When dealing with complex systems design and application the notion of ontologies helps the process of application integration. To solve the problems with discover, interpret and reuse data we have to recognize ontolo...
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A data security and validation framework of a SOA based system for management, storage, processing and visualization of data obtained from scientific experiments is proposed in this paper. The framework covers the thr...
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The purpose of the automatic conversion of scientific data into canonical format is to provide a link between raw representation of data and database schemas. On the basis of these concepts Web services are developed ...
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This paper is concerned with the design procedures of an automated testing tool, developed in Matlab®/Simulink® environment, that performs software verification during runtime on a PLC (Programmable Logic Co...
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Structural (manual or automated) testing today often overlooks typical programming faults because of inherent flaws in the simple criteria applied (e.g. branch or all-uses). Dedicated testing strategies that address s...
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This paper describes a stereo-imaging system for variable distances. The setup includes a mechanical mount system-holder, a control unit for the correct positioning of the cameras, the cameras itself and the object to...
This paper describes a stereo-imaging system for variable distances. The setup includes a mechanical mount system-holder, a control unit for the correct positioning of the cameras, the cameras itself and the object to capture. The goal of this setup was to achieve a true sense of scale and depth of the filmed material on dynamically variable distances to the object. This demands certain requirements which are usually not necessary for many applications of stereoscopic filming. In the last step, the resulting material is prepared for viewing.
This paper suggest a model of parallel computation based on Bacteria Foraging metaheuristics for Job Shop Scheduling optimization problem. The parallel model is verified experimentally by Hybrid (MPI + OpenMP) program...
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Bioniformatics is area, demanding knowledge and skills for acquisition, storing, management, analysis, interpretation and dissemination of biological information. This scientific area requires powerful computing resou...
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Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from ...
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ISBN:
(纸本)9781467324199
Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features.
While using a single GPU is fairly easy, using multiple CPUs and GPUs potentially distributed over multiple machines is hard because data needs to be kept consistent using message exchange and the load needs to be bal...
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