Internal Report,
`
`
`Electronics Lab, Electronics and Computers Div.,
`
`Physics Dept., Patras University, 2009.
`In this paper a DSP based remote image capturing and
`[4] A. Kalantzopoulos, D. Markonis and E. Zigouris, "A
`
`
`
`processing system capable of camera position adjustment
`Remote Laboratory for Real-Time Digital Image
`
`was presented. This is achieved with a robust prototype
`Processing on Embedded Systems", International
`metal mechanism promising accurate motion transmission
`Vol. 5, No.4, pp. 24-
`
`Journal of Online Engineering,
`from its two stepper motors through a worm wheel set to
`29,2009.
`the CMOS image sensor. The stepper motor pair is driven
`
`by a prototype board connected to the DSK-EYE
`2004.
`Reference,
`
`
`daughtercard exploiting its Santa Cruz expansion interface.
`2007.
`[6] Bitec, DSK-EYE Gigabit
`User's Manual,
`
`Motion control, image capturing and processing requests
`[7] OmniVision, OV5610 Color CMOS QSXGA (5.17
`
`are handled by a GUI in which the resulting images are also
`MPixel) CAMERACHIPTM with OmniPixelTM
`
`displayed. The control of the system and data exchange is
`Mar. 2005.
`Technology,
`
`carried out over a network connection using TCP/IP
`[8] V.V. Athani, Stepper Motors: Fundamentals,
`
`
`protocol. All of the above operations are performed by
`
`Applications and Design, New Age, 1997.
`II Version
`
`
`calling specially designed functions which constitute the
`[9] Altera, Quartus
`2009.
`8.0 Handbook,
`
`modified R-DlmPr API. A great advantage of the system
`[10] Z. Navabi, Embedded Core Design with FPGAs,
`
`
`design lies in its adaptability to specific applications mainly
`
`McGraw-Hili Professional, 2006.
`
`due to the structure of the open source API. In conclusion,
`[11] N. Kehtarnavaz, Digital Signal Processing System
`
`
`
`the presented work constitutes a highly efficient network
`
`Design: Lab VIEW-Based Hybrid Programming,
`
`
`controlled image processing system that can be used in
`Academic Press, 2008.
`
`
`applications such as remote laboratories, communication
`
`and surveillance systems, or as a standalone image
`
`processing station.
`
`6. CONCLUSIONS
`
`[5] Spectrum Digital, TMS320C6416T DSK Technical
`
`36
`
`