Abstract

Abstract
This paper presents the last developments towards vision-based target tracking by an AUV. The main concepts behind the visual relative localization are provided and the results from a statistical analysis for the relative localization algorithm are presented. The purpose of this analysis is to ensure properness of data used to feed controllers that are responsible for governing the AUV motion. A new set of controllers enabling the AUV to track a visual target is given. Experimental data from obtained from tests in tank are presented, validating both the visual relative localization and control of the AUV.

Abstract
Particle filters (PFs) are computationally intensive sequential Monte Carlo estimation methods with applications in the field of mobile robotics for performing tasks such as tracking, simultaneous localization and mapping (SLAM) and navigation, by dealing with the uncertainties and/or noise generated by the sensors as well as with the intrinsic uncertainties of the environment. However, the application of PFs with an important number of particles has traditionally been difficult to implement in real-time applications due to the huge number of operations they require. This work presents a hardware implementation on FPGA (field programmable gate arrays) of a PF applied to SLAM which aims to accelerate the execution time of the PF algorithm with moderate resource. The presented system is evaluated for different sensors including a low cost Neato XV-11 laser scanner sensor. First the system is validated by post processing data provided by a realistic simulation of a differential robot, equipped with a hacked Neato XV-11 laser scanner, that navigates in the Robot@Factory competition maze. The robot was simulated using SimTwo, which is a realistic simulation software that can support several types of robots. The simulator provides the robot ground truth, odometry and the laser scanner data. Then the proposed solution is further validated on standard laser scanner sensors in complex environments. The results achieved from this study confirmed the possible use of low cost laser scanner for different robotics applications which benefits in several aspects due to its cost and the increased speed provided by the SLAM algorithm running on FPGA.

Abstract
This paper presents a new dynamic and stochastic decision supporting model for distributed generation investment planning (DGIP). The model is formulated as a mixed integer linear programming (MILP) optimization problem that simultaneously minimizes emission, operation and maintenance, as well as reliability costs. One of the salient features of the model is that it is based on a two-period planning horizon: a short-term planning period that requires robust decisions to be made and a medium to long-term one involving exploratory or flexible investment decisions. Each period has multiple decision stages. The operational variability introduced by intermittent generation sources and electricity demand are accounted for via probabilistic methods. To ensure computational tractability, the associated operational states are reduced via a clustering technique. Moreover, uncertainties related to emission price, demand growth and the unpredictability of intermittent generation sources are taken into account stochastically. A real-life distribution network system is used as a case study, and the results of our analyses generally show the efficacy of the proposed model.

Abstract
This brief study introduces a partially working concept being developed at IT4Innovations supercomputer (HPC) facility. This concept consists of several modules that form a whole body of an efficient system for observation of terrain or objects displacements using satellite SAR interferometry (InSAR). A metadata database helps to locate data stored in various storages and to perform basic analyzes. A special database has been designed to describe Sentinel-1 data, on its burst level. Custom Sentinel-1 TOPS processing algorithms allow an injection of coregistered bursts into the database. Once the area of interest is set and basic processing parameters are given, the selected data are merged and processed by the Persistent Scatterers (PS) InSAR method or an optimized Small Baselines (SB) InSAR derivative. Depending on the expected deliverables, the processing results can be post-analyzed using a custom approach, in order to achieve a set of reliable measurement points. Final results can be post processed and visualized using a custom GIS toolbox, consisting in open-source GIS functionality. The GIS post-processing is enforced by HPC power as well. To demonstrate the practical applicability of the described system, a subsidence area in Konya city, Turkey is used as the study area for Sentinel-1 InSAR evaluation. (C) 2016 The Authors. Published by Elsevier B.V.

Abstract
The evaluation of the presented procedural modelling methodology will be addressed in this chapter. Thus, a set of tests made to demonstrate the capabilities of this methodology in producing buildings compliant with a real subset of architectural rules (RGEU [1]) and others with distinct formats and different architectonic structures will be presented. Moreover, the effectiveness of the treemap approach in subdividing random layouts is shown, along with a generic stochastic process for automatic building generation and also some computational performance measurements that point out to the methodology expeditiousness. © The Author(s) 2016.