OpenFABMAP : an open source toolbox for appearance-based loop closure detection

Appearance-based loop closure techniques, which leverage the high information content of visual images and can be used independently of pose, are now widely used in robotic applications. The current state-of-the-art in the field is Fast Appearance-Based Mapping (FAB-MAP) having been demonstrated in several seminal robotic mapping experiments. In this paper, we describe OpenFABMAP, a fully open source implementation of the original FAB-MAP algorithm. Beyond the benefits of full user access to the source code, OpenFABMAP provides a number of configurable options including rapid codebook training and interest point feature tuning. We demonstrate the performance of OpenFABMAP on a number of published datasets and demonstrate the advantages of quick algorithm customisation. We present results from OpenFABMAP’s application in a highly varied range of robotics research scenarios.

An open-source approach to music education through jam2jam XO

This article examines the philosophy and practice of open-source technology in the development of the jam2jam XO software for the One Laptop Per Child (OLPC) computer. It explores how open-source software principles, pragmatist philosophy, improvisation and constructionist epistemologies are operationalized in the design and development of music software, and how such reflection reveals both the strengths and weaknesses of the open-source software development paradigm. An overview of the jam2jam XO platform, its development processes and music educational uses is provided and resulting reflections on the strengths and weaknesses of open-source development for music education are discussed. From an educational and software development perspective, the act of creating open-source software is shown to be a valuable enterprise, however, just because the source code, creative content and experience design are accessible and 'open' to be changed, does not guarantee that educational practices in the use of that software will change. Research around the development and use of jam2jam XO suggests that open-source software development principles can have an impact beyond software development and on to aspects of experience design and learning relationships.

Visual code annotations for cyberphysical programming

User interfaces for source code editing are a crucial component in any software development environment, and in many editors visual annotations (overlaid on the textual source code) are used to provide important contextual information to the programmer. This paper focuses on the real-time programming activity of ‘cyberphysical’ programming, and considers the type of visual annotations which may be helpful in this programming context.

Where is the software? Building a Metadata Repository for Software and Code Generated by QUT Researchers

QUT Software Finder is a searchable repository of metadata describing software and source code, which has been created as a result of QUT research activities. It was launched in December 2013. https://researchdatafinder.qut.edu.au/scf The registry was designed to aid the discovery and visibility of QUT research outputs and encourage sharing and re-use of code and software throughout the research community, both nationally and internationally. The repository platform used is VIVO (an open source product initially developed at Cornell University). QUT Software Finder records that describe software or code are connected to information about researchers involved, the research groups, related publications and related projects. Links to where the software or code can be accessed from are also provided alongside licencing and re-use information.

MATLAB/Simulink simulation and C2000 code generation model for a grid-interactive 3-phase 4-wire inverter

This work is a MATLAB/Simulink model of a controller for a three-phase, four-wire, grid-interactive inverter. The model provides capacity for simulating the performance of power electroinic hardware, as well as code generation for an embedded controller. The implemented hardware topology is a three-leg bridge with a neutral connection to the centre-tap of the DC bus. An LQR-based current controller and MAF-based phase detector are implemented. The model is configured for code generation for a Texas Instruments TMS320F28335 Digital Signal Processor (DSP).

Code Generation Paradigms On Optical Orthogonal And Other Codes In a Fiber Optic CDMA Lan

Code Division Multiple Access (CDMA) techniques, by far, had been applied to LAN problems by many investigators, An analytical study of well known algorithms for generation of Orthogonal codes used in FO-CDMA systems like those for prime, quasi-Prime, Optical Orthogonal and Matrix codes has been presented, Algorithms for OOCs like Greedy/Modified Greedy/Accelerated Greedy algorithms are implemented. Many speed-up enhancements. for these algorithms are suggested. A novel Synthetic Algorithm based on Difference Sets (SADS) is also proposed. Investigations are made to vectorise/parallelise SADS to implement the source code on parallel machines. A new matrix for code families of OOCs with different seed code-words but having the same (n,w,lambda) set is formulated.

Foot-mounted INS for everybody - an open-source embedded implementation

We present an open-source, realtime, embedded implementation of a foot-mounted, zero-velocity-update-aided inertial navigation system. The implementation includes both hardware design and software, uses off-the-shelf components and assembly methods, and features a standard USB interface. The software is written in C and can easily be modified to run user implemented algorithms. The hardware design and the software are released under permissive open-source licenses and production files, source code, documentation, and further resources are available at www.openshoe.org. The reproduction cost for a single unit is below $800, with the inertial measurement unit making up the bulk ($700). The form factor of the implementation is small enough for it to be integrated in the sole of a shoe. A performance evaluation of the system shows a position errors for short trajectories (<;100 [m]) of ± 0.2-1% of the traveled distance, depending on the shape of trajectory.

Using Relationships for Matching Textual Domain Models with Existing Code

We address the task of mapping a given textual domain model (e.g., an industry-standard reference model) for a given domain (e.g., ERP), with the source code of an independently developed application in the same domain. This has applications in improving the understandability of an existing application, migrating it to a more flexible architecture, or integrating it with other related applications. We use the vector-space model to abstractly represent domain model elements as well as source-code artifacts. The key novelty in our approach is to leverage the relationships between source-code artifacts in a principled way to improve the mapping process. We describe experiments wherein we apply our approach to the task of matching two real, open-source applications to corresponding industry-standard domain models. We demonstrate the overall usefulness of our approach, as well as the role of our propagation techniques in improving the precision and recall of the mapping task.

An open source massively parallel solver for Richards equation: Mechanistic modelling of water fluxes at the watershed scale

In this paper we present a massively parallel open source solver for Richards equation, named the RichardsFOAM solver. This solver has been developed in the framework of the open source generalist computational fluid dynamics tool box OpenFOAM (R) and is capable to deal with large scale problems in both space and time. The source code for RichardsFOAM may be downloaded from the CPC program library website. It exhibits good parallel performances (up to similar to 90% parallel efficiency with 1024 processors both in strong and weak scaling), and the conditions required for obtaining such performances are analysed and discussed. These performances enable the mechanistic modelling of water fluxes at the scale of experimental watersheds (up to few square kilometres of surface area), and on time scales of decades to a century. Such a solver can be useful in various applications, such as environmental engineering for long term transport of pollutants in soils, water engineering for assessing the impact of land settlement on water resources, or in the study of weathering processes on the watersheds. (C) 2014 Elsevier B.V. All rights reserved.

Error Correcting Functional Source Coding with Decoder Side Information using Row-Latin Rectangles

The functional source coding problem in which the receiver side information (Has-set) and demands (Want-set) include functions of source messages is studied using row-Latin rectangle. The source transmits encoded messages, called the functional source code, in order to satisfy the receiver's demands. We obtain a minimum length using the row-Latin rectangle. Next, we consider the case of transmission errors and provide a necessary and sufficient condition that a functional source code must satisfy so that the receiver can correctly decode the values of the functions in its Want-set.

Generating OpenMP code using an interactive parallelization environment

Code parallelization using OpenMP for shared memory systems is relatively easier than using message passing for distributed memory systems. Despite this, it is still a challenge to use OpenMP to parallelize application codes in a way that yields effective scalable performance when executed on a shared memory parallel system. We describe an environment that will assist the programmer in the various tasks of code parallelization and this is achieved in a greatly reduced time frame and level of skill required. The parallelization environment includes a number of tools that address the main tasks of parallelism detection, OpenMP source code generation, debugging and optimization. These tools include a high quality, fully interprocedural dependence analysis with user interaction capabilities to facilitate the generation of efficient parallel code, an automatic relative debugging tool to identify erroneous user decisions in that interaction and also performance profiling to identify bottlenecks. Finally, experiences of parallelizing some NASA application codes are presented to illustrate some of the benefits of using the evolving environment.

The OpenPMU Platform for Open Source Phasor Measurements

OpenPMU is an open platform for the development of phasor measurement unit (PMU) technology. A need has been identified for an open-source alternative to commercial PMU devices tailored to the needs of the university researcher and for enabling the development of new synchrophasor instruments from this foundation. OpenPMU achieves this through open-source hardware design specifications and software source code, allowing duplicates of the OpenPMU to be fabricated under open-source licenses. This paper presents the OpenPMU device based on the Labview development environment. The device is performance tested according to the IEEE C37.118.1 standard. Compatibility with the IEEE C37.118.2 messaging format is achieved through middleware which is readily adaptable to other PMU projects or applications. Improvements have been made to the original design to increase its flexibility. A new modularized architecture for the OpenPMU is presented using an open messaging format which the authors propose is adopted as a platform for PMU research.

A spectral synthesis code for rapid modelling of supernovae

We present TARDIS-an open-source code for rapid spectral modelling of supernovae (SNe). Our goal is to develop a tool that is sufficiently fast to allow exploration of the complex parameter spaces of models for SN ejecta. This can be used to analyse the growing number of highquality SN spectra being obtained by transient surveys. The code uses Monte Carlo methods to obtain a self-consistent description of the plasma state and to compute a synthetic spectrum. It has a modular design to facilitate the implementation of a range of physical approximations that can be compared to assess both accuracy and computational expediency. This will allow users to choose a level of sophistication appropriate for their application. Here, we describe the operation of the code and make comparisons with alternative radiative transfer codes of differing levels of complexity (SYN++, PYTHON and ARTIS). We then explore the consequence of adopting simple prescriptions for the calculation of atomic excitation, focusing on four species of relevance to Type Ia SN spectra-Si II, SII, MgII and Ca II. We also investigate the influence of three methods for treating line interactions on our synthetic spectra and the need for accurate radiative rate estimates in our scheme.

The BLAKE2 Cryptographic Hash and Message Authentication Code (MAC): IETF RFC 7693

This document describes the cryptographic hash function BLAKE2 and makes the algorithm specification and C source code conveniently available to the Internet community. BLAKE2 comes in two main flavors: BLAKE2b is optimized for 64-bit platforms and BLAKE2s for smaller architectures. BLAKE2 can be directly keyed, making it functionally equivalent to a Message Authentication Code (MAC).

Code clones in program test sequence identification

Code clones are portions of source code which are similar to the original program code. The presence of code clones is considered as a bad feature of software as the maintenance of software becomes difficult due to the presence of code clones. Methods for code clone detection have gained immense significance in the last few years as they play a significant role in engineering applications such as analysis of program code, program understanding, plagiarism detection, error detection, code compaction and many more similar tasks. Despite of all these facts, several features of code clones if properly utilized can make software development process easier. In this work, we have pointed out such a feature of code clones which highlight the relevance of code clones in test sequence identification. Here program slicing is used in code clone detection. In addition, a classification of code clones is presented and the benefit of using program slicing in code clone detection is also mentioned in this work.