Center for Research in Open Source Software, UC Santa Cruz

Mentors: Student: Rupal Sharma

<p>Briefly, the problem is detecting the course markers to help an autonomous vehicle find an optimal trajectory to complete the circuit. The idea is to develop an algorithm that will help a controller, which will first be demonstrated on an autonomous car that will navigate a closed course in minimal time. An embedded device(Raspberry-Pi) will be used to take live video input and run the algorithms on it.</p>

Mentors: Student: Jixin Chen

<p>LiveHD only supports glibc-based Linux at the moment. We can extend support to other platforms like Alpine Linux and macOS, so more people can use it. Alpine Linux support also allows us to compose a more lightweight container for easier and faster deployment. Additionally, the infrastructure of the LiveHD project could use some improvement, and with that, the quality of the project and the development experience can improve significantly.</p>

Mentors: Student: Mishal Singhai

<p>In this project, I am working on integrating the Proactive data Containers with Ceph Rados with the help of Configuring the librados (Library file which allows us to access RADOS) as the RADOS object storage layer within Ceph is an ideal target for storing PDC objects. To develop the commands to map PDC objects with Ceph Objects, Read/Write the objects of the Proactive Data Containers to the RADOS pools. A PDC is a container of objects, where the objects are managed by PDC services and are placed in any level of the storage hierarchy (i.e., NVRAM, disk, tape, etc.).It Stores Scientific Data in an Object-Oriented manner.</p>

Mentors: Student: Rishikesh Vanarse

<p>Information obtained from an <strong>Inertial Measurement Unit</strong> (IMU) is constrained due to physical limitations such as noise, drifts, misalignments and offsets. Since obtaining the state of a robot/vehicle requires integrating IMU outputs with time, the errors in the integrated estimates grow very fast. This project develops tools to accurately <strong>model the errors</strong> that affect IMU outputs, to <strong>estimate their relevant parameters</strong> and to understand <strong>how each parameter changes with time</strong>. Additionally, a <strong>sensor-fusion based pipeline</strong> is proposed for <strong>regularly correcting the estimated IMU parameters</strong>. The proposed method does not require any external mechanical setup and is designed to ideally work on low-computation processors and/or microcontrollers.</p>

Mentors: Student: Yash Jipkate

<p>Skyhook Data Management is programmable storage for databases. Every software needs documentation that is easily accessible and easy to use/refer to. Being Open Source means that developers from anywhere are welcome to contribute. Strong and easy-to-use documentation encourages developers to start contributing right away. The current documentation is hosted on GitHub wiki, which is not very intuitive to use. We want to port the documentation to Arrow’s ReadTheDocs to have a better user experience and interface. There are some sections that might need some revising to make it better. The documentation structure also would need to be reorganized in light of the migration. The documentation also needs to be in line with the Arrow documentation since we want to upstream it.</p>