scholarly journals Fast Realization of Collision Risk Calculation in Power Line Patrol Flight Based on CUDA

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Jiandong Liao ◽  
Ying Zhang ◽  
Guoqiang Li
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Operating Systems ◽  
Distribution Model ◽  
Risk Level ◽  
Collision Risk ◽  
Weather Factors ◽  
Model Based ◽  
Accident Probability ◽  
Low Altitude ◽  
Model Algorithm

In this paper, a low-altitude risk collision model based on CUDA is designed to avoid problems that may occur in the process of unmanned aerial power patrol. By collecting and analyzing the data related to the unmanned aerial power patrol task, the collision accident probability is extracted and the probability distribution model and the influence of weather factors on the collision risk are combined. The model validates the collision risk of unmanned aerial vehicles in different locations and verifies the reliability and computational efficiency of the model based on different operating systems. The model algorithm can effectively improve the response time to avoid collision risk during UAV patrol and reduce the risk level of UAV collision accidents.

scholarly journals Efficient Reactive Obstacle Avoidance Using Spirals for Escape

Drones ◽  
2021 ◽  
Vol 5 (2) ◽  
pp. 51
Author(s):  
Fábio Azevedo ◽  
Jaime S. Cardoso ◽  
André Ferreira ◽  
Tiago Fernandes ◽  
Miguel Moreira ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Mobile Robotics ◽  
Point Clouds ◽  
Depth Camera ◽  
Main Task ◽  
Robust Method ◽  
Aerial Vehicles ◽  
Correct Execution ◽  
Low Altitude ◽  
High Degree

The usage of unmanned aerial vehicles (UAV) has increased in recent years and new application scenarios have emerged. Some of them involve tasks that require a high degree of autonomy, leading to increasingly complex systems. In order for a robot to be autonomous, it requires appropriate perception sensors that interpret the environment and enable the correct execution of the main task of mobile robotics: navigation. In the case of UAVs, flying at low altitude greatly increases the probability of encountering obstacles, so they need a fast, simple, and robust method of collision avoidance. This work covers the problem of navigation in unknown scenarios by implementing a simple, yet robust, environment-reactive approach. The implementation is done with both CPU and GPU map representations to allow wider coverage of possible applications. This method searches for obstacles that cross a cylindrical safety volume, and selects an escape point from a spiral for avoiding the obstacle. The algorithm is able to successfully navigate in complex scenarios, using both a high and low-power computer, typically found aboard UAVs, relying only on a depth camera with a limited FOV and range. Depending on the configuration, the algorithm can process point clouds at nearly 40 Hz in Jetson Nano, while checking for threats at 10 kHz. Some preliminary tests were conducted with real-world scenarios, showing both the advantages and limitations of CPU and GPU-based methodologies.

scholarly journals A Model-Based Approach for Adaptable Middleware Evolution in WSN Platforms

2021 ◽  
Vol 10 (1) ◽  
pp. 20
Author(s):  
Walter Tiberti ◽  
Dajana Cassioli ◽  
Antinisca Di Marco ◽  
Luigi Pomante ◽  
Marco Santic
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Embedded System ◽  
Operating Systems ◽  
Parallel Evolution ◽  
Wireless Sensor ◽  
New Techniques ◽  
Model Based ◽  
And Performance ◽  
Hardware Platforms

Advances in technology call for a parallel evolution in the software. New techniques are needed to support this dynamism, to track and guide its evolution process. This applies especially in the field of embedded systems, and certainly in Wireless Sensor Networks (WSNs), where hardware platforms and software environments change very quickly. Commonly, operating systems play a key role in the development process of any application. The most used operating system in WSNs is TinyOS, currently at its TinyOS 2.1.2 version. The evolution from TinyOS 1.x and TinyOS 2.x made the applications developed on TinyOS 1.x obsolete. In other words, these applications are not compatible out-of-the-box with TinyOS 2.x and require a porting action. In this paper, we discuss on the porting of embedded system (i.e., Wireless Sensor Networks) applications in response to operating systems’ evolution. In particular, using a model-based approach, we report the porting we did of Agilla, a Mobile-Agent Middleware (MAMW) for WSNs, on TinyOS 2.x, which we refer to as Agilla 2. We also provide a comparative analysis about the characteristics of Agilla 2 versus Agilla. The proposed Agilla 2 is compatible with TinyOS 2.x, has full capabilities and provides new features, as shown by the maintainability and performance measurement presented in this paper. An additional valuable result is the architectural modeling of Agilla and Agilla 2, missing before, which extends its documentation and improves its maintainability.

scholarly journals Rapid Epistatic Mixed Model Association Studies by Controlling Multiple Polygenic Effects

2020 ◽  
Author(s):  
Dan Wang ◽  
Hui Tang ◽  
Jian-Feng Liu ◽  
Shizhong Xu ◽  
Qin Zhang ◽  
...  
Keyword(s):  
Population Size ◽  
Computational Efficiency ◽  
Mixed Model ◽  
Association Studies ◽  
Approximate Algorithm ◽  
Source Codes ◽  
Model Based ◽  
Pairwise Interactions ◽  
Genome Wide ◽  
Model Algorithm

SummaryWe have developed a rapid mixed model algorithm for exhaustive genome-wide epistatic association analysis by controlling multiple polygenic effects. Our model can simultaneously handle additive by additive epistasis, dominance by dominance epistasis and additive by dominance epistasis, and account for intrasubject fluctuations due to individuals with repeated records. Furthermore, we suggest a simple but efficient approximate algorithm, which allows examination of all pairwise interactions in a remarkably fast manner of linear with population size. Application to publicly available yeast and human data has showed that our mixed model-based method has similar performance with simple linear model-based Plink on computational efficiency. It took less than 40 hours for the pairwise analysis of 5,000 individuals genotyped with roughly 350,000 SNPs with five threads on Intel Xeon E5 2.6GHz CPU.Availability and implementationSource codes are freely available at https://github.com/chaoning/GMAT.

scholarly journals SIS dynamic network model based on product semantics from the perspective of infectious disease dynamics

2021 ◽  
Vol 235 ◽  
pp. 03035
Author(s):  
jiaojiao Lv ◽  
yingsi Zhao
Keyword(s):  
Network Model ◽  
Purchase Intention ◽  
Recommendation System ◽  
Optimal Algorithm ◽  
Dynamic Network ◽  
Distribution Model ◽  
Recommendation Algorithm ◽  
Model Based ◽  
Dynamic Network Model ◽  
Recommendation Algorithms

Recommendation system is unable to achive the optimal algorithm, recommendation system precision problem into bottleneck. Based on the perspective of product marketing, paper takes the inherent attribute as the classification standard and focuses on the core problem of “matching of product classification and recommendation algorithm of users’ purchase demand”. Three hypotheses are proposed: (1) inherent attributes of the product directly affect user demand; (2) classified product is suitable for different recommendation algorithms; (3) recommendation algorithm integration can achieve personalized customization. Based on empirical research on the relationship between characteristics of recommendation information (independent variable) and purchase intention (dependent variable), it is concluded that predictability and difference of recommendation information are not fully perceived and stimulation is insufficient. Therefore, SIS dynamic network model based on the distribution model of SIS virus is constructed. It discusses the spreading path of recommendation information and “infection” situation of consumers to enhance accurate matching of recommendation system.

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