Techniques for analyzing and avoiding hazardous objects and situations on the seabed are being developed to ensure the safety of ships and submersibles from various hazards. Improvements in accuracy and real-time response are critical for underwater object recognition, which rely on underwater sonar detection to remove noises and analyze the data. Therefore, parallel processing is being introduced for real-time processing of two-dimensional (2D) underwater sonar detector images for seabed monitoring. However, this requires optimized parallel processing between the modules for image processing and the data processing of a vast amount of data. This study proposes an effective parallel processing method, called Task Partitioning, based on central and graphical processing units for monitoring and identifying underwater objects in real time based on 2D-imaging sonar. The practicality of the proposed method is evaluated experimentally by comparing it to the sequential processing method. The experimental results show that the Task Partitioning method significantly improves the processing time for sonar images because it reduces the average execution time to 1% and 5% of the sequential processing method and general parallelization, respectively.
To apply UAVs (Unmanned Aerial Vehicle) into different fields, including research and industry, and expand it quickly, reliable but modular software is required. The existing flight control software (FCS) of the UAV consists of various types of modules categorized into different layers, and it is responsible for coordinating, monitoring, and controlling the vehicle during its flight. This paper proposes mpFCS, a structure of UAV flight control software, which provides portability to its modules and is easy to expand. The mpFCS consists of four segments and several modules within the segments. mpFCS provides portability for each module within the segment. Existing software does not provide portability for its modules because of the tight coupling resulting from its different and private interfaces. The mpFCS uses interfaces of the standard airborne software architecture to transfer data between its modules. Moreover, the structure provides portability for its modules to run in the standard airborne software environment. In order to verify the mpFCS, we tested the mpFCS with the conformance test suite of the airborne software that provides the testing environment for the interfaces and modules of the software. The mpFCS passed the test. Test results show that all modules of the mpFCS are portable. Additionally, portable modules can be interoperable with other software, and the structure is expandable with new modules that use standard airborne software interfaces.
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