Parallaxis-III User Manual

58 pagesParallaxis is a programming language for data parallel (synchronous parallel) programming. The language is based on sequential Modula-2, which was extended by machine-independent parallel constructs. As a result, Parallaxis can be used on different massively parallel SIMD systems (single instruction, multiple data) - contrary to nearly all commercial languages for SIMD systems. In Parallaxis this abstraction is achieved by a functional declaration of processor arrangements in the network topology. By establishing virtual processors (similar to the concept of virtual memory) and virtual connections parallel application programs can be developed that are independent of the available computer hardware. These application programs are more readable and easier to understand through the declaration of the parallel structure. Parallaxis has been in development at the University of Stuttgart since 1989 and is available as public domain software. It is used worldwide at a large number of universities and research institutions. The User Manual also contains sample applications, usage of Parallaxis compiler and debugger, as well as an appendix with standard procedures and language syntax

COMROS : Cooperative Mobile Robotersysteme Stuttgart: Basis-Dokumentation

142 pagesCOMROS steht für Cooperative Mobile Robot Systems Stuttgart. Wir beschäftigen uns mit der Entwicklung autonomer Systeme auf der Basis der mobilen Roboter "Robuter" von Robosoft, Bayonne, Frankreich. Der vorliegende Text ist eine Zusammenstellung der Basis-Routinen für die Robotersteuerung und Bildverarbeitung von vier verschiedenen Rechnersystemen aus: IBM-PC Pentium unter Linux, Sun SPARCstation, Sun mit ELTEC-Vect Ex VME-Sub-system und Mas Par MP-1216 (massiv parallel). Die einzelnen Kapitel dokumentieren die Implementierungen von Basisoperationen und sollen neuen Studenten und Mitarbeitern den Einstieg in die Robotersteuerung an unserem Lehrstuhl erleichtern. Als aktuelles Robotik-Informationssystem für Mitarbeiter und Studenten dient das www-basierte RIS, das unter folgender Adresse erreicht werden kann: http://vasarely/roboter/ris/ris. html bzw. als File: file://localhost/usr/local/bv/robot/ris/ris. html Dort finden sich aktuelle Hinweise über Veranstaltungen, Probleme und Lösungen, abgeschlossene, bzw. aktuelle Studien- und Diplomarbeiten, zu vergebende Themen, usw. Auch auf die Protokolle der Robotik-Teilgruppen (Architektur, Bildverstehen, Ultraschall, Neuro und Wartung) kann hier zugegriffen werden

Research relevance of mobile robot competitions

www.ee.uwa.edu.au/~braunl A number of international competitions for mobile robots have been created and conducted over the last 20 years. This article discusses three of the arguably most prominent event series. We highlight scope, rules, robot designs and robot evolution over the years for the Micromouse Contest, AAAI Mobile Robot Competition and RoboCup Robot Soccer and discuss their contributions to mobile robot research. mobile robot, competition, micromouse, office navigation, ball collection, robot soccer, RoboCup, robotics research programs

Parallaxis-III Architecture-Independent Data Parallel Processing

www.ee.uwa.edu.au/~braunl/parallaxis Parallaxis-III is an architecture-independent data parallel programming language based on Modula-2. It has been designed for teaching data parallel concepts and is in use at a large number of institutions. Compilers exist for data parallel systems as well as for a sequential simulation system. A data parallel graphics debugger allows efficient source level analysis for parallel programs

Evaluation of Several Feature Detectors/Extractors on Underwater Images towards vSLAM

Modern visual SLAM (vSLAM) algorithms take advantage of computer vision developments in image processing and in interest point detectors to create maps and trajectories from camera images. Different feature detectors and extractors have been evaluated for this purpose in air and ground environments, but not extensively for underwater scenarios. In this paper (I) we characterize underwater images where light and suspended particles alter considerably the images captured, (II) evaluate the performance of common interest points detectors and descriptors in a variety of underwater scenes and conditions towards vSLAM in terms of the number of features matched in subsequent video frames, the precision of the descriptors and the processing time. This research justifies the usage of feature detectors in vSLAM for underwater scenarios and present its challenges and limitations