Scan matching by cross-correlation and differential evolution

Scan matching is an important task, solved in the context of many high-level problems including pose estimation, indoor localization, simultaneous localization and mapping and others. Methods that are accurate and adaptive and at the same time computationally efficient are required to enable location-based services in autonomous mobile devices. Such devices usually have a wide range of high-resolution sensors but only a limited processing power and constrained energy supply. This work introduces a novel high-level scan matching strategy that uses a combination of two advanced algorithms recently used in this field: cross-correlation and differential evolution. The cross-correlation between two laser range scans is used as an efficient measure of scan alignment and the differential evolution algorithm is used to search for the parameters of a transformation that aligns the scans. The proposed method was experimentally validated and showed good ability to match laser range scans taken shortly after each other and an excellent ability to match laser range scans taken with longer time intervals between them.Web of Science88art. no. 85

Institutional use of information technologies in city planning agencies: implications from Turkish metropolitan municipalities

Thesis (Doctoral)--Izmir Institute of Technology, City and Regional Planning, Izmir, 2004Includes bibliographical references (leaves: 175)Text in English; Abstract: Turkish and Englishxiii, 185 leavesThis study argues the pivotal relationship between the computing technology and its organizational context. It focuses on nature of implementation in organizational settings that are becoming increasingly important. A further motivation point for this study is to reveal the different discourses (managerial/political/emotional etc.) in the cycle of implementation. The assumption behind this interest is that IT and other technologies are not value-neutral and these tools have the possibility of shaping the goals and agenda of the planning profession.As a part of methodology of the thesis, a comprehensive literature survey was completed around the theoretical issues that constitutes the framework of IT/IS adoption in organizations with a particular reference to urban planning and management. The statements and research questions were tested in the planning departments of selected metropolitan municipalities (Ankara, Izmir, and Bursa) that are experiencing information technologies and systems in various implementation stages. The research strategy was based on a variety of qualitative approaches, including two different types of closed questionnaire-based surveys and semi-structured/unstructured interviews. To measure the success/failure degree of the planning technologies used in the case study organizations in the 'user' dimension of the study, DeLone and McLean.s (1992) IS Success Model and Heeks'(1999) ITPOSMO model were used.Case study research revealed the current stands of ICT implementation in urban planning departments of local governments. It was also evaluated planning practitioner.s commitment and dependence towards computerized planning tools in working practice. In a more exploratory context, a progressive research agenda for ICT implementation in public planning agencies was developed based on the implications of empirical research and literature-based analysis

Workshop proceedings: Information Systems for Space Astrophysics in the 21st Century, volume 1

The Astrophysical Information Systems Workshop was one of the three Integrated Technology Planning workshops. Its objectives were to develop an understanding of future mission requirements for information systems, the potential role of technology in meeting these requirements, and the areas in which NASA investment might have the greatest impact. Workshop participants were briefed on the astrophysical mission set with an emphasis on those missions that drive information systems technology, the existing NASA space-science operations infrastructure, and the ongoing and planned NASA information systems technology programs. Program plans and recommendations were prepared in five technical areas: Mission Planning and Operations; Space-Borne Data Processing; Space-to-Earth Communications; Science Data Systems; and Data Analysis, Integration, and Visualization

AI and IoT Meet Mobile Machines: Towards a Smart Working Site

Infrastructure construction is society's cornerstone and economics' catalyst. Therefore, improving mobile machinery's efficiency and reducing their cost of use have enormous economic benefits in the vast and growing construction market. In this thesis, I envision a novel concept smart working site to increase productivity through fleet management from multiple aspects and with Artificial Intelligence (AI) and Internet of Things (IoT)

AI and IoT Meet Mobile Machines

Infrastructure construction is society's cornerstone and economics' catalyst. Therefore, improving mobile machinery's efficiency and reducing their cost of use have enormous economic benefits in the vast and growing construction market. In this thesis, I envision a novel concept smart working site to increase productivity through fleet management from multiple aspects and with Artificial Intelligence (AI) and Internet of Things (IoT)

Railroads and the Making of Modern America -- Tools for Spatio-Temporal Correlation, Analysis, and Visualization

This project aims to integrate large-scale data sources from the Digging into Data repositories with other types of relevant data on the railroad system, already assembled by the project directors. Our project seeks to develop useful tools for spatio-temporal visualization of these data and the relationships among them. Our interdisciplinary team includes computer science, history, and geography researchers. Because the railroad "system" and its spatio-temporal configuration appeared differently from locality-to-locality and region-to-region, we need to adjust how we "locate" and "see" the system. By applying data mining and pattern recognition techniques, software systems can be created that dynamically redefine the way spatial data are represented. Utilizing processes common to analysis in Computer Science, we propose to develop a software framework that allows these embedded concepts to be visualized and further studied

DEVELOPING A PROJECT MANAGER COMPETENCY MODEL TO BETTER SERVE THE WARFIGHTER AND THE DOD

As of today, the Department of Defense (DOD) project management competencies are structured differently from industry. Industry has made advancements in project management that the DOD does not currently take advantage of. By better aligning the DOD and PMI competency standards we can decrease cost, schedule, and performance issues. Based on previous research on the topic, the current DOD competency model is not sufficient for assessing today’s program managers. The purpose of this research is to use the three PMI industry standards to develop a survey tool to better serve the DOD acquisition workforce. We were able to create this survey tool and hope that, by using this survey tool, future research teams will be able to effectively gauge the acquisition community’s correlation between the three PMI standards and the current DOD workload. The information gathered from this research can be useful not only to DOD acquisition communities, but also can set future guidelines to program managers in order to save the DOD on schedule, cost, and performance.Civilian, Department of the NavyCivilian, Department of the NavyApproved for public release. Distribution is unlimited