Embedded video stabilization system on field programmable gate array for unmanned aerial vehicle

Unmanned Aerial Vehicles (UAVs) equipped with lightweight and low-cost cameras have grown in popularity and enable new applications of UAV technology. However, the video retrieved from small size UAVs is normally in low-quality due to high frequency jitter. This thesis presents the development of video stabilization algorithm implemented on Field Programmable Gate Array (FPGA). The video stabilization algorithm consists of three main processes, which are motion estimation, motion stabilization and motion compensation to minimize the jitter. Motion estimation involves block matching and Random Sample Consensus (RANSAC) to estimate the affine matrix that defines the motion perspective between two consecutive frames. Then, parameter extraction, motion smoothing and motion vector correction, which are parts of the motion stabilization, are tasked in removing unwanted camera movement. Finally, motion compensation stabilizes two consecutive frames based on filtered motion vectors. In order to facilitate the ground station mobility, this algorithm needs to be processed onboard the UAV in real-time. The nature of parallelization of video stabilization processing is suitable to be utilized by using FPGA in order to achieve real-time capability. The implementation of this system is on Altera DE2-115 FPGA board. Full hardware dedicated cores without Nios II processor are designed in stream-oriented architecture to accelerate the computation. Furthermore, a parallelized architecture consisting of block matching and highly parameterizable RANSAC processor modules show that the proposed system is able to achieve up to 30 frames per second processing and a good stabilization improvement up to 1.78 Interframe Transformation Fidelity value. Hence, it is concluded that the proposed system is suitable for real-time video stabilization for UAV application

Implementation And Verification Of A Lunar Mission Subsystems (II)

El presente trabajo final de carrera consiste en implementar y verificar algunos de los subsistemas que forman la misión Lunar diseñada por el equipo Team FREDNET con motivo del Google Lunar X Prize. Uno de los proyectistas se encargará de los subsistemas del Rover Lunar y el otro se encargará de los subsistemas del Lunar Lander. Debido a que hay multiples subsistemas es posible que haya un tercer proyectista. Este proyecto se realiza en colaboración con otros investigadores de múltiples nacionalidades por lo que requiere formar parte del grupo en un proyecto real de exploración lunar. Este proyecto incluye habilidades de trabajo en equipo, preparación de resultados, toma de decisiones, etc. REQUISITOS: - Estar terminando la carrera técnica de Sistemas, Telemática o Aeronáutica (Obligatorio) - Disponibilidad horaria y presencial (Obligatorio) - Tener conocimientos en buses y radio-enlaces (Deseable) - Manejo de sistema operativo WINDOWS y LINUX (Deseable

Implementation And Verification Of A Lunar Mission Subsystems (II)

El presente trabajo final de carrera consiste en implementar y verificar algunos de los subsistemas que forman la misión Lunar diseñada por el equipo Team FREDNET con motivo del Google Lunar X Prize. Uno de los proyectistas se encargará de los subsistemas del Rover Lunar y el otro se encargará de los subsistemas del Lunar Lander. Debido a que hay multiples subsistemas es posible que haya un tercer proyectista. Este proyecto se realiza en colaboración con otros investigadores de múltiples nacionalidades por lo que requiere formar parte del grupo en un proyecto real de exploración lunar. Este proyecto incluye habilidades de trabajo en equipo, preparación de resultados, toma de decisiones, etc. REQUISITOS: - Estar terminando la carrera técnica de Sistemas, Telemática o Aeronáutica (Obligatorio) - Disponibilidad horaria y presencial (Obligatorio) - Tener conocimientos en buses y radio-enlaces (Deseable) - Manejo de sistema operativo WINDOWS y LINUX (Deseable

New Approach of Indoor and Outdoor Localization Systems

Accurate determination of the mobile position constitutes the basis of many new applications. This book provides a detailed account of wireless systems for positioning, signal processing, radio localization techniques (Time Difference Of Arrival), performances evaluation, and localization applications. The first section is dedicated to Satellite systems for positioning like GPS, GNSS. The second section addresses the localization applications using the wireless sensor networks. Some techniques are introduced for localization systems, especially for indoor positioning, such as Ultra Wide Band (UWB), WIFI. The last section is dedicated to Coupled GPS and other sensors. Some results of simulations, implementation and tests are given to help readers grasp the presented techniques. This is an ideal book for students, PhD students, academics and engineers in the field of Communication, localization & Signal Processing, especially in indoor and outdoor localization domains

Android Application Development for the Intel Platform

Computer scienc

Space station data system analysis/architecture study. Task 2: Options development DR-5. Volume 1: Technology options

The second task in the Space Station Data System (SSDS) Analysis/Architecture Study is the development of an information base that will support the conduct of trade studies and provide sufficient data to make key design/programmatic decisions. This volume identifies the preferred options in the technology category and characterizes these options with respect to performance attributes, constraints, cost, and risk. The technology category includes advanced materials, processes, and techniques that can be used to enhance the implementation of SSDS design structures. The specific areas discussed are mass storage, including space and round on-line storage and off-line storage; man/machine interface; data processing hardware, including flight computers and advanced/fault tolerant computer architectures; and software, including data compression algorithms, on-board high level languages, and software tools. Also discussed are artificial intelligence applications and hard-wire communications

Proceedings of the 22nd Conference on Formal Methods in Computer-Aided Design – FMCAD 2022

The Conference on Formal Methods in Computer-Aided Design (FMCAD) is an annual conference on the theory and applications of formal methods in hardware and system verification. FMCAD provides a leading forum to researchers in academia and industry for presenting and discussing groundbreaking methods, technologies, theoretical results, and tools for reasoning formally about computing systems. FMCAD covers formal aspects of computer-aided system design including verification, specification, synthesis, and testing

Proceedings of the 22nd Conference on Formal Methods in Computer-Aided Design – FMCAD 2022

The Conference on Formal Methods in Computer-Aided Design (FMCAD) is an annual conference on the theory and applications of formal methods in hardware and system verification. FMCAD provides a leading forum to researchers in academia and industry for presenting and discussing groundbreaking methods, technologies, theoretical results, and tools for reasoning formally about computing systems. FMCAD covers formal aspects of computer-aided system design including verification, specification, synthesis, and testing

Nuclear Power - Control, Reliability and Human Factors

Advances in reactor designs, materials and human-machine interfaces guarantee safety and reliability of emerging reactor technologies, eliminating possibilities for high-consequence human errors as those which have occurred in the past. New instrumentation and control technologies based in digital systems, novel sensors and measurement approaches facilitate safety, reliability and economic competitiveness of nuclear power options. Autonomous operation scenarios are becoming increasingly popular to consider for small modular systems. This book belongs to a series of books on nuclear power published by InTech. It consists of four major sections and contains twenty-one chapters on topics from key subject areas pertinent to instrumentation and control, operation reliability, system aging and human-machine interfaces. The book targets a broad potential readership group - students, researchers and specialists in the field - who are interested in learning about nuclear power