Test and Evaluation of the FastSLAM Algorithm in a Mobile Robot

Máster Universitario en Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería (SIANI)

Performance evaluation of a parallel algorithm for simultaneous untangling and smoothing of tetrahedral meshes

[EN]A new parallel algorithm for simultaneous untangling and smoothing of tetrahedral meshes is proposed in this paper. We provide a detailed analysis of its performance on shared-memory many-core computer architectures. This performance analysis includes the evaluation of execution time, parallel scalability, load balancing, and parallelism bottlenecks. Additionally, we compare the impact of three previously published graph coloring procedures on the performance of our parallel algorithm. We use six benchmark meshes with a wide range of sizes. Using these experimental data sets, we describe the behavior of the parallel algorithm for different data sizes. We demonstrate that this algorithm is highly scalable when it runs on two different high-performance many-core computers with up to 128 processors...

Construction of polynomial spline spaces over quadtree and octree T-meshes

[EN]We present a new strategy for constructing tensor product spline spaces over quadtree and octree T-meshes. The proposed technique includes some simple rules for inferring local knot vectors to define spline blending functions. These rules allow to obtain for a given T-mesh a set of cubic spline functions that span a space with nice properties: it can reproduce cubic polynomials, the functions are C2-continuous, linearly independent, and spaces spanned by nested T-meshes are also nested. In order to span spaces with these properties applying the proposed rules, the T-mesh should fulfill the only requirement of being a 0-balanced quadtree or octree. ..

A simple strategy for defining polynomial spline spaces over hierarchical T-meses

[EN]We present a new strategy for constructing spline spaces over hierarchical T-meshes with quad- and octree subdivision scheme. The proposed technique includes some simple rules for inferring local knot vectors to define C 2 -continuous cubic tensor product spline blending functions. Our conjecture is that these rules allow to obtain, for a given T-mesh, a set of linearly independent spline functions with the property that spaces spanned by nested T-meshes are also nested, and therefore, the functions can reproduce cubic polynomials. In order to span spaces with these properties applying the proposed rules, the T-mesh should fulfill the only requirement of being a 0- balanced mesh...

T-spline parameterization of 2D geometries based on the meccano method with a new T-mesh optimization algorithm

[EN]We present a new method, based on the idea of the meccano method and a novel T-mesh optimization procedure, to construct a T-spline parameterization of 2D geometries for the application of isogeometric analysis. The proposed method only demands a boundary representation of the geometry as input data. The algorithm obtains, as a result, high quality parametric transformation between 2D objects and the parametric domain, the unit square. First, we define a parametric mapping between the input boundary of the object and the boundary of the parametric domain. Then, we build a T-mesh adapted to the geometric singularities of the domain in order to preserve the features of the object boundary with a desired tolerance…

Construction of polynomial spline spaces over quadtree and octree T-meshes

[EN]We present a new strategy for constructing tensor product spline spaces over quadtree and octree T-meshes. The proposed technique includes some simple rules for inferring local knot vectors to define spline blending functions. These rules allow to obtain for a given T-mesh a set of cubic spline functions that span a space with nice properties: it can reproduce cubic polynomials, the functions are C2-continuous, linearly independent, and spaces spanned by nested T-meshes are also nested. In order to span spaces with these properties applying the proposed rules, the T-mesh should fulfill the only requirement of being a 0-balanced quadtree or octree. ..