Just thought some might be interested in processing speed comparisons among Udoo quad running Ubuntu 12.04, Raspberry Pi running Raspian and Beaglebone Black running Debian wheezy. I've written a Kalman filter in Matlab. It integrates GPS and an IMU (inertial measurement unit). Heavy math computation. In Matlab on Windows 7 with an Intel i7 it takes 51 seconds to process 33 minutes of data. Translated into C and compiled in Visual Studio, it takes 0.8 seconds (W7/i7). Using the GCC compiler on the three single board computers and using the -O3 optimization switch, it takes about 18 seconds on the RPi and the BBB (remarkably, the RPi is a bit faster than the BBB for heavy math computations) and 4.5 seconds on the Udoo. So, for what's important to me (your mileage may vary), the Udoo is 4 times faster than the competition!