A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on AI approaches, such as deep neural networks (DNNs) are becoming pervasive for standard-size drones, but are considered out of reach for nanodrones with size of a few cm${}^\mathrm{2}$. In this work, we present the first (to the best of our knowledge) demonstration of a navigation engine for autonomous nano-drones capable of closed-loop end-to-end DNN-based visual navigation. To achieve this goal we developed a complete methodology for parallel execution of complex DNNs directly on-bard of resource-constrained milliwatt-scale nodes. Our system is based on GAP8, a novel parallel ultra-low-power computing platform, and a 27 g commercial, open-source CrazyFlie 2.0 nano-quadrotor. As part of our general methodology we discuss the software mapping techniques that enable the state-of-the-art deep convolutional neural network presented in [1] to be fully executed on-board within a strict 6 fps real-time constraint with no compromise in terms of flight results, while all processing is done with only 64 mW on average. Our navigation engine is flexible and can be used to span a wide performance range: at its peak performance corner it achieves 18 fps while still consuming on average just 3.5% of the power envelope of the deployed nano-aircraft.Comment: 15 pages, 13 figures, 5 tables, 2 listings, accepted for publication in the IEEE Internet of Things Journal (IEEE IOTJ

Phenomenology Tools on Cloud Infrastructures using OpenStack

We present a new environment for computations in particle physics phenomenology employing recent developments in cloud computing. On this environment users can create and manage "virtual" machines on which the phenomenology codes/tools can be deployed easily in an automated way. We analyze the performance of this environment based on "virtual" machines versus the utilization of "real" physical hardware. In this way we provide a qualitative result for the influence of the host operating system on the performance of a representative set of applications for phenomenology calculations.Comment: 25 pages, 12 figures; information on memory usage included, as well as minor modifications. Version to appear in EPJ

Design requirements and development of an airborne descent path definition algorithm for time navigation

The design requirements for a 4D path definition algorithm are described. These requirements were developed for the NASA ATOPS as an extension of the Local Flow Management/Profile Descent algorithm. They specify the processing flow, functional and data architectures, and system input requirements, and recommended the addition of a broad path revision (reinitialization) function capability. The document also summarizes algorithm design enhancements and the implementation status of the algorithm on an in-house PDP-11/70 computer. Finally, the requirements for the pilot-computer interfaces, the lateral path processor, and guidance and steering function are described

An Extensible Timing Infrastructure for Adaptive Large-scale Applications

Real-time access to accurate and reliable timing information is necessary to profile scientific applications, and crucial as simulations become increasingly complex, adaptive, and large-scale. The Cactus Framework provides flexible and extensible capabilities for timing information through a well designed infrastructure and timing API. Applications built with Cactus automatically gain access to built-in timers, such as gettimeofday and getrusage, system-specific hardware clocks, and high-level interfaces such as PAPI. We describe the Cactus timer interface, its motivation, and its implementation. We then demonstrate how this timing information can be used by an example scientific application to profile itself, and to dynamically adapt itself to a changing environment at run time

Guidance, flight mechanics and trajectory optimization. Volume 14 - Entry guidance equations

Entry guidance equations, reference trajectories, and guidance system mechanizatio