Modeling of the youBot in a serial link structure using twists and wrenches in a bond graph

We present a walk-through tutorial on the modeling of a complex robotic system, like the newly developed desktop mobile manipulator youBot developed by KUKA[5, 4]. The tutorial shows the design of models for typical robotic elements, done in a reusable object-oriented style. We employ an energy-based approach for modeling and its bondgraph notation to ensure encapsulation of functionality, extendability and reusability of each element of the model. The kinematic representation of mechanical elements is captured using screw theory. The modeling process is explained in two steps: first submodels of separate components are elaborated and next the model is constructed from these components

Accelerating Nearest Neighbor Search on Manycore Systems

We develop methods for accelerating metric similarity search that are effective on modern hardware. Our algorithms factor into easily parallelizable components, making them simple to deploy and efficient on multicore CPUs and GPUs. Despite the simple structure of our algorithms, their search performance is provably sublinear in the size of the database, with a factor dependent only on its intrinsic dimensionality. We demonstrate that our methods provide substantial speedups on a range of datasets and hardware platforms. In particular, we present results on a 48-core server machine, on graphics hardware, and on a multicore desktop

A component-based approach towards mobile distributed and collaborative PTAM

Having numerous sensors on-board, smartphones have rapidly become a very attractive platform for augmented reality applications. Although the computational resources of mobile devices grow, they still cannot match commonly available desktop hardware, which results in downscaled versions of well known computer vision techniques that sacrifice accuracy for speed. We propose a component-based approach towards mobile augmented reality applications, where components can be configured and distributed at runtime, resulting in a performance increase by offloading CPU intensive tasks to a server in the network. By sharing distributed components between multiple users, collaborative AR applications can easily be developed. In this poster, we present a component-based implementation of the Parallel Tracking And Mapping (PTAM) algorithm, enabling to distribute components to achieve a mobile, distributed version of the original PTAM algorithm, as well as a collaborative scenario

Server-Based Desktop Virtualization

Virtualization can be accomplished at different layers in the computational stack and with different goals (servers, desktops, applications, storage and network). This research focuses on server-based desktop virtualization. According to the Gartner group, the main business drivers for adopting desktop virtualization are: application compatibility, business continuity, security and compliance, mobility and improved productivity [15]. Despite these business drivers, desktop virtualization has not been widely adopted. According to a survey conducted by Matrix42, only 5% of desktop computers are virtualized [37]. The research deals with the challenges preventing the wider adoption of server-based desktop virtualization while focusing on two of the main virtualization architectures: session-based desktop virtualization (SBDV) and virtual desktop infrastructure (VDI). The first chapter introduces some of the challenges faced by large organizations in their efforts to create a cost effective and manageable desktop computing environment. The second chapter discusses two of the main server-based desktop virtualizations (VDI and SBDV), illustrating some of the advantages and disadvantages in these different architectures. The third chapter focuses on some of the technical challenges and provides recommendations regarding server-based desktop virtualization. In the fourth chapter, measurements are conducted for the utilization and performance of SBDV on different 3 user profiles (light, heavy and multimedia). Data and results collected from desktop assessment and lab are used to formulate baselines and metrics for capacity planning. According to the conducted measurements, it is concluded that light and heavy profiles can be virtualized using SBDV, while for multimedia profiles, additional capacity planning and resource allocation are required. Multimedia profiles can be virtualized with VDI considering client-side rendering to avoid network bandwidth congestion. While the research focuses on VDI and SBDV, it highlights few points related to client access devices (CADs). CADs are one of the main components in the desktop virtualization stack (OS virtualization, session virtualization, application virtualization, connection broker, CADs and user data and profiles). The latter chapter of the research focuses on conclusions and future work toward greater levels of adoption of VDI and SBDV

Leveraging legacy codes to distributed problem solving environments: A web service approach

This paper describes techniques used to leverage high performance legacy codes as CORBA components to a distributed problem solving environment. It first briefly introduces the software architecture adopted by the environment. Then it presents a CORBA oriented wrapper generator (COWG) which can be used to automatically wrap high performance legacy codes as CORBA components. Two legacy codes have been wrapped with COWG. One is an MPI-based molecular dynamic simulation (MDS) code, the other is a finite element based computational fluid dynamics (CFD) code for simulating incompressible Navier-Stokes flows. Performance comparisons between runs of the MDS CORBA component and the original MDS legacy code on a cluster of workstations and on a parallel computer are also presented. Wrapped as CORBA components, these legacy codes can be reused in a distributed computing environment. The first case shows that high performance can be maintained with the wrapped MDS component. The second case shows that a Web user can submit a task to the wrapped CFD component through a Web page without knowing the exact implementation of the component. In this way, a user’s desktop computing environment can be extended to a high performance computing environment using a cluster of workstations or a parallel computer

ADLib: An Arduino Communication Framework for Ambient Displays

As computers become more and more a part of our everyday lives, the need to change the way in which people interact with them is also evolving. Ambient displays provide an effective way to move computers away from our main focus and into the periphery. ADLib is a small communication framework that aims to simplify the construction of ambient displays built using the Arduino prototyping platform. The ADLib framework provides an easy-to-use library for communicating with an Arduino, allowing the user to focus on the construction and development of the display. The framework consists of three main components: A protocol for encoding information to be sent from a host computer to the Arduino An Arduino library for receiving and parsing incoming data A desktop application for sending data to the Arduin

Exploiting Personal Web Servers for Mobile Context-Aware Applications

There is an increasing trend in moving desktop applications to web browsers, even when the web server is running on the same desktop machine. In this paper we go further in this direction and show how to combine a web server, a web application framework (enhanced to support desktop-like Model-View-Controller interaction) and a context-aware architecture to develop web based mobile context-aware applications. By using this approach we take advantage of the well established web paradigm to design the GUIs and the inherent ability of the web to mash up applications with external components (such as Google Maps). On top of that, since the web server runs on the device itself, the application can access local resources (such as disk space or sensing devices, which are indispensable for context-aware systems) avoiding the sandbox model of the web browsers. To illustrate our approach we show how a mobile hypermedia system has been built on top of our platform.Facultad de InformáticaLaboratorio de Investigación y Formación en Informática Avanzada (LIFIA

BGS Groundhog® desktop Geoscientific Information System external user manual

BGS Groundhog is a software platform developed by the British Geological Survey (BGS) for the management and display of subsurface geological information. There are two main components; 1. BGS Groundhog Web 2. BGS Groundhog Desktop GSIS This user manual relates specifically to the Desktop GSIS component of the platform. The software is available under the UK’s Open Government Licence, which means the software is free to use, exploit and re-distribute for academic, personal, research or commercial purposes, subject to the terms of the UK’s Open Government Licence. Groundhog Desktop is intended as a basic GeoScientific Information System (GSIS*) – a software tool which facilitates the collation, display, filtering and editing of a range of data relevant to subsurface interpretation and modelling. It has been developed by the Modelling Systems software development team, with help and advice being provided by Holger Kessler, Steve Mathers and Ricky Terrington. This manual provides information on the use of the software for external clients