36323831
Airborne simultaneous localisation and map building
This paper presents results of the application of simultaneous localisation and map building (SLAM) for an uninhabited aerial vehicle (UAV). Single vision camera and inertial measurement unit (IMU) are installed in a UAV platform. The data taken from a flight test is used to run the SLAM algorithm. Results show that both the map and the vehicle uncertainty are corrected even though the model of the system and observation are highly non-linear. The results, however, also indicate that further work of observability and the relationship between vehicle model drift and the number and the location of landmarks need to be further analysed given the highly dynamic nature of the system.
5884286
Real-time implementation of airborne inertial-SLAM
This paper addresses some challenges to the real-time implementation of Simultaneous Localisation and Mapping (SLAM) on a UAV platform. When compared to the implementation of SLAM in 2D environments, airborne implementation imposes several difficulties in terms of computational complexity and loop closure, with high nonlinearity in both vehicle dynamics and observations. An implementation of airborne SLAM is formulated to relieve this computational complexity in both direct and indirect ways. Our implementation is based on an Extended Kalman Filter (EKF), which fuses data from an Inertial Measurement Unit (IMU) with data from a passive vision system. Real-time results from flight trials are provided.
6014517
The Real-Time Development and Deployment of a Cooperative Multi-UAV System
This paper presents a systems view of the Autonomous Nav- igation and Sensing Experimental Research (ANSER) project. ANSER is one of the most advanced UAV projects of its kind, which is aimed at demonstrating Decentralised Data Fusion (DDF) and Simultaneous Localisation and Map (SLAM) building on multiple cooperative UAVs. The demonstration of DDF and SLAM require both navigation and terrain sensors to be carried onboard by the UAVs. These include an INS/GPS navigation system, millimeter wave (MMW) radar, and both a single vision node and a vision node augmented with a laser system. This paper presents the implementation of the algorithms, sensors and platforms, along with their interaction to address this demonstration. Furthermore, the paper will present the high fidelity real time simulator which is implemented to thoroughly test all algorithms and sensors before actual implementation in the environment.
2551048
Computers Are from Mars, Organisms Are from Venus
Biology and computer science share a natural affinity. Physicist Erwin Schrodinger envisioned life as an aperiodic crystal, observing that the organizing structure of life is neither completely regular, like a pure crystal, nor completely chaotic and without structure, like dust in the wind. Perhaps this is why biological information has never satisfactorily yielded to classical mathematical analysis. Machine computations combine elegant algorithms with brute-force calculations, which seems a reasonable approach to this aperiodic structure. Likewise, computing seeks to create a machine that can flexibly solve diverse problems. In nature, such plastic problem solving resides uniquely in the domain of organic matter. Thus, examining how organisms solve problems can lead to new computation and algorithm development approaches that devour the problems that are so easy to approach using a computer, yet so difficult to tackle in the laboratory. The paper discusses the two most successful uses of computers in biology, comparative sequence analysis and in silico cloning. It considers DNA computing and genetic algorithms.
15935373
Random Matchings Which Induce Hamilton Cycles and Hamiltonian Decompositions of Random Regular Graphs
Select four perfect matchings of 2n vertices, independently at random. We find the asymptotic probability that each of the first and second matchings forms a Hamilton cycle with each of the third and fourth. This is generalised to embrace any fixed number of perfect matchings, where a prescribed set of pairs of matchings must each produce Hamilton cycles (with suitable restrictions on the prescribed set of pairs). We also show how the result with four matchings implies that a random d-regular graph for fixed even d?4 asymptotically almost surely decomposes into d/2 Hamilton cycles. This completes a general result on the edge-decomposition of a random regular graph into regular spanning subgraphs of given degrees together with Hamilton cycles and verifies conjectures of Janson and of Robinson and Wormald.
18235969
Learning Relations and Information Extraction Rules for Protein Annotation
Protein annotation is a task that describes protein X in terms of topic Y Until now, most of protein annotation work has been done manually by human annotators. However, as the number of biomedical papers grows ever rapidly, manual annotation becomes difficult, and there is increasing need to automate the protein annotation process. Recently, Information Extraction (IE) has been used to solve this problem. Typically, IE requires pre-defined relations and hand-crafted IE rules or annotated corpora, and these requirements are difficult to satisfy in real world domains such as the biomedical domain. In this paper, we describe an IE system which requires only sentences labeled relevant or not to a given topic by domain experts.
2562587
Creating a Robust Desktop Grid using Peer-to-Peer Services
The goal of the work described in this paper is to design and build a scalable infrastructure for executing grid applications on a widely distributed set of resources. Such grid infrastructure must be decentralized, robust, highly available, and scalable, while efficiently mapping application instances to available resources in the system. However, current desktop grid computing platforms are typically based on a client-server architecture, which has inherent shortcomings with respect to robustness, reliability and scalability. Fortunately, these problems can be addressed through the capabilities promised by new techniques and approaches in peer-to-peer (P2P) systems. By employing P2P services, our system allows users to submit jobs to be run in the system and to run jobs submitted by other users on any resources available in the system, essentially allowing a group of users to form an ad-hoc set of shared resources. The initial target application areas for the desktop grid system are in astronomy and space science simulation and data analysis.
38004947
On-Line Detection of Errors in Homogeneous Multiprocessor Systems