56,358 research outputs found
AltURI: a thin middleware for simulated robot vision applications
Fast software performance is often the focus when developing real-time vision-based control applications for robot simulators. In this paper we have developed a thin, high performance middleware for USARSim and other simulators designed for real-time vision-based control applications. It includes a fast image server providing images in OpenCV, Matlab or web formats and a simple command/sensor processor. The interface has been tested in USARSim with an Unmanned Aerial Vehicle using two control applications; landing using a reinforcement learning algorithm and altitude control using elementary motion detection. The middleware has been found to be fast enough to control the flying robot as well as very easy to set up and use
A Multi-GPU Programming Library for Real-Time Applications
We present MGPU, a C++ programming library targeted at single-node multi-GPU
systems. Such systems combine disproportionate floating point performance with
high data locality and are thus well suited to implement real-time algorithms.
We describe the library design, programming interface and implementation
details in light of this specific problem domain. The core concepts of this
work are a novel kind of container abstraction and MPI-like communication
methods for intra-system communication. We further demonstrate how MGPU is used
as a framework for porting existing GPU libraries to multi-device
architectures. Putting our library to the test, we accelerate an iterative
non-linear image reconstruction algorithm for real-time magnetic resonance
imaging using multiple GPUs. We achieve a speed-up of about 1.7 using 2 GPUs
and reach a final speed-up of 2.1 with 4 GPUs. These promising results lead us
to conclude that multi-GPU systems are a viable solution for real-time MRI
reconstruction as well as signal-processing applications in general.Comment: 15 pages, 10 figure
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A modularized electronic payment system for agent-based e-commerce
With the explosive growth of the Internet, electronic-commerce (e-commerce) is an increasingly important segment of commercial activities on the web. The Secure Agent Fabrication, Evolution & Roaming (SAFER) architecture was proposed to further facilitate e-commerce using agent technology. In this paper, the electronic payment aspect of SAFER will be explored. The Secure Electronic Transaction (SET) protocol and E-Cash were selected as the bases for the electronic payment system implementation. The various modules of the payment system and how they interface with each other are shown. An extensible implementation done using JavaTM will also be elaborated. This application incorporates agent roaming functionality and the ability to conduct e-commerce transactions and carry out intelligent e-payment procedures
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