The goal of this project is to explore both the theory behind the Extended Kalman Filter and the way it was used to localize a four-wheeled mobile-robot. This can be achieved by estimating in real-time the pose of the robot, while using a pre-acquired map through Laser Range Finder (LRF). The LRF is used to scan the environment, which is represented through line segments. Through a prediction step, the robot simulates its kinematic model to predict his current position. In order to minimize the difference between the matched lines from the global and local maps, a update step is implemented. It should be noted that every measurement has associated uncertainty that needs to be taken into account when performing each step of the Extended Kalman Filter. These uncertainties, or noise, are described by covariance matrices that play a very important role in the algorithm. Since we are dealing with an indoor structured environment, mainly composed by walls and straight-edged objects, the line segment representation of the maps was the chosen method to approach the problem.
The CPU scheduling is the basis of multi-programming operating systems. By switching the
CPU among processes, the operating system can make the computer more productive. The
scheduler controls the way processes are managed in the operating system.
Linux supports preemptive multitasking, this means that the process scheduler decides which process
runs and when.
Balance performance across different computer configurations is one challenge in modern operating
systems.Linux has two separate process-scheduling algorithms.
If a Linux system performs similar tasks in a regular manner, it could be useful to implement
optimizations to the Linux scheduler to optimize the performance of those tasks.
In this project, we analyze and evaluate the impact of changing the kernel values on the performance
of the calculation of 8,765,4321 digits of pi using the Leibniz formula measuring the time that the
system takes to perform the calculation.
Constanza Madrigal Reyes and Ismael Lizárraga González
The fundamental necessity for water is a widespread issue affecting many communities across the globe. In this project, our team sought to provide an innovative solution to this problem for a small community with access to a relatively close source of flowing water. Resultant flow rate of water was calculated to be 0.498 L/min. Stress and strain analysis on individual subsections of the system were as follows: -44.2 MPa for bending moment in the rod; -7.04 MPa for shear stresses in the rod of the axis; -8.88E-5 for shear strain in the rod ; -1.11 MPa and .429 MPa of shear stresses in the L brackets; -0.123 MPa for radial stress of spiral, -0.422 MPa for hoop stress of spiral, -2.10 MPa for bending moment of spiral, and -0.176 MPa for the maximum shear stress of the spiral pump on the rotating wheel. The focus of the design remained fixated on water acquisition; however, further additions can be made for water purification.
En este capítulo aprenderemos como los agentes pueden tratar con la incertidumbre utilizando métodos que hagan uso de las probabilidades y de la teoria de la decisión pero primero deben aprender las teorias probabilisticas sobre el mundo apartir de la experiencia.
The LHC (Large Hadron Collider) will have a long shut down in the years of 2019 and 2020, referred to as LS2. During this stop the LHC injector complex will be upgraded to increase the luminosities, which will be the first step of the high luminosity LHC program (which will be realized during LS3 that takes place in 2024-2026). The LHCb experiment, whose main purpose is to study the CP-violation, will during this long stop be upgraded in order to withstand a higher radiation dose, and to be able to read out the detector at a rate of 40MHz,compared to 1MHz at present. This change will improve the trigger efficiency significantly. One of the LHCb sub-detectors the Trigger Tracker (TT), will be replaced by a new sub-detector called UT. This report presents the early stage design (preparation for mock-up building) of the box that will be isolating the new UT detector from the surroundings and to ensure optimal detector operation. Methods to fulfill requirements such as light and gas tightness, Faraday-cage behavior and condensation free temperatures, without breaking the fragile beryllium beam pipe, are established.