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Performance of message brokers in event-driven architecture: Amazon SNS/SQS vs Apache Kafka / Prestanda av meddelandeköer i händelsedriven arkitektur: Amazon SNS/SQS vs Apache KafkaEdeland, Johan, Zivkovic, Ivan January 2023 (has links)
Microservice architecture, which involves breaking down applications into smaller and loosely coupled components, is becoming increasingly common in the development of modern systems. Connections between these components can be established in various ways. One of these approaches is event-driven architecture, where components in the system communicate asynchronously with each other through message queues. AWS, Amazon Web Services, the largest provider of cloud-based services, offers such a messaging queue: SQS, Amazon Simple Queue Service, which can be integrated with SNS, Amazon Simple Notification Service, to enable "one-to-many" asynchronous communication. An alternative tool is Apache Kafka, created by LinkedIn and later open-sourced under the Apache Software Foundation. Apache Kafka is an event logging and streaming platform that can also function as a message queue in an event-driven architecture. The authors of this thesis have been commissioned by Scania to compare and evaluate the performance of these two tools and investigate whether there are use cases where one might be more suitable than the other. To achieve this, two prototypes were developed, each prototype consisting of a producer microservice and a consumer microservice. These prototypes were then used to conduct latency and load tests by producing messages and measuring the time interval until they were consumed. The results of the tests show that Apache Kafka has a lower average latency than SNS/SQS and scales more efficiently with increasing data volumes, making it more suitable for use cases involving real-time data streaming. Its potential as a message bus for loosely coupled components in the system is also evident. In this context, SNS/SQS is equally valuable, as it operates as a dedicated message bus with good latency and offers a user-friendly and straightforward setup process. / Mikrotjänstarkitektur, som innebär att applikationer bryts ned till mindre och löst kopplade komponenter, är något som blir allt vanligare vid utvecklingen av moderna system. Kopplingar mellan dessa komponenter kan etableras på olika sätt. Ett av dessa tillvägagångssätt är händelsedriven arkitektur, där komponenterna i systemet kommunicerar asynkront med varandra genom meddelandeköer. AWS, Amazon Web Services, som är den största leverantören av molnbaserade tjänster, tillhandahåller en sådan meddelandekö: SQS, Amazon Simple Queue Service, som kan integreras med SNS, Amazon Simple Notification Service för att möjliggöra ”en-till-många” asynkron kommunikation. Ett alternativt verktyg är Apache Kafka, skapat av Linkedin och senare öppen källkodspublicerad under Apache Software Foundation. Apache Kafka är en händelselogg och strömningsplattform som även kan fungera som en meddelandekö i en händelsedriven arkitektur. Författarna av detta arbete har på uppdrag av Scania blivit ombedda att jämföra och utvärdera prestandan hos de två verktygen samt undersöka om det finns användningsfall där det ena kan vara mer lämpligt än det andra. För att uppnå detta utvecklades två prototyper, där varje prototyp består av en producent- och en konsumentmikrotjänst. Dessa prototyper användes sedan för att genomföra latens- och lasttester genom att producera meddelanden och mäta tidsintervallet till dess att de konsumerades. Resultatet från testerna visar att Apache Kafka har lägre genomsnittlig latens än SNS/SQS och skalar mer effektivt vid ökande datamängder, vilket gör det mer lämpat för användningsfall med realtidsströmning av data. Dess potential som meddelandebuss för löst kopplade komponenter i systemet är också tydlig. I detta sammanhang är SNS/SQS lika användbart, då det fungerar som en dedikerad meddelandebuss med god latens och en användarvänlig och enkel startprocess.
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Ein neuer Algorithmus zur Zeitsynchronisierung von Ereignis-basierten Zeitreihendaten als Alternative zur KreuzkorrelationSchranz, Christoph, Mayr, Sebastian 14 October 2022 (has links)
Mit der Verwendung von Sensordaten aus mehreren Quellen entsteht oft die Notwendigkeit einer Synchronisierung der entstandenen Messreihen. Ein Standardverfahren dazu ist die Kreuzkorrelation, die jedoch übereinstimmende Zeitstempel voraussetzt und empfindlich gegenüber Ausreißern reagiert. In diesem Paper wird daher ein alternativer Algorithmus für die Synchronisierung von Ereignis-basierten Zeitreihendaten vorgestellt. / With the use of sensor data from multiple sources, the need for synchronization of the resulting measurement series often arises. A standard method for this is cross-correlation, but this requires matching timestamps and is sensitive to outliers. This paper therefore presents an alternative algorithm for the synchronization of event-based time series data.
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Asynchronous Event-Feature Detection and Tracking for SLAM InitializationTa, Tai January 2024 (has links)
Traditional cameras are most commonly used in visual SLAM to provide visual information about the scene and positional information about the camera motion. However, in the presence of varying illumination and rapid camera movement, the visual quality captured by traditional cameras diminishes. This limits the applicability of visual SLAM in challenging environments such as search and rescue situations. The emerging event camera has been shown to overcome the limitations of the traditional camera with the event camera's superior temporal resolution and wider dynamic range, opening up new areas of applications and research for event-based SLAM. In this thesis, several asynchronous feature detectors and trackers will be used to initialize SLAM using event camera data. To assess the pose estimation accuracy between the different feature detectors and trackers, the initialization performance was evaluated from datasets captured from various environments. Furthermore, two different methods to align corner-events were evaluated on the datasets to assess the difference. Results show that besides some slight variation in the number of accepted initializations, the alignment methods show no overall difference in any metric. Overall highest performance among the event-based trackers for initialization is HASTE with mostly high pose accuracy and a high number of accepted initializations. However, the performance degrades in featureless scenes. CET on the other hand shows mostly lower performance compared to HASTE.
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