Proposal of a parallel architecture for a motion detection algorithm

This paper proposes a parallel architecture for estimation of the motion of an underwater robot. It is well known that image processing requires a huge amount of computation, mainly at low-level processing where the algorithms are dealing with a great number of data. In a motion estimation algorithm, correspondences between two images have to be solved at the low level. In the underwater imaging, normalised correlation can be a solution in the presence of non-uniform illumination. Due to its regular processing scheme, parallel implementation of the correspondence problem can be an adequate approach to reduce the computation time. Taking into consideration the complexity of the normalised correlation criteria, a new approach using parallel organisation of every processor from the architecture is proposed

Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach

Fast calculation of the CAC convolution algorithm using the multinomial distribution function

The authors focus on one of the methods for connection acceptance control (CAC) in an ATM network: the convolution approach. With the aim of reducing the cost in terms of calculation and storage requirements, they propose the use of the multinomial distribution function. This permits direct computation of the associated probabilities of the instantaneous bandwidth requirements. This in turn makes possible a simple deconvolution process. Moreover, under certain conditions additional improvements may be achieved

Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

PRIM an Open Mobile Robot Platform. Motivation, Present and Future Trends

This paper is focused on the robot mobile platform PRIM (platform robot information multimedia). This robot has been made in order to cover two main needs of our group, on one hand the need for a full open mobile robotic platform that is very useful in fulfilling the teaching and research activity of our school community, and on the other hand with the idea of introducing an ethical product which would be useful as mobile multimedia information point as a service tool. This paper introduces exactly how the system is made up and explains just what the philosophy is behind this work. The navigation strategies and sensor fusion, where machine vision system is the most important one, are oriented towards goal achievement and are the key to the behaviour of the robot

A Label space reduction algorithm for P2MP LSPs using asymmetric tunnels

The aim of traffic engineering is to optimise network resource utilization. Although several works on minimizing network resource utilization have been published, few works have focused on LSR label space. This paper proposes an algorithm that uses MPLS label stack features in order to reduce the number of labels used in LSPs forwarding. Some tunnelling methods and their MPLS implementation drawbacks are also discussed. The algorithm described sets up the NHLFE tables in each LSR, creating asymmetric tunnels when possible. Experimental results show that the algorithm achieves a large reduction factor in the label space. The work presented here applies for both types of connections: P2MP and P2P

Speculative parallelization of multipath radiosity algorithm

In computer graphics, global illumination algorithms take into account not only the light that comes directly from the sources, but also the light interreflections. This kind of algorithms produce very realistic images, but at a high computational cost, especially when dealing with complex environments. Parallel computation has been successfully applied to such algorithms in order to make it possible to compute highly-realistic images in a reasonable time. We introduce here a speculation-based parallel solution for a global illumination algorithm in the context of radiosity, in which we have taken advantage of the hierarchical nature of such an algorithm

Internet a Infantil i Prim??ria. 'Internet en Infantil y Primaria'

Se hace una recopilaci??n a modo de dec??logo de p??ginas webs educativas de inter??s para las etapas de infantil y primaria, en las que los alumnos del CP S'Hort des Fassers, puedan acercarse a la realidad y uso de la red, as?? como tambi??n puedan pasar un rato entretenido y vayan aprendiendo a utilizar internet para informar-se, leer, estudiar o divertirse.

El m??tode de projectes : una experi??ncia en el tercer cicle de l'educaci?? prim??ria. 'El m??todo de proyectos : una experiencia en el tercer ciclo de la educaci??n primaria'

Dos profesores describen su experiencia y las pautas que han seguido durante muchos a??os trabajando con sus alumnos con el m??todo de proyectos. El m??todo de proyectos debe reestructurar el proceso de aprendizaje constantemente y supone mucho trabajo, trabajo que los autores califican como agradable.

Soluci?? mental i soluci?? motriu en la iniciaci?? als esports col??lectius en l'Educaci?? Prim??ria. 'Soluci??n mental y soluci??n motriz en la iniciaci??n a los deportes colectivos en la Educaci??n Primaria'

Resumen tomado de la revista

L'educaci?? prim??ria a Mallorca. 'La Educaci??n Primaria en Mallorca'

Resumen tomado de la publicaci??n

Una experi??ncia de formaci?? permanent del professorat : l'angl??s al segon cicle de l'educaci?? infantil i al primer cicle d'educaci?? prim??ria' . 'Una experiencia de formaci??n permanente del profesorado : el ingl??s en el segundo ciclo de educaci??n infantil y el primer ciclo de educaci??n primaria'

Resumen tomado parcialmente de la revista

Modalitat d'organitzaci?? de l'atenci?? a l'alumnat nouvingut : metodologies, t??cniques i estrat??gies per a l'Educaci?? Infantil i Prim??ria. 'Modalidad de organizaci??n de la atenci??n del alumnado reci??n llegado : metodolog??as, t??cnicas y estrategias para Educaci??n Infantil y Primaria'

Resumen tomado de la publicaci??n. Documento sujeto a una licencia de Reconocimiento-No comercial-Compartir con la misma licencia 3.0 Espa??a de Creative Commons. ??ltima revisi??n: octubre de 2008

Unitats did??ctiques per a prim??ria. Medi aqu??tic i aprenentatge significatiu : una proposta per a la inclusi?? d'alumnes amb discapacitat motriu. 'Unidades did??cticas para primaria. Medio acu??tico y aprendizaje significativo : una propuesta para la inclusi??n de alumnos con discapacidad motriz'

Resumen tomado del autor

Ortografia entretinguda 1 : l'ortografia a l'educaci?? prim??ria. 'Ortograf??a entretenida 1 : la ortograf??a en la educaci??n primaria'

Forma parte del proyecto Plenamar de libros de did??ctica de la lengua y la literatura catalana. Resumen tomado del recurso