Effect of fractional orders in the velocity control of a servo system

The application of fractional-order PID controllers is now an active field of research. This article investigates the effect of fractional (derivative and integral) orders upon system's performance in the velocity control of a servo system. The servo system consists of a digital servomechanism and an open-architecture software environment for real-time control experiments using MATLAB/Simulink tools. Experimental responses are presented and analyzed, showing the effectiveness of fractional controllers. Comparison with classical PID controllers is also investigated.

ALSMon: sistema para monitorizar ALS

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Informática e de Computadores

Probabilistic Egomotion for Stereo Visual Odometry

We present a novel approach of Stereo Visual Odometry for vehicles equipped with calibrated stereo cameras. We combine a dense probabilistic 5D egomotion estimation method with a sparse keypoint based stereo approach to provide high quality estimates of vehicle’s angular and linear velocities. To validate our approach, we perform two sets of experiments with a well known benchmarking dataset. First, we assess the quality of the raw velocity estimates in comparison to classical pose estimation algorithms. Second, we added to our method’s instantaneous velocity estimates a Kalman Filter and compare its performance with a well known open source stereo Visual Odometry library. The presented results compare favorably with state-of-the-art approaches, mainly in the estimation of the angular velocities, where significant improvements are achieved.

Bits, Atoms, and Information Sharing: new opportunities for participation

The particular characteristics and affordances of technologies play a significant role in human experience by defining the realm of possibilities available to individuals and societies. Some technological configurations, such as the Internet, facilitate peer-to-peer communication and participatory behaviors. Others, like television broadcasting, tend to encourage centralization of creative processes and unidirectional communication. In other instances still, the affordances of technologies can be further constrained by social practices. That is the case, for example, of radio which, although technically allowing peer-to-peer communication, has effectively been converted into a broadcast medium through the legislation of the airwaves. How technologies acquire particular properties, meanings and uses, and who is involved in those decisions are the broader questions explored here. Although a long line of thought maintains that technologies evolve according to the logic of scientific rationality, recent studies demonstrated that technologies are, in fact, primarily shaped by social forces in specific historical contexts. In this view, adopted here, there is no one best way to design a technological artifact or system; the selection between alternative designs—which determine the affordances of each technology—is made by social actors according to their particular values, assumptions and goals. Thus, the arrangement of technical elements in any technological artifact is configured to conform to the views and interests of those involved in its development. Understanding how technologies assume particular shapes, who is involved in these decisions and how, in turn, they propitiate particular behaviors and modes of organization but not others, requires understanding the contexts in which they are developed. It is argued here that, throughout the last century, two distinct approaches to the development and dissemination of technologies have coexisted. In each of these models, based on fundamentally different ethoi, technologies are developed through different processes and by different participants—and therefore tend to assume different shapes and offer different possibilities. In the first of these approaches, the dominant model in Western societies, technologies are typically developed by firms, manufactured in large factories, and subsequently disseminated to the rest of the population for consumption. In this centralized model, the role of users is limited to selecting from the alternatives presented by professional producers. Thus, according to this approach, the technologies that are now so deeply woven into human experience, are primarily shaped by a relatively small number of producers. In recent years, however, a group of three interconnected interest groups—the makers, hackerspaces, and open source hardware communities—have increasingly challenged this dominant model by enacting an alternative approach in which technologies are both individually transformed and collectively shaped. Through a in-depth analysis of these phenomena, their practices and ethos, it is argued here that the distributed approach practiced by these communities offers a practical path towards a democratization of the technosphere by: 1) demystifying technologies, 2) providing the public with the tools and knowledge necessary to understand and shape technologies, and 3) encouraging citizen participation in the development of technologies.

Comparison of Contemporary Protocols for High-speed Data Transport via 10 Gbps WAN Connections

This work is dedicated to comparison of open source as well as proprietary transport protocols for highspeed data transmission via IP networks. The contemporary common TCP needs significant improvement since it was developed as general-purpose transport protocol and firstly introduced four decades ago. In nowadays networks, TCP fits not all communication needs that society has. Caused of it another transport protocols have been developed and successfully used for e.g. Big Data movement. In scope of this research the following protocols have been investigated for its efficiency on 10Gbps links: UDT, RBUDP, MTP and RWTP. The protocols were tested under different impairments such as Round Trip Time up to 400 ms and packet losses up to 2%. Investigated parameters are the data rate under different conditions of the network, the CPU load by sender andreceiver during the experiments, size of feedback data, CPU usage per Gbps and the amount of feedback data per GiByte of effectively transmitted data. The best performance and fair resources consumption was observed by RWTP. From the opensource projects, the best behavior is showed by RBUDP.

The Pursuit of Efficient Copyright Licensing : How Some Rights Reserved Attempts to Solve the Problems of All Rights Reserved

This dissertation analyses the growing pool of copyrighted works, which are offered to the public using Creative Commons licensing. The study consist of analysis of the novel licensing system, the licensors, and the changes of the "all rights reserved" —paradigm of copyright law. Copyright law reserves all rights to the creator until seventy years have passed since her demise. Many claim that this endangers communal interests. Quite often the creators are willing to release some rights. This, however, is very difficult to do and needs help of specialized lawyers. The study finds that the innovative Creative Commons licensing scheme is well suited for low value - high volume licensing. It helps to reduce transaction costs on several le¬vels. However, CC licensing is not a "silver bullet". Privacy, moral rights, the problems of license interpretation and license compatibility with other open licenses and collecting societies remain unsolved. The study consists of seven chapters. The first chapter introduces the research topic and research questions. The second and third chapters inspect the Creative Commons licensing scheme's technical, economic and legal aspects. The fourth and fifth chapters examine the incentives of the licensors who use open licenses and describe certain open business models. The sixth chapter studies the role of collecting societies and whether two institutions, Creative Commons and collecting societies can coexist. The final chapter summarizes the findings. The dissertation contributes to the existing literature in several ways. There is a wide range of prior research on open source licensing. However, there is an urgent need for an extensive study of the Creative Commons licensing and its actual and potential impact on the creative ecosystem.

Identification et localisation des préoccupations fonctionnelles dans un code légataire Java

Traditionnellement, les applications orientées objets légataires intègrent différents aspects fonctionnels. Ces aspects peuvent être dispersés partout dans le code. Il existe différents types d’aspects : • des aspects qui représentent des fonctionnalités métiers ; • des aspects qui répondent à des exigences non fonctionnelles ou à d’autres considérations de conception comme la robustesse, la distribution, la sécurité, etc. Généralement, le code qui représente ces aspects chevauche plusieurs hiérarchies de classes. Plusieurs chercheurs se sont intéressés à la problématique de la modularisation de ces aspects dans le code : programmation orientée sujets, programmation orientée aspects et programmation orientée vues. Toutes ces méthodes proposent des techniques et des outils pour concevoir des applications orientées objets sous forme de composition de fragments de code qui répondent à différents aspects. La séparation des aspects dans le code a des avantages au niveau de la réutilisation et de la maintenance. Ainsi, il est important d’identifier et de localiser ces aspects dans du code légataire orienté objets. Nous nous intéressons particulièrement aux aspects fonctionnels. En supposant que le code qui répond à un aspect fonctionnel ou fonctionnalité exhibe une certaine cohésion fonctionnelle (dépendances entre les éléments), nous proposons d’identifier de telles fonctionnalités à partir du code. L’idée est d’identifier, en l’absence des paradigmes de la programmation par aspects, les techniques qui permettent l’implémentation des différents aspects fonctionnels dans un code objet. Notre approche consiste à : • identifier les techniques utilisées par les développeurs pour intégrer une fonctionnalité en l’absence des techniques orientées aspects • caractériser l’empreinte de ces techniques sur le code • et développer des outils pour identifier ces empreintes. Ainsi, nous présentons deux approches pour l’identification des fonctionnalités existantes dans du code orienté objets. La première identifie différents patrons de conception qui permettent l’intégration de ces fonctionnalités dans le code. La deuxième utilise l’analyse formelle de concepts pour identifier les fonctionnalités récurrentes dans le code. Nous expérimentons nos deux approches sur des systèmes libres orientés objets pour identifier les différentes fonctionnalités dans le code. Les résultats obtenus montrent l’efficacité de nos approches pour identifier les différentes fonctionnalités dans du code légataire orienté objets et permettent de suggérer des cas de refactorisation.

Exploring geolocation governance perspectives through the study of appropriation and collective action.

Ce mémoire de maîtrise a été rédigé dans l’objectif d’explorer une inégalité. Une inégalité dans les pratiques liées à la saisie et l’exploitation des données utilisateur dans la sphère des technologies et services Web, plus particulièrement dans la sphère des GIS (Geographic Information Systems). En 2014, de nombreuses entreprises exploitent les données de leurs utilisateurs afin d’améliorer leurs services ou générer du revenu publicitaire. Du côté de la sphère publique et gouvernementale, ce changement n’a pas été effectué. Ainsi, les gouvernements fédéraux et municipaux sont démunis de données qui permettraient d’améliorer les infrastructures et services publics. Des villes à travers le monde essayent d’améliorer leurs services et de devenir « intelligentes » mais sont dépourvues de ressources et de savoir faire pour assurer une transition respectueuse de la vie privée et des souhaits des citadins. Comment une ville peut-elle créer des jeux de données géo-référencés sans enfreindre les droits des citadins ? Dans l’objectif de répondre à ces interrogations, nous avons réalisé une étude comparative entre l’utilisation d’OpenStreetMap (OSM) et de Google Maps (GM). Grâce à une série d’entretiens avec des utilisateurs de GM et d’OSM, nous avons pu comprendre les significations et les valeurs d’usages de ces deux plateformes. Une analyse mobilisant les concepts de l’appropriation, de l’action collective et des perspectives critiques variées nous a permis d’analyser nos données d’entretiens pour comprendre les enjeux et problèmes derrière l’utilisation de technologies de géolocalisation, ainsi que ceux liés à la contribution des utilisateurs à ces GIS. Suite à cette analyse, la compréhension de la contribution et de l’utilisation de ces services a été recontextualisée pour explorer les moyens potentiels que les villes ont d’utiliser les technologies de géolocalisation afin d’améliorer leurs infrastructures publiques en respectant leurs citoyens.

A Framework for TEI-Based Scholarly Text Editions

In this paper, we describe an interdisciplinary project in which visualization techniques were developed for and applied to scholarly work from literary studies. The aim was to bring Christof Schöch's electronic edition of Bérardier de Bataut's Essai sur le récit (1776) to the web. This edition is based on the Text Encoding Initiative's XML-based encoding scheme (TEI P5, subset TEI-Lite). This now de facto standard applies to machine-readable texts used chiefly in the humanities and social sciences. The intention of this edition is to make the edited text freely available on the web, to allow for alternative text views (here original and modern/corrected text), to ensure reader-friendly annotation and navigation, to permit on-line collaboration in encoding and annotation as well as user comments, all in an open source, generically usable, lightweight package. These aims were attained by relying on a GPL-based, public domain CMS (Drupal) and combining it with XSL-Stylesheets and Java Script.

Assessing the users’ need for a spatial decision support system of smallholder farming in Kenya

Accurate data of the natural conditions and agricultural systems with a good spatial resolution are a key factor to tackle food insecurity in developing countries. A broad variety of approaches exists to achieve precise data and information about agriculture. One system, especially developed for smallholder agriculture in East Africa, is the Farm Management Handbook of Kenya. It was first published in 1982/83 and fully revised in 2012, now containing 7 volumes. The handbooks contain detailed information on climate, soils, suitable crops and soil care based on scientific research results of the last 30 years. The density of facts leads to time consuming extraction of all necessary information. In this study we analyse the user needs and necessary components of a system for decision support for smallholder farming in Kenya based on a geographical information system (GIS). Required data sources were identified, as well as essential functions of the system. We analysed the results of our survey conducted in 2012 and early 2013 among agricultural officers. The monitoring of user needs and the problem of non-adaptability of an agricultural information system on the level of extension officers in Kenya are the central objectives. The outcomes of the survey suggest the establishment of a decision support tool based on already available open source GIS components. The system should include functionalities to show general information for a specific location and should provide precise recommendations about suitable crops and management options to support agricultural guidance on farm level.

Programmierung in Pascal

Das hier frei verfügbare Skript gehört zu einer gleichnamigen Vorlesung, die von Prof. Dr. Lutz Wegner bis zum Wintersemester 1998/99 am damaligen Fachbereich 17 Mathematik/Informatik der Universität Kassel gehalten wurde. Thema ist die Einführung in die Programmierung, wie sie am Anfang fast aller Informatik-, Mathematik- und verwandter Ingenieurstudiengänge steht. Hier erfolgt die Einführung mit der Programmiersprache Pascal, die Niklaus Wirth (ehemals ETH Zürich) bereits 1968 entwickelte. Sie gilt als letzte Vertreterin der rein prozeduralen Sprachen und führt in der Regel zu sauber strukturierten Programmen. In der damals auf PCs weit verbreiteten Turbo Pascal Variante geht es auch um Objektorientierung, die charakteristisch für das heutige Programmierparadigma mit Java ist. Alte (und neu geschriebene) Pascal-Programme lassen sich problemlos mit den Free Pascal Open Source Compilern (www.freepascal.org) übersetzen und unter allen gängigen Betriebssystemen zur Ausführung bringen. Wer hierfür eine fachlich präzise und trotzdem vergleichsweise gut lesbare Einführung mit Hinweisen auf guten und schlechten Programmierstil braucht, wird hier fündig und kommt über den Stickwortindex am Ende auch schnell zu Einzelthemen wie Parameterübergabe oder das Arbeiten mit Pointern.

Using Analogy to Acquire Commonsense Knowledge from Human Contributors

The goal of the work reported here is to capture the commonsense knowledge of non-expert human contributors. Achieving this goal will enable more intelligent human-computer interfaces and pave the way for computers to reason about our world. In the domain of natural language processing, it will provide the world knowledge much needed for semantic processing of natural language. To acquire knowledge from contributors not trained in knowledge engineering, I take the following four steps: (i) develop a knowledge representation (KR) model for simple assertions in natural language, (ii) introduce cumulative analogy, a class of nearest-neighbor based analogical reasoning algorithms over this representation, (iii) argue that cumulative analogy is well suited for knowledge acquisition (KA) based on a theoretical analysis of effectiveness of KA with this approach, and (iv) test the KR model and the effectiveness of the cumulative analogy algorithms empirically. To investigate effectiveness of cumulative analogy for KA empirically, Learner, an open source system for KA by cumulative analogy has been implemented, deployed, and evaluated. (The site "1001 Questions," is available at http://teach-computers.org/learner.html). Learner acquires assertion-level knowledge by constructing shallow semantic analogies between a KA topic and its nearest neighbors and posing these analogies as natural language questions to human contributors. Suppose, for example, that based on the knowledge about "newspapers" already present in the knowledge base, Learner judges "newspaper" to be similar to "book" and "magazine." Further suppose that assertions "books contain information" and "magazines contain information" are also already in the knowledge base. Then Learner will use cumulative analogy from the similar topics to ask humans whether "newspapers contain information." Because similarity between topics is computed based on what is already known about them, Learner exhibits bootstrapping behavior --- the quality of its questions improves as it gathers more knowledge. By summing evidence for and against posing any given question, Learner also exhibits noise tolerance, limiting the effect of incorrect similarities. The KA power of shallow semantic analogy from nearest neighbors is one of the main findings of this thesis. I perform an analysis of commonsense knowledge collected by another research effort that did not rely on analogical reasoning and demonstrate that indeed there is sufficient amount of correlation in the knowledge base to motivate using cumulative analogy from nearest neighbors as a KA method. Empirically, evaluating the percentages of questions answered affirmatively, negatively and judged to be nonsensical in the cumulative analogy case compares favorably with the baseline, no-similarity case that relies on random objects rather than nearest neighbors. Of the questions generated by cumulative analogy, contributors answered 45% affirmatively, 28% negatively and marked 13% as nonsensical; in the control, no-similarity case 8% of questions were answered affirmatively, 60% negatively and 26% were marked as nonsensical.

Pre-procés i segmentació en imatges d’ultrasons 2D i 3D de la pròstata

Aquest projecte s'ha dut a terme amb el Grup de visió per computador del departament d'Arquitectura i Tecnologia de Computadors (ATC) de la Universitat de Girona. Està enfocat a l'anàlisi d'imatges mèdiques, en concret s'analitzaran imatges de pròstata en relació a desenvolupaments que s'estan realitzant en el grup de visió esmentat. Els objectius fixats per aquest projecte són desenvolupar dos mòduls de processamentm d'imatges els quals afrontaran dos blocs important en el tractament d'imatges, aquests dos mòduls seran un pre-processat d'imatges, que constarà de tres filtres i un bloc de segmentació per tal de cercar la pròstata dintre de les imatges a tractar. En el projecte es treballarà amb el llenguatge de programació C++, concretament amb unes llibreries que es denominen ITK (Insight Toolkit ) i són open source enfocades al tractament d'imatges mèdiques. A part d'aquesta eina s'utilitzaran d'altres com les Qt que és una biblioteca d'eines per crear entorns gràfics

Ka-Map: an interactive web-mapping application

ka-Map ("ka" as in ka-boom!) is an open source project that is aimed at providing a javascript API for developing highly interactive web-mapping interfaces using features available in modern web browsers. ka-Map currently has a number of interesting features. It sports the usual array of user interface elements such as: interactive, continuous panning without reloading the page; keyboard navigation options (zooming, panning); zooming to pre-set scales; interactive scalebar, legend and keymap support; optional layer control on client side; server side tile caching

Info2009 Group Coursework - Team EJZ

Info2009 Coursework by Team EJZ