Browsing by Subject "Open source software"

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Open Access
Kinect based intelligent wheelchair navigation with potential fields
(IEEE, 2014) Özçelikörs, M.; Çoşkun, A.; Say, M. Girayhan; Yazici, A.; Yayan, U.; Akçakoca, M.
Increasing elderly people population and people with disabilities constitute a huge demand for wheelchairs. Wheelchairs have an important role on improving the lives and mobilization of people with disabilities. Moreover, autonomous wheelchairs constitute a suitable research platform for academic and industrial researchers. In this study, Finite state machine (FSM) based high-level controller and Kinect based navigation algorithm have been developed for ATEKS (Intelligent Wheelchair) which has high-tech control mechanisms, low-cost sensors and open source software (ROS, GAZEBO, ANDROID). © 2014 IEEE.
Open Access
RailwayDB: adaptive storage of interaction graphs
(Association for Computing Machinery, 2016) Soulé R.; Gedik, B.
We are living in an ever more connected world, where data recording the interactions between people, software systems, and the physical world is becoming increasingly prevalent. These data often take the form of a temporally evolving graph, where entities are the vertices and the interactions between them are the edges. We call such graphs interaction graphs. Various domains, including telecommunications, transportation, and social media, depend on analytics performed on interaction graphs. The ability to efficiently support historical analysis over interaction graphs requires effective solutions for the problem of data layout on disk. This paper presents an adaptive disk layout called the railway layout for optimizing disk block storage for interaction graphs. The key idea is to divide blocks into one or more sub-blocks. Each sub-block contains the entire graph structure, but only a subset of the attributes. This improves query I/O, at the cost of increased storage overhead. We introduce optimal integer linear program (ILP) formulations for partitioning disk blocks into sub-blocks with overlapping and nonoverlapping attributes. Additionally, we present greedy heuristics that can scale better compared to the ILP alternatives, yet achieve close to optimal query I/O. We provide an implementation of the railway layout as part of RailwayDB—an open-source graph database we have developed. To demonstrate the benefits of the railway layout, we provide an extensive experimental evaluation, including model-based as well as empirical results comparing our approach to baseline alternatives.