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A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments

  • Posted at : 6 months ago
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1. Read GADEN: A 3D
Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments

http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/papers/259

http://mapir.uma.es/papersrepo/2017/2017_jgmonroy_SENSORS_GADEN.pdf

 



2. Read the documents
for Robot Operating System.

http://wiki.ros.org/ROS/Introduction

 

3. Install ROS Kinetic
on Ubuntu 16.04

http://wiki.ros.org/kinetic/Installation/Ubuntu



 

4. Download and
compile the source code for GADEN.

https://github.com/MAPIRlab/gaden

 



5. Use a profiler on
GADEN. Determine the functions that take the most time.

https://github.com/yse/easy_profiler

https://github.com/KDAB/hotspot

 



6. Rewrite GADEN to
use ArrayFire libraries. ArrayFire is built on top of OpenCL and allows the use
of CPUs and GPUs at the same time to accelerate computations.

http://arrayfire.org/docs/index.htm

 

 



GARGEN is written in
C++ and is single threaded. You need to rewrite GARGEN in C++ and Python but
with ArrayFire/OpenCL functions. ArrayFire/OpenCL allows you to execute the
code on multiple processors at the same time. By executing on multiple
processors, you can speed up the execution of the simulation.

 

ArrayFire has a
complete set of functions that allows you to compute matrices in parallel using
CPU or GPU. Most of CFD is just matrix manipulation.

http://arrayfire.org/docs/group__arrayfire__func.htm

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