This paper reports a navigation and mapping data-set collected in the Croatian Kornati Archipelago during the "Breaking the Surface 2010" international Interdisciplinary Field Training of Marine robotics and...
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This paper reports a navigation and mapping data-set collected in the Croatian Kornati Archipelago during the "Breaking the Surface 2010" international Interdisciplinary Field Training of Marine robotics and Applications event. A sensor ridge including a navigation and mapping sensor suite, to be later installed in the GIRONA500 AUV being developed a the university of Girona, was attached to a motor boat to collect geo-referenced data. The sensor suite includes a Multibeam sonar profiler, an AHRS, a DGPS, a sound-speed profiler including a depth cell, a video camera and a mechanical scanning sonar profiler. The paper reports the experiment performed as well as the navigation and mapping results using: 1) GPS only (used as a ground truth), 2) Dead Reckoning only, and 3) a preliminary method fusing dead reckoning with surface registration based on a simple modification of the well known ICP algorithm. Preliminary, but promising, results show that a better performance may be achieved using the last method.
The paper concerns the result of the implementation of classic point to plane 3D data registration method with an improvement based on GPGPU parallel computation. 3D data is delivered by mobile robot equipped with 3D ...
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The paper concerns the result of the implementation of classic point to plane 3D data registration method with an improvement based on GPGPU parallel computation. 3D data is delivered by mobile robot equipped with 3D laser measurement system for INDOOR and OUTDOOR environments. Presented empirical analysis of the implementation shows the On-Line computation capability using modern graphic processor unit NVIDIA GF 580. The implementation is a part of a project “Semantic simulation engine” composed of following modules: data registration module, semantic entities identification module, semantic simulation. The goal of the project is to deliver software tools capable to create virtual model of the environment based on robot observations and perform semantic simulation, where all virtual entities correspond to real one. Possible practical application of the project are supervision and control of robotic system and mobile robot operator training using Augmented Reality techniques. Data registration module is composed of the implementation of point to point and point to plane classic methods improved by the usage of parallel computation. In this paper it has been shown that the implementation of GPGPU point to plane registration method is accurate in INDOOR structured environment but it has some difficulties in accurate alignment in OUTDOOR environment.
A switched capacitor charge pump applicable to phase change memory(PCM) is presented, which can provide a extra low ripple DC output of 5V with a maximum load condition of 10mA. For low output ripple and high power ef...
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A switched capacitor charge pump applicable to phase change memory(PCM) is presented, which can provide a extra low ripple DC output of 5V with a maximum load condition of 10mA. For low output ripple and high power effiency, a novel operation mode is used. Compared with the conventional switched capacitor charge pump, the flying capacitor of the proposed charge pump is charged to Vo-VDD instead of VDD during the charge period(Vo is the prospective output voltage).In the discharge period, the flying capacitor is placed in series with the VDD to transfer energy to output, so the output voltage is regulated at Vo. A simulation was implemented for a DC input range of 2.8-4.4V in a SMIC standard 0.18um CMOS process, the result shows the new operation mode could regulate the output about 5V with a load conditon from 0 to 10mA, and the ripple voltage is lower than 3mV. The higest power effiency reaches 88%.
Society depends now more strongly than ever on large-scale networks. Failures of great significance have occurred in the last years. Thus, it has become of vital importance to define robustness metrics. Classical robu...
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Society depends now more strongly than ever on large-scale networks. Failures of great significance have occurred in the last years. Thus, it has become of vital importance to define robustness metrics. Classical robustness analysis has been focused on the evaluation of topological characteristics. In this paper we extend this analysis introducing two new robustness metrics that include traffic service requirements: QuaNtitative Robustness Metric (QNRM) and QuaLitative Robustness Metric (QLRM). A review of some well known graph robustness metrics is provided. In order to compare these metrics with the proposals, a set of six topologies (random, small-world and scale-free) is evaluated. Finally, it is shown that our two new metrics are able to evaluate the performance of a network under a given kind of impairment.
Nowadays, computers and modern technologies are available to almost all people. However, we should not forget about disabled or handicapped customers. Those people should have access to a PC as well as to the Internet...
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Nowadays, computers and modern technologies are available to almost all people. However, we should not forget about disabled or handicapped customers. Those people should have access to a PC as well as to the Internet. This project implements the boundary for people with movement disability. Although, the basic assumption is that they can at least move their heads and eyelids. These parts of the body are monitored by web cameras and with their help the user moves around the virtual keyboard shown on the screen. In this way the user is able to utilize their own PC. Moreover, through winking an eye he/she can virtually press a button and write the required symbol. The whole software for detection system was established in a development environment of the Visual Studio 2010 from Microsoft company. The main advantage of our solution is a cheaper price in compare to any existing solutions. By this fact the solution is possible to use even in third countries like in Africa continent.
The energetical analysis of the drive system had been performed by means of an experimental platform and on it's corresponding SIMULINK model for different static operation points. It was considered feeding the as...
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The energetical analysis of the drive system had been performed by means of an experimental platform and on it's corresponding SIMULINK model for different static operation points. It was considered feeding the asynchronous motor from an indirect voltage source static converter in voltage source with sinusoidal modulation as command strategy. The global model of the drive system, created in MATLAB/SIMULINK environment, provides all the needed tools in order to calculate the parameter values for comparing the energetic performances. The frequencies considered for the energetic analysis are 10Hz, 20Hz, 30Hz, 40Hz and 50Hz, and the load was adjusted up to the nominal value. The SIMULINK model implements a static inverter using sinusoidal modulation as command strategy. The asynchronous motor block corresponds to the model with magnetic resistance and main field saturation by the variation of the static magnetizing inductance depending on the magnetizing current. The following power quality indicators had been taken in to consideration: efficiency, power factor, electrical losses.
The implementation of energy smart grids encompasses local area energy distribution to a fine grained network of locations. For many years, at this level of last mile energy consumption, smart grid management is an in...
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The implementation of energy smart grids encompasses local area energy distribution to a fine grained network of locations. For many years, at this level of last mile energy consumption, smart grid management is an inexistent concept, because little (or none at all) feedback is given from final consumer installations to utility infrastructure. Traditionally because installed energy meters where purely electromechanical systems, energy metering has been addressed by manual methods with few automated processes. In recent years a number of new electronic interface meter have been installed. These modern meter equipments are able to store, process and communicate using digital data formats. In this context the Automated Meter Reading (AMR) together with Advanced Meter Infrastructure (AMI) concepts have fundamental importance to implement reliable, on-line/real-time evaluated energy grids. Implementing an AMI may be done using the infrastructure of digital interface meters, thus maintaining compliance with existing protocols and digital formats.
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