Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559516
R. Porter, C. Chakrabarti, N. Harvey, Garrett T. Kenyon
Learning has become an essential part of many image and video processing systems, but it is not often used as an end-to-end solution. Some of the most successful demonstrations of end-to-end learning have been with convolutional, or shared weight networks. We are interested in how this approach can scale and have developed a flexible framework for implementing and training large scale convolutional networks called Harpo. We present an overview of the Harpo framework and describe a multilevel learning strategy used to optimize convolutional networks for particular features of interest in video data streams. Harpo is designed to exploit reconfigurable hardware to accelerate massively parallel convolutional network components and achieve real-time processing speeds. In this paper, we present initial software experiments which use the system to segment exhaust plumes coming from military vehicles in unmanned aerial vehicle video data
{"title":"A scalable learning system for video recognition","authors":"R. Porter, C. Chakrabarti, N. Harvey, Garrett T. Kenyon","doi":"10.1109/AERO.2005.1559516","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559516","url":null,"abstract":"Learning has become an essential part of many image and video processing systems, but it is not often used as an end-to-end solution. Some of the most successful demonstrations of end-to-end learning have been with convolutional, or shared weight networks. We are interested in how this approach can scale and have developed a flexible framework for implementing and training large scale convolutional networks called Harpo. We present an overview of the Harpo framework and describe a multilevel learning strategy used to optimize convolutional networks for particular features of interest in video data streams. Harpo is designed to exploit reconfigurable hardware to accelerate massively parallel convolutional network components and achieve real-time processing speeds. In this paper, we present initial software experiments which use the system to segment exhaust plumes coming from military vehicles in unmanned aerial vehicle video data","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127924057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559603
M. Jasiunas, D. Kearney, R. Bowyer
In an investigation into the capabilities of small autonomous formations of unmanned aerial vehicles (UAVs), we identified connectivity, processing power, and lack of resource integration as three major limiting factors of current technology. In an endeavor to address these issues, we propose a new novel hardware and software environment consisting of a traditional Von Neumann processor coupled with a field programmable gate array (FPGA) for high performance processing, along with support libraries to better manage the resources of a formation. The supporting software libraries have the primary functions of allowing any networked resource (such as processors and UAV sensors) to be accessed from any location in the UAV formation, and also provide support that allows algorithms implemented simultaneously on the reconfigurable and traditional processors to migrate between UAVs for better connectivity to resources or to balance processing loads. In this paper we present the issues we faced in the design of these systems, along with our preliminary results indicating the advantages and shortcomings of the system. We also describe in detail the construction of the prototype systems used to determine the correct software settings for the mobile algorithms
{"title":"Connectivity, Resource Integration, and High Performance Reconfigurable Computing for Autonomous UAVs","authors":"M. Jasiunas, D. Kearney, R. Bowyer","doi":"10.1109/AERO.2005.1559603","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559603","url":null,"abstract":"In an investigation into the capabilities of small autonomous formations of unmanned aerial vehicles (UAVs), we identified connectivity, processing power, and lack of resource integration as three major limiting factors of current technology. In an endeavor to address these issues, we propose a new novel hardware and software environment consisting of a traditional Von Neumann processor coupled with a field programmable gate array (FPGA) for high performance processing, along with support libraries to better manage the resources of a formation. The supporting software libraries have the primary functions of allowing any networked resource (such as processors and UAV sensors) to be accessed from any location in the UAV formation, and also provide support that allows algorithms implemented simultaneously on the reconfigurable and traditional processors to migrate between UAVs for better connectivity to resources or to balance processing loads. In this paper we present the issues we faced in the design of these systems, along with our preliminary results indicating the advantages and shortcomings of the system. We also describe in detail the construction of the prototype systems used to determine the correct software settings for the mobile algorithms","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125564981","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559534
D. Rea, D. Bayles, P. Kapcio, S. Doyle, D. Stanley
The RAD750trade space hardened microprocessor is a fully licensed PowerPCtrade that is identical in architecture, function and operation to the commercial PowerPC 750trade microprocessor. Ongoing performance improvements in both the processor and surrounding devices provide a complete space computer solution for current and future space programs
{"title":"PowerPC ™ RAD750 ™ -A Microprocessor for Now and the Future","authors":"D. Rea, D. Bayles, P. Kapcio, S. Doyle, D. Stanley","doi":"10.1109/AERO.2005.1559534","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559534","url":null,"abstract":"The RAD750trade space hardened microprocessor is a fully licensed PowerPCtrade that is identical in architecture, function and operation to the commercial PowerPC 750trade microprocessor. Ongoing performance improvements in both the processor and surrounding devices provide a complete space computer solution for current and future space programs","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125584937","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559637
K. Pohl, L. Vempati
An emerging issue in the world of context-centric software-based decision-support is the need for potentially disparate systems to interoperate in meaningful and useful ways. Such interoperability must go beyond the elementary communication of data and endeavor to support a more powerful context-oriented inter-system relationship. A key issue in such functionality is the support, moreover the promotion, of meaningful interoperability while still retaining individual system representations, or perspectives. In other words, the meaningful integration of potentially disparate systems in a manner that allows each collaborating system to retain its potentially unique means of representing, or perceiving, the domain over which it operates. In the past, several approaches to this problem have been postulated, such as development of a specific translator for each source/target system pair combination, development of a universal ontology to encompass both systems, and so on. Specific, one-off translators are usually tightly coupled with both systems and have limited support for dealing with representational changes. The alternate approach of developing a universal representation is not only highly impractical but also requires an ongoing effort of monumental proportions to achieve even a remotely acceptable solution. Considering the potential complexity inherent in mapping between possibly disparate perspectives it is the opinion of the authors that a suitable solution will require the employment of reasoning-enabling technologies capable of supporting the high level analysis involved in performing such context-based translation. Above and beyond the need for complex translation among differing perspectives, the authors see an additional critical ingredient in supporting meaningful interoperability among systems as being the application of a web services-oriented model of inter-system collaboration. In this paradigm, both formalized and more ad hoc system capabilities are essentially defined and exposed as accessible web services. Interoperability in this sense involves systems employing each other's services in an effort to perform their desired tasks. Reliant on support for complex translation to map between perspectives, this notion of remote service invocation offers a simple yet effective metaphor for addressing the increasing need for useful interaction among potentially disparate systems. The focus of this paper is to provide both a vision and supporting design for a translation-based Web services interoperability bridge capable of supporting Web services-oriented interoperability among systems operating over potentially disparate representations. Capitalizing on offerings from both the artificial intelligence and semantic Web-based worlds the presented design incorporates technologies such as inference engines, rule-based systems, XML, XSLT, Web services and service-oriented architectures to provide the needed infrastructure to support meaningful
{"title":"A Translational Web Services Bridge for Meaningful Interoperability Among Information Systems","authors":"K. Pohl, L. Vempati","doi":"10.1109/AERO.2005.1559637","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559637","url":null,"abstract":"An emerging issue in the world of context-centric software-based decision-support is the need for potentially disparate systems to interoperate in meaningful and useful ways. Such interoperability must go beyond the elementary communication of data and endeavor to support a more powerful context-oriented inter-system relationship. A key issue in such functionality is the support, moreover the promotion, of meaningful interoperability while still retaining individual system representations, or perspectives. In other words, the meaningful integration of potentially disparate systems in a manner that allows each collaborating system to retain its potentially unique means of representing, or perceiving, the domain over which it operates. In the past, several approaches to this problem have been postulated, such as development of a specific translator for each source/target system pair combination, development of a universal ontology to encompass both systems, and so on. Specific, one-off translators are usually tightly coupled with both systems and have limited support for dealing with representational changes. The alternate approach of developing a universal representation is not only highly impractical but also requires an ongoing effort of monumental proportions to achieve even a remotely acceptable solution. Considering the potential complexity inherent in mapping between possibly disparate perspectives it is the opinion of the authors that a suitable solution will require the employment of reasoning-enabling technologies capable of supporting the high level analysis involved in performing such context-based translation. Above and beyond the need for complex translation among differing perspectives, the authors see an additional critical ingredient in supporting meaningful interoperability among systems as being the application of a web services-oriented model of inter-system collaboration. In this paradigm, both formalized and more ad hoc system capabilities are essentially defined and exposed as accessible web services. Interoperability in this sense involves systems employing each other's services in an effort to perform their desired tasks. Reliant on support for complex translation to map between perspectives, this notion of remote service invocation offers a simple yet effective metaphor for addressing the increasing need for useful interaction among potentially disparate systems. The focus of this paper is to provide both a vision and supporting design for a translation-based Web services interoperability bridge capable of supporting Web services-oriented interoperability among systems operating over potentially disparate representations. Capitalizing on offerings from both the artificial intelligence and semantic Web-based worlds the presented design incorporates technologies such as inference engines, rule-based systems, XML, XSLT, Web services and service-oriented architectures to provide the needed infrastructure to support meaningful ","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126708397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559355
M. Buehler, T. Sant, E. Brizendine, D. Keymeulen, G. Kuhlman, M. Schaap, S. Seshadri, R. C. Anderson
A miniature four-point probe instrument has been developed and applied to the characterization of the moisture content of the Martian soil simulants using fine and coarse silica sand and Moses Lake basalt. The results indicate that the soil resistivity varies over four orders of magnitude as the moisture content varied from 0.1% to over 10%. In addition it was found that forcing too much current through the sand sample resulted in a curious breakdown in the current-voltage characteristic.
{"title":"Measuring water content of Martian soil simulants using planar four-probes","authors":"M. Buehler, T. Sant, E. Brizendine, D. Keymeulen, G. Kuhlman, M. Schaap, S. Seshadri, R. C. Anderson","doi":"10.1109/AERO.2005.1559355","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559355","url":null,"abstract":"A miniature four-point probe instrument has been developed and applied to the characterization of the moisture content of the Martian soil simulants using fine and coarse silica sand and Moses Lake basalt. The results indicate that the soil resistivity varies over four orders of magnitude as the moisture content varied from 0.1% to over 10%. In addition it was found that forcing too much current through the sand sample resulted in a curious breakdown in the current-voltage characteristic.","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126859002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559342
W.J. Wambsganss, N. Hulst, B.W. Scilley, R. Schultz, D. Olsen, G. Seielstad
The University of North Dakota (UND) is developing the agricultural camera (AgCam) payload to capture precision agriculture imagery from an Earth-observing window onboard the International Space Station (ISS). Before AgCam operations can begin, however, the AgCam system must be thoroughly tested in order to prove its safety, reliability, and compatibility with other vitally important ISS electronics which is in close proximity to the payload. Electromagnetic interference and electromagnetic compatibility (EMI/EMC) are NASA-required tests for all payloads containing electronic components. Radiation effects testing, although not required by NASA is critically important in determining the reliability of the system in a low Earth orbit environment. The process of design and verification through testing to minimize the effects of EMI/EMC and ionizing radiation is really more of an art than a science, since in many cases the best way to succeed in these areas is to use the intuition gained from experience and a handful of "rules of thumb". Facilities and expertise for conducting these tests are usually unavailable in the university environment, but with the assistance of technical professionals in NASA and industry, the AgCam system will undergo the required tests in time for launch to the ISS onboard a Space Shuttle in 2006
{"title":"Electronics EMI/EMC and radiation effects testing for a university-designed ISS imaging payload","authors":"W.J. Wambsganss, N. Hulst, B.W. Scilley, R. Schultz, D. Olsen, G. Seielstad","doi":"10.1109/AERO.2005.1559342","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559342","url":null,"abstract":"The University of North Dakota (UND) is developing the agricultural camera (AgCam) payload to capture precision agriculture imagery from an Earth-observing window onboard the International Space Station (ISS). Before AgCam operations can begin, however, the AgCam system must be thoroughly tested in order to prove its safety, reliability, and compatibility with other vitally important ISS electronics which is in close proximity to the payload. Electromagnetic interference and electromagnetic compatibility (EMI/EMC) are NASA-required tests for all payloads containing electronic components. Radiation effects testing, although not required by NASA is critically important in determining the reliability of the system in a low Earth orbit environment. The process of design and verification through testing to minimize the effects of EMI/EMC and ionizing radiation is really more of an art than a science, since in many cases the best way to succeed in these areas is to use the intuition gained from experience and a handful of \"rules of thumb\". Facilities and expertise for conducting these tests are usually unavailable in the university environment, but with the assistance of technical professionals in NASA and industry, the AgCam system will undergo the required tests in time for launch to the ISS onboard a Space Shuttle in 2006","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123265204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559753
A. Simpson, O. Rawashdeh, S. Smith, J. Jacob, W. Smith, J. Lumpp
BIG BLUE (baseline inflatable-wing glider, balloon-launched unmanned experiment) is a flight experiment envisioned, designed, built, and flown primarily by undergraduate students in the College of Engineering at the University of Kentucky. BIG BLUE was conceived as a demonstration of unique inflatable wing technologies with potential for application for Mars airplanes. On May 3, 2003, BIG BLUE achieved the first-ever deployment and curing of UV hardening inflatable wings and reached an altitude of 27.1km (89,000ft). BIG BLUE II was launched successfully on May 1, 2004 with a second-generation optimized wing design. The wings were deployed and cured to an excellent symmetric flying shape from a flight ready fuselage with an autonomous autopilot, sensor and communication systems. To date, over 100 students have participated directly in the design, fabrication and testing of BIG BLUE, exposing them to the challenge and excitement of aerospace careers. BIG BLUE is supported by the NASA Workforce Development Program which has objectives to attract, motivate, and prepare students for technological careers in support of NASA, its missions, and its research efforts. BIG BLUE provides multidisciplinary experiential learning directed specifically toward entering the aerospace workforce
BIG BLUE(基线充气翼滑翔机，气球发射的无人实验)是一项飞行实验，主要由肯塔基大学工程学院的本科生设想、设计、建造和飞行。“蓝色巨人”被认为是一种独特的充气机翼技术的演示，具有应用于火星飞机的潜力。2003年5月3日，“蓝色巨人”首次完成了紫外线硬化充气机翼的部署和固化，并达到了27.1公里(89,000英尺)的高度。BIG BLUE II于2004年5月1日成功发射，采用了第二代优化机翼设计。机翼被展开并固化成极好的对称飞行形状，机身配备了自动驾驶仪、传感器和通信系统。迄今为止，已有100多名学生直接参与了“蓝色巨人”的设计、制造和测试，让他们接触到航空航天事业的挑战和兴奋。“蓝色巨人”由美国宇航局劳动力发展计划支持，该计划的目标是吸引、激励和培养学生从事技术职业，以支持美国宇航局、其任务和研究工作。BIG BLUE提供专门针对进入航空航天劳动力的多学科体验式学习
{"title":"BIG BLUE: high-altitude UAV demonstrator of Mars airplane technology","authors":"A. Simpson, O. Rawashdeh, S. Smith, J. Jacob, W. Smith, J. Lumpp","doi":"10.1109/AERO.2005.1559753","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559753","url":null,"abstract":"BIG BLUE (baseline inflatable-wing glider, balloon-launched unmanned experiment) is a flight experiment envisioned, designed, built, and flown primarily by undergraduate students in the College of Engineering at the University of Kentucky. BIG BLUE was conceived as a demonstration of unique inflatable wing technologies with potential for application for Mars airplanes. On May 3, 2003, BIG BLUE achieved the first-ever deployment and curing of UV hardening inflatable wings and reached an altitude of 27.1km (89,000ft). BIG BLUE II was launched successfully on May 1, 2004 with a second-generation optimized wing design. The wings were deployed and cured to an excellent symmetric flying shape from a flight ready fuselage with an autonomous autopilot, sensor and communication systems. To date, over 100 students have participated directly in the design, fabrication and testing of BIG BLUE, exposing them to the challenge and excitement of aerospace careers. BIG BLUE is supported by the NASA Workforce Development Program which has objectives to attract, motivate, and prepare students for technological careers in support of NASA, its missions, and its research efforts. BIG BLUE provides multidisciplinary experiential learning directed specifically toward entering the aerospace workforce","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123336090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559561
D. Keymeulen, C. Peay, K. Yee, D.L. Li
We report the temperature dependence of the JPL/Boeing MEMS second generation post resonator gyroscopes and determine the effect of hysteresis over the range 35degC to 65degC. The results indicate a strong linear dependence of the drive frequency and sense frequency with temperature of 0.093Hz/degC and AGC bias voltage with temperature of 13mV/degC. The results also indicate a significant time lag of the gyroscope of these quantities when responding to external temperature variations but determined no hysteresis exists in the drive frequency, sense frequency, and AGC bias. Both the time-frequency and time-bias voltage relationships are of the form y = A+B*exp(-t/T) where A is an offset parameter in Hertz and Volts respectively and B depends on the magnitude of the temperature variation
{"title":"Effect of Temperature on MEMS Vibratory Rate Gyroscope","authors":"D. Keymeulen, C. Peay, K. Yee, D.L. Li","doi":"10.1109/AERO.2005.1559561","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559561","url":null,"abstract":"We report the temperature dependence of the JPL/Boeing MEMS second generation post resonator gyroscopes and determine the effect of hysteresis over the range 35degC to 65degC. The results indicate a strong linear dependence of the drive frequency and sense frequency with temperature of 0.093Hz/degC and AGC bias voltage with temperature of 13mV/degC. The results also indicate a significant time lag of the gyroscope of these quantities when responding to external temperature variations but determined no hysteresis exists in the drive frequency, sense frequency, and AGC bias. Both the time-frequency and time-bias voltage relationships are of the form y = A+B*exp(-t/T) where A is an offset parameter in Hertz and Volts respectively and B depends on the magnitude of the temperature variation","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126410054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559298
Max Bajracharya, Antonio Diaz-Calderon, Matthew Robinson, Mark Powell maxb
This paper describes the target designation, tracking, approach, and camera handoff technologies required to achieve accurate, single-command autonomous instrument placement for a planetary rover. It focuses on robust tracking integrated with obstacle avoidance during the approach phase, and image-based camera handoff to allow vision-based instrument placement. It also provides initial results from a complete system combining these technologies with rover base placement to maximize arm manipulability and image-based instrument placement.
{"title":"Target tracking, approach, and camera handoff for automated instrument placement","authors":"Max Bajracharya, Antonio Diaz-Calderon, Matthew Robinson, Mark Powell maxb","doi":"10.1109/AERO.2005.1559298","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559298","url":null,"abstract":"This paper describes the target designation, tracking, approach, and camera handoff technologies required to achieve accurate, single-command autonomous instrument placement for a planetary rover. It focuses on robust tracking integrated with obstacle avoidance during the approach phase, and image-based camera handoff to allow vision-based instrument placement. It also provides initial results from a complete system combining these technologies with rover base placement to maximize arm manipulability and image-based instrument placement.","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"187 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116145202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-03-05DOI: 10.1109/AERO.2005.1559511
S. Vaillancourt
This paper describes system-level issues and solutions for space-based radar on-board processing. A modular, upgradeable architecture has been defined and SEAKR Engineering has built three module types as a risk-reduction effort. The memory modules are scalable to 128 Gbits/board with 16 Gbps of I/O capacity. The processing element boards are FPGA-based and use five Xilinx Virtex-II Pro-70 parts. Four FPGAs each have four banks of 18Mbit fast SRAM and the fifth FPGA has 512 MBytes of SDRAM. There are 10 Gbps interconnects between the FPGAs and two 8Gbps external I/O ports. The network switch module is based on RapidIO with the first version handling 4 bidirectional ports with 8Gbps full duplex per port. System partitioning and thermal issues have led to the use of heat pipes for hot parts and advanced materials for the chassis. The system power supply has also been considered to provide 1000 Watts from the system bus to the high-current, low voltages used by the advanced deep sub-micron parts
{"title":"Space based radar on-board processing architecture","authors":"S. Vaillancourt","doi":"10.1109/AERO.2005.1559511","DOIUrl":"https://doi.org/10.1109/AERO.2005.1559511","url":null,"abstract":"This paper describes system-level issues and solutions for space-based radar on-board processing. A modular, upgradeable architecture has been defined and SEAKR Engineering has built three module types as a risk-reduction effort. The memory modules are scalable to 128 Gbits/board with 16 Gbps of I/O capacity. The processing element boards are FPGA-based and use five Xilinx Virtex-II Pro-70 parts. Four FPGAs each have four banks of 18Mbit fast SRAM and the fifth FPGA has 512 MBytes of SDRAM. There are 10 Gbps interconnects between the FPGAs and two 8Gbps external I/O ports. The network switch module is based on RapidIO with the first version handling 4 bidirectional ports with 8Gbps full duplex per port. System partitioning and thermal issues have led to the use of heat pipes for hot parts and advanced materials for the chassis. The system power supply has also been considered to provide 1000 Watts from the system bus to the high-current, low voltages used by the advanced deep sub-micron parts","PeriodicalId":117223,"journal":{"name":"2005 IEEE Aerospace Conference","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115867222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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