An Open Source, Autonomous, Vision-Based Algorithm for Hazard Detection and Avoidance for Celestial Body Landing

Planetary exploration is one of the main goals that humankind has established as a must for space exploration in order to be prepared for colonizing new places and provide scientific data for a better understanding of the formation of our solar system. In order to provide a safe approach, several safety measures must be undertaken to guarantee not only the success of the mission but also the safety of the crew. One of these safety measures is the Autonomous Hazard, Detection, and Avoidance (HDA) sub-system for celestial body landers that will enable different spacecraft to complete solar system exploration. The main objective of the HDA sub-system is to assemble a map of the local terrain during the descent of the spacecraft so that a safe landing site can be marked down. This thesis will be focused on a passive method using a monocular camera as its primary detection sensor due to its form factor and weight, which enables its implementation alongside the proposed HDA algorithm in the Intuitive Machines lunar lander NOVA-C as part of the Commercial Lunar Payload Services technological demonstration in 2021 for the NASA Artemis program to take humans back to the moon. This algorithm is implemented by including two different sources for making decisions, a two-dimensional (2D) vision-based HDA map and a three-dimensional (3D) HDA map obtained through a Structure from Motion process in combination with a plane fitting sequence. These two maps will provide different metrics in order to provide the lander a better probability of performing a safe touchdown. These metrics are processed to optimize a cost function

Joint optimization of depth and ego-motion for intelligent autonomous vehicles

The three-dimensional (3D) perception of autonomous vehicles is crucial for localization and analysis of the driving environment, while it involves massive computing resources for deep learning, which can't be provided by vehicle-mounted devices. This requires the use of seamless, reliable, and efficient massive connections provided by the 6G network for computing in the cloud. In this paper, we propose a novel deep learning framework with 6G enabled transport system for joint optimization of depth and ego-motion estimation, which is an important task in 3D perception for autonomous driving. A novel loss based on feature map and quadtree is proposed, which uses feature value loss with quadtree coding instead of photometric loss to merge the feature information at the texture-less region. Besides, we also propose a novel multi-level V-shaped residual network to estimate the depths of the image, which combines the advantages of V-shaped network and residual network, and solves the problem of poor feature extraction results that may be caused by the simple fusion of low-level and high-level features. Lastly, to alleviate the influence of image noise on pose estimation, we propose a number of parallel sub-networks that use RGB image and its feature map as the input of the network. Experimental results show that our method significantly improves the quality of the depth map and the localization accuracy and achieves the state-of-the-art performance

Image-space decomposition algorithms for sort-first parallel volume rendering of unstructured grids

Ankara : Department of Computer Engineering and Information Science and the Institute of Engineering and Science of Bilkent University, 1997.Thesis (Master's) -- Bilkent University, 1997.Includes bibliographical references leaves 96-100.Kutluca, HüseyinM.S

Extreme scale parallel NBody algorithm with event driven constraint based execution model

Traditional scientific applications such as Computational Fluid Dynamics, Partial Differential Equations based numerical methods (like Finite Difference Methods, Finite Element Methods) achieve sufficient efficiency on state of the art high performance computing systems and have been widely studied / implemented using conventional programming models. For emerging application domains such as Graph applications scalability and efficiency is significantly constrained by the conventional systems and their supporting programming models. Furthermore technology trends like multicore, manycore, heterogeneous system architectures are introducing new challenges and possibilities. Emerging technologies are requiring a rethinking of approaches to more effectively expose the underlying parallelism to the applications and the end-users. This thesis explores the space of effective parallel execution of ephemeral graphs that are dynamically generated. The standard particle based simulation, solved using the Barnes-Hut algorithm is chosen to exemplify the dynamic workloads. In this thesis the workloads are expressed using sequential execution semantics, a conventional parallel programming model - shared memory semantics and semantics of an innovative execution model designed for efficient scalable performance towards Exascale computing called ParalleX. The main outcomes of this research are parallel processing of dynamic ephemeral workloads, enabling dynamic load balancing during runtime, and using advanced semantics for exposing parallelism in scaling constrained applications

Hybrid MPI-Thread Parallelization of the Fast Multipole Method

We present in this paper multi-thread and multi-process parallelizations of the Fast Multipole Method (FMM) for Laplace equation, for uniform and non uniform distributions. These parallelizations apply to the original FMM formulation and to our new matrix formulation with BLAS (Basic Linear Algebra Subprograms) routines. Differences between the multi-thread and the multi-process versions are detailed, and a hybrid MPI-thread approach enables to gain parallel efficiency and memory scalability over the pure MPI one on clusters of SMP nodes. On 128 processors, we obtain 85% (respectively 75%) parallel efficiency for uniform (respectively non uniform) distributions with up to 100 million particles

A Spatio-Temporal Multi-Scale Binary Descriptor

Binary descriptors are widely used for multi-view matching and robotic navigation. However, their matching performance decreases considerably under severe scale and viewpoint changes in non-planar scenes. To overcome this problem, we propose to encode the varying appearance of selected 3D scene points tracked by a moving camera with compact spatio-temporal descriptors. To this end, we first track interest points and capture their temporal variations at multiple scales. Then, we validate feature tracks through 3D reconstruction and compress the temporal sequence of descriptors by encoding the most frequent and stable binary values. Finally, we determine multi-scale correspondences across views with a matching strategy that handles severe scale differences. The proposed spatio-temporal multi-scale approach is generic and can be used with a variety of binary descriptors. We show the effectiveness of the joint multi-scale extraction and temporal reduction through comparisons of different temporal reduction strategies and the application to several binary descriptors

Automating Topology Aware Mapping for Supercomputers

Petascale machines with hundreds of thousands of cores are being built. These machines have varying interconnect topologies and large network diameters. Computation is cheap and communication on the network is becoming the bottleneck for scaling of parallel applications. Network contention, specifically, is becoming an increasingly important factor affecting overall performance. The broad goal of this dissertation is performance optimization of parallel applications through reduction of network contention. Most parallel applications have a certain communication topology. Mapping of tasks in a parallel application based on their communication graph, to the physical processors on a machine can potentially lead to performance improvements. Mapping of the communication graph for an application on to the interconnect topology of a machine while trying to localize communication is the research problem under consideration. The farther different messages travel on the network, greater is the chance of resource sharing between messages. This can create contention on the network for networks commonly used today. Evaluative studies in this dissertation show that on IBM Blue Gene and Cray XT machines, message latencies can be severely affected under contention. Realizing this fact, application developers have started paying attention to the mapping of tasks to physical processors to minimize contention. Placement of communicating tasks on nearby physical processors can minimize the distance traveled by messages and reduce the chances of contention. Performance improvements through topology aware placement for applications such as NAMD and OpenAtom are used to motivate this work. Building on these ideas, the dissertation proposes algorithms and techniques for automatic mapping of parallel applications to relieve the application developers of this burden. The effect of contention on message latencies is studied in depth to guide the design of mapping algorithms. The hop-bytes metric is proposed for the evaluation of mapping algorithms as a better metric than the previously used maximum dilation metric. The main focus of this dissertation is on developing topology aware mapping algorithms for parallel applications with regular and irregular communication patterns. The automatic mapping framework is a suite of such algorithms with capabilities to choose the best mapping for a problem with a given communication graph. The dissertation also briefly discusses completely distributed mapping techniques which will be imperative for machines of the future.published or submitted for publicationnot peer reviewe

Infomap Bioregions: Interactive mapping of biogeographical regions from species distributions

Biogeographical regions (bioregions) reveal how different sets of species are spatially grouped and therefore are important units for conservation, historical biogeography, ecology and evolution. Several methods have been developed to identify bioregions based on species distribution data rather than expert opinion. One approach successfully applies network theory to simplify and highlight the underlying structure in species distributions. However, this method lacks tools for simple and efficient analysis. Here we present Infomap Bioregions, an interactive web application that inputs species distribution data and generates bioregion maps. Species distributions may be provided as georeferenced point occurrences or range maps, and can be of local, regional or global scale. The application uses a novel adaptive resolution method to make best use of often incomplete species distribution data. The results can be downloaded as vector graphics, shapefiles or in table format. We validate the tool by processing large datasets of publicly available species distribution data of the world's amphibians using species ranges, and mammals using point occurrences. We then calculate the fit between the inferred bioregions and WWF ecoregions. As examples of applications, researchers can reconstruct ancestral ranges in historical biogeography or identify indicator species for targeted conservation.Comment: 8 pages, 4 figures, 2, tables, for interactive application, http://bioregions.mapequation.or

Vorticity structure and evolution in a transverse jet with new algorithms for scalable particle simulation

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.Includes bibliographical references (p. 188-200).Transverse jets arise in many applications, including propulsion, effluent dispersion, oil field flows, V/STOL aerodynamics, and drug delivery. Furthermore, they exemplify flows dominated by coherent structures that cascade into smaller scales, a source of many current challenges in fluid dynamics. This study seeks a fundamental, mechanistic understanding of the relationship between the dispersion of jet fluid and the underlying vortical structures of the transverse jet-and of how to develop actuation that optimally manipulates their dynamics to affect mixing. We develop a massively parallel 3-D vortex simulation of a high-momentum transverse jet at large Reynolds number, featuring a discrete filament representation of the vorticity field with local mesh refinement to capture stretching and folding and hair-pin removal to regularize the formation of small scales. A novel formulation of the vorticity flux boundary conditions rigorously accounts for the interaction of channel vorticity with the jet boundary layer. This formulation yields analytical expressions for vortex lines in near field of the jet and suggests effective modes of unsteady actuation at the nozzle. The present computational approach requires hierarchical N-body methods for velocity evaluation at each timestep, as direct summation is prohibitively expensive. We introduce new clustering algorithms for parallel domain decomposition of N-body interactions and demonstrate the optimality of the resulting cluster geometries. We also develop compatible techniques for dynamic load balancing, including adaptive scaling of cluster metrics and adaptive redistribution of their centroids. These tools extend to parallel hierarchical simulation of N-body problems in gravitational astrophysics,(cont.) molecular dynamics, and other fields. Simulations reveal the mechanisms by which vortical structures evolve; previous computational and experimental investigations of these processes have been incomplete at best, limited to low Reynolds numbers, transient early-stage dynamics, or Eulerian diagnostics of essentially Lagrangian phenomena. Transformation of the cylindrical shear layer emanating from the nozzle, initially dominated by azimuthal vorticity, begins with axial elongation of its lee side to form sections of counter-rotating vorticity aligned with the jet trajectory. Periodic rollup of the shear layer accompanies this deformation, creating arcs carrying azimuthal vorticity of alternating signs, curved toward the windward side of the jet. Following the pronounced bending of the trajectory into the crossflow, we observe a catastrophic breakdown of these sparse periodic structures into a dense distribution of smaller scales, with an attendant complexity of tangled vortex filaments. Nonetheless, spatial filtering of this region reveals the persistence of counter-rotating streamwise vorticity. We further characterize the flow by calculating maximum direct Lyapunov exponents of particle trajectories, identifying repelling material surfaces that organize finite-time mixing.by Youssef Mohamed Marzouk.Ph.D