Planetary rovers and data fusion

This research will investigate the problem of position estimation for planetary rovers. Diverse algorithmic filters are available for collecting input data and transforming that data to useful information for the purpose of position estimation process. The terrain has sandy soil which might cause slipping of the robot, and small stones and pebbles which can affect trajectory. The Kalman Filter, a state estimation algorithm was used for fusing the sensor data to improve the position measurement of the rover. For the rover application the locomotion and errors accumulated by the rover is compensated by the Kalman Filter. The movement of a rover in a rough terrain is challenging especially with limited sensors to tackle the problem. Thus, an initiative was taken to test drive the rover during the field trial and expose the mobile platform to hard ground and soft ground(sand). It was found that the LSV system produced speckle image and values which proved invaluable for further research and for the implementation of data fusion. During the field trial,It was also discovered that in a at hard surface the problem of the steering rover is minimal. However, when the rover was under the influence of soft sand the rover tended to drift away and struggled to navigate. This research introduced the laser speckle velocimetry as an alternative for odometric measurement. LSV data was gathered during the field trial to further simulate under MATLAB, which is a computational/mathematical programming software used for the simulation of the rover trajectory. The wheel encoders came with associated errors during the position measurement process. This was observed during the earlier field trials too. It was also discovered that the Laser Speckle Velocimetry measurement was able to measure accurately the position measurement but at the same time sensitivity of the optics produced noise which needed to be addressed as error problem. Though the rough terrain is found in Mars, this paper is applicable to a terrestrial robot on Earth. There are regions in Earth which have rough terrains and regions which are hard to measure with encoders. This is especially true concerning icy places like Antarctica, Greenland and others. The proposed implementation for the development of the locomotion system is to model a system for the position estimation through the use of simulation and collecting data using the LSV. Two simulations are performed, one is the differential drive of a two wheel robot and the second involves the fusion of the differential drive robot data and the LSV data collected from the rover testbed. The results have been positive. The expected contributions from the research work includes a design of a LSV system to aid the locomotion measurement system. Simulation results show the effect of different sensors and velocity of the robot. The kalman filter improves the position estimation process

Development of virtual network computing (VNC) environment for networking and enhancing user experience

Virtual Network Computing (VNC) is a thin client developed by Real VNC Ltd, Formerly of Olivetti Research Ltd/AT&T labs Cambridge and can be used as a collaborative environment, therefore it has been chosen as the basis of this research study. The purpose of this thesis is to investigate and develop a VNC based environment over the network and to improve the users’ Quality of Experience (QoE) of using VNC between networked groups by the incorporation of videoconferencing with VNC and enhancing QoE in Mobile environments where the network status is far from ideal and is prone to disconnection. This thesis investigates the operation of VNC in different environments and scenarios such as wireless environments by investigating user and device mobility and ways to sustain their seamless connection when in motion. As part of the study I also researched all groups that implement VNC like universities, research groups and laboratories and virtual laboratories. In addition to that I identified the successful features and security measures in VNC in order to create a secure environment. This was achieved by pinpointing the points of strength and weakness in VNC as opposed to popular thin clients and remote control applications and analysing VNC according to conforming to several security measures. Furthermore, it is reasonable to say that the success of any scheme that attempts to deliver desirable levels of Quality of Service (QoS) of an effective application for the future Internet must be based, not only on the progress of technology, but on usersʹ requirements. For instance, a collaborative environment has not yet reached the desired expectation of its users since it is not capable of handling any unexpected events which can result from a sudden disconnection of a nomadic user engaged in an ongoing collaborative session; this is consequently associated with breaking the social dynamics of the group collaborating in the session. Therefore, I have concluded that knowing the social dynamics of application’s users as a group and their requirements and expectations of a successful experience can lead an application designer to exploit technology to autonomously support the initiating and maintaining of social interaction. Moreover, I was able to successfully develop a VNC based environment for networked groups that facilitates the administration of different remote VNC sessions. In addition to a prototype that uses videoconferencing in parallel to VNC to provide a better user’s QoE of VNC. The last part of the thesis was concerned with designing a framework to improve and assess QoE of all users in a collaborative environment where it can be especially applied in the presence of nomadic clients with their much frequent disconnections. I have designed a conceptual algorithm called Improved Collaborative Quality of Experience (IC‐QoE), an algorithm that aims to eliminate frustration and improve QoE of users in a collaborative session in the case of disconnections and examined its use and benefits in real world scenarios such as research teams and implemented a prototype to present the concepts of this algorithm. Finally, I have designed a framework to suggest ways to evaluate this algorithm

Case study: Applied Digital Solutions I3 services platform

The purpose of this project is to analyze whether i3 Strategy of Applied Digital Solutions (ADS) was necessary to meet the fast-moving IT industry. i3 Services Strategy is an integrated corporate strategy to reengineer the organizational structure of ADS

Strategic alliances in the high-tech industry

[i]Keywords: high-tech industry; innovation systems in Poland and in the world; strategic management \u2013 value chain; technology management; analisis of innovation \u2013 technology mapping and data mining[/i] S\u142owa kluczowe: przemys\u142 wysokiej techniki; systemy innowacji w Polsce i na \u15bwiecie; zarz\u105dzanie strategiczne \u2013 \u142a\u144cuch warto\u15bci; zarz\u105dzanie technologi\u105; analiza innowacyjno\u15bci \u2013 mapowanie technologii i [i]data mining[/i

Policy Driven Software Monitoring

Software monitoring and logging is one of the most important tools a software engineer has when faced with the challenge of auditing or analysing a software system. However, the difficulty in effectively monitoring a system, managing its logs and cross referencing them with source code makes software re-engineering a rigorous and complex task. This thesis aims to address this issue by providing a framework that enables pattern matching between a software log and an event pattern expression that is based on a monitoring policy. The framework consists of parsers and annotators that facilitates transformation of a monitoring policy into a Petri Net as well as source code annotation for gathering data through logged events. It further expands upon this work by proposing an adaptive logging framework that will greatly improve the quality of log management by autonomically adjusting the amount of information logged based on the application’s operational environment. Finally, a prototype system of the policy driven monitoring framework is implemented and tested with applications of different scales as a proof of concept for the proposed framework

Information Technologies for the Healthcare Delivery System

That modern healthcare requires information technology to be efficient and fully effective is evident if one spends any time observing the delivery of institutional health care. Consider the observation of a practitioner of the discipline, David M. Eddy, MD, PhD, voiced in Clinical Decision Making, JAMA 263:1265-75, 1990, . . .All confirm what would be expected from common sense: The complexity of modern medicine exceeds the inherent limitations of the unaided human mind. The goal of this thesis is to identify the technological factors that are required to enable a fully sufficient application of information technology (IT) to the modern institutional practice of medicine. Perhaps the epitome of healthcare IT is the fully integrated, fully electronic patient medical record. Although, in 1991 the Institute of Medicine called for such a record to be standard technology by 2001, it has still not materialized. The author will argue that some of the technology and standards that are pre-requisite for this achievement have now arrived, while others are still evolving to fully sufficient levels. The paper will concentrate primarily on the health care system in the United States, although much of what is contained is applicable to a large degree, around the world. The paper will illustrate certain of these pre-requisite IT factors by discussing the actual installation of a major health care computer system at the University of Rochester Medical Center (URMC) in Rochester, New York. This system is a Picture Archiving and Communications System (PACS). As the name implies, PACS is a system of capturing health care images in digital format, storing them and communicating them to users throughout the enterprise

A multi-method study of the IS impact of SAP in a large organization

The latest Gartner report states that in 2012, the figure for global Information Technology (IT) spending amounted to US $3.6 trillion and a predicted$3.8 trillion in 2013. Achieving an effective measure of IS success and impact of information systems has been a goal for information systems researchers for decades. Numerous methods exist for measuring the quality, value and impact of information systems in organizations, including benchmarking, ISO standards, and user surveys. However, typically, often due to restricted access to data, researchers only use one type of measure. This study uses a single-organization case study investigating measures of the quality, value and impact of the SAP system in the largest telecommunications organization in New Zealand, using and comparing a range of methods and perspectives. The researcher also evaluates the best possible measures for organizations to adopt by comparing multiple methods

A Generic Network and System Management Framework

Networks and distributed systems have formed the basis of an ongoing communications revolution that has led to the genesis of a wide variety of services. The constantly increasing size and complexity of these systems does not come without problems. In some organisations, the deployment of Information Technology has reached a state where the benefits from downsizing and rightsizing by adding new services are undermined by the effort required to keep the system running. Management of networks and distributed systems in general has a straightforward goal: to provide a productive environment in which work can be performed effectively. The work required for management should be a small fraction of the total effort. Most IT systems are still managed in an ad hoc style without any carefully elaborated plan. In such an environment the success of management decisions depends totally on the qualification and knowledge of the administrator. The thesis provides an analysis of the state of the art in the area of Network and System Management and identifies the key requirements that must be addressed for the provisioning of Integrated Management Services. These include the integration of the different management related aspects (i.e. integration of heterogeneous Network, System and Service Management). The thesis then proposes a new framework, INSMware, for the provision of Management Services. It provides a fundamental basis for the realisation of a new approach to Network and System Management. It is argued that Management Systems can be derived from a set of pre-fabricated and reusable Building Blocks that break up the required functionality into a number of separate entities rather than being developed from scratch. It proposes a high-level logical model in order to accommodate the range of requirements and environments applicable to Integrated Network and System Management that can be used as a reference model. A development methodology is introduced that reflects principles of the proposed approach, and provides guidelines to structure the analysis, design and implementation phases of a management system. The INSMware approach can further be combined with the componentware paradigm for the implementation of the management system. Based on these principles, a prototype for the management of SNMP systems has been implemented using industry standard middleware technologies. It is argued that development of a management system based on Componentware principles can offer a number of benefits. INSMware Components may be re-used and system solutions will become more modular and thereby easier to construct and maintain

Where have all the flowers gone?: a modular systems perspective of IT infrastructure design and productivity

Assessing value of IT infrastructure investments has been both difficult and ambiguous. This research develops and tests a conceptual framework to understand the productivity process. A lagged and recursive framework is used to trace the relationship between IT infrastructure investments, infrastructure design, and organizational productivity along with contingencies of IT management and the environment. A major contribution of this study is the use of the systems perspective to disaggregate the concepts of IT infrastructure and productivity into collectively exhaustive types. Findings reveal that IT investments do not significant affect productivity but do so when used to develop an IT infrastructure design. IT management is seen to strongly influence IT infrastructure design. Similarly, organizational environment appears to significantly influence the type of productivity focus for a firm. The study adds to the existing body of knowledge through a holistic investigation of the multi-level relationship between IT infrastructure configurations, contingencies, and productivity