Refine
Departments, institutes and facilities
- Fachbereich Informatik (38)
- Institut für funktionale Gen-Analytik (IFGA) (25)
- Fachbereich Angewandte Naturwissenschaften (16)
- Institute of Visual Computing (IVC) (15)
- Institut für Cyber Security & Privacy (ICSP) (10)
- Fachbereich Ingenieurwissenschaften und Kommunikation (9)
- Fachbereich Wirtschaftswissenschaften (7)
- Institut für Verbraucherinformatik (IVI) (5)
- Institut für Sicherheitsforschung (ISF) (2)
- Institut für Technik, Ressourcenschonung und Energieeffizienz (TREE) (1)
Document Type
- Conference Object (53)
- Article (43)
- Part of a Book (14)
- Report (7)
- Master's Thesis (6)
- Conference Proceedings (3)
- Book (monograph, edited volume) (2)
- Doctoral Thesis (1)
- Lecture (1)
- Part of Periodical (1)
Year of publication
- 2011 (131) (remove)
Language
- English (131) (remove)
Keywords
- Business Ethnography (2)
- Emergency support system (2)
- Global Software Engineering (2)
- Mobile sensors (2)
- 3D gaming (1)
- 3D nucleus (1)
- AR (1)
- Accretion (1)
- Adaptation (1)
- Adipose tissue (1)
DNA Sequencing
(2011)
Isolation of DNA and RNA
(2011)
This report presents an approach on a quadrotor dynamics stabilization based on ICP SLAM. Because the quadrotor lacks sensory information to detect its horizontal drift an additional sensor as Hokuyo-UTM has been used to perform on-line ICP-based SLAM. The obtained position estimates were used in control loops to maintain desired position and orientation of the vehicle. Such attitude parameters as height, yaw and position in space were controlled based on the laser data. As a result the quadrotor demonstrated two significant for autonomous navigation capabilities: performance of on-line SLAMon a flying vehicle and maintaining desired position in 3D space. Visual approach on optical flow based on Pyramid Lucas-Kanade algorithm has been touched and tested in different environmental conditions though hasn't been implemented in the control loop. Also the performance of the Hokuyo laser scanner and the related to it ICP SLAM algorithm have been tested in different environmental conditions indoors, outdoors and in presence of smoke. Results are presented and discussed. The requirement of performing on-line SLAM algorithm and to carry quite heavy equipment for it forced to seek a solution to increase the payload of the quadrotor with its computational power. A new hardware and distributed software architectures are therefore presented in the report.
While industrialized countries are becoming service economies, all countries are becoming global. As competition becomes more global, understanding and accommodating the needs of international customers with different cultural backgrounds has become increasingly important. This study highlights cross-cultural perceptions of service problems in the tourist industry.
The work done in this thesis enhances the MMD algorithm in multi-core environments. The MMD algorithm, a transformation based algorithm for reversible logic synthesis, is based on the works introduced by Maslov, Miller and Dueck and their original, sequential implementation. It synthesises a formal function specification, provided by a truth table, into a reversible network and is able to perform several optimization steps after the synthesis. This work concentrates on one of these optimization steps, the template matching. This approach is used to reduce the size of the reversible circuit by replacing a number of gates that match a template which implements the same function and uses less gates. Smaller circuits have several benefits since they need less area and are not as costly. The template matching approach introduced in the original works is computationally expensive since it tries to match a library of templates against the given circuit. For each template at each position in the circuit, a number of different combinations have to be calculated during runtime resulting in high execution times, especially for large circuits. In order to make the template matching approach more efficient and usable, it has been reimplemented in order to take advantage of modern multi-core architectures such as the Cell Broadband Engine or a Graphics Processing Unit. For this work, two algorithmically different approaches that try to consider each multi-core architecture’s strengths, have been analyzed and improved. For the analysis these approaches have been cross-implemented on the two target hardware architectures and compared to the original parallel versions. Important metrics for this analysis are the execution time of the algorithm and the result of the minimization with the template matching approach. It could be shown that the algorithmically different approaches produce the same minimization results, independent of the used hardware architecture. However, both cross-implementations also show a significantly higher execution time which makes them practically irrelevant. The results of the first analysis and comparison lead to the decision to enhance only the original parallel approaches. Using the same metrics for successful enhancements as mentioned above, it could be shown that improving the algorithmic concepts and exploiting the capabilities of the hardware lead to better results for the execution time and the minimization results compared to their original implementations.