Design Solutions For Modular Satellite Architectures

The cost-effective access to space envisaged by ESA would open a wide range of new opportunities and markets, but is still many years ahead. There is still a lack of devices, circuits, systems which make possible to develop satellites, ground stations and related services at costs compatible with the budget of academic institutions and small and medium enterprises (SMEs). As soon as the development time and cost of small satellites will fall below a certain threshold (e.g. 100,000 to 500,000 €), appropriate business models will likely develop to ensure a cost-effective and pervasive access to space, and related infrastructures and services. These considerations spurred the activity described in this paper, which is aimed at: - proving the feasibility of low-cost satellites using COTS (Commercial Off The Shelf) devices. This is a new trend in the space industry, which is not yet fully exploited due to the belief that COTS devices are not reliable enough for this kind of applications; - developing a flight model of a flexible and reliable nano-satellite with less than 25,000€; - training students in the field of avionics space systems: the design here described is developed by a team including undergraduate students working towards their graduation work. The educational aspects include the development of specific new university courses; - developing expertise in the field of low-cost avionic systems, both internally (university staff) and externally (graduated students will bring their expertise in their future work activity); - gather and cluster expertise and resources available inside the university around a common high-tech project; - creating a working group composed of both University and SMEs devoted to the application of commercially available technology to space environment. The first step in this direction was the development of a small low cost nano-satellite, started in the year 2004: the name of this project was PiCPoT (Piccolo Cubo del Politecnico di Torino, Small Cube of Politecnico di Torino). The project was carried out by some departments of the Politecnico, in particular Electronics and Aerospace. The main goal of the project was to evaluate the feasibility of using COTS components in a space project in order to greatly reduce costs; the design exploited internal subsystems modularity to allow reuse and further cost reduction for future missions. Starting from the PiCPoT experience, in 2006 we began a new project called ARaMiS (Speretta et al., 2007) which is the Italian acronym for Modular Architecture for Satellites. This work describes how the architecture of the ARaMiS satellite has been obtained from the lesson learned from our former experience. Moreover we describe satellite operations, giving some details of the major subsystems. This work is composed of two parts. The first one describes the design methodology, solutions and techniques that we used to develop the PiCPoT satellite; it gives an overview of its operations, with some details of the major subsystems. Details on the specifications can also be found in (Del Corso et al., 2007; Passerone et al, 2008). The second part, indeed exploits the experience achieved during the PiCPoT development and describes a proposal for a low-cost modular architecture for satellite

Benchmarking of mobile phone cameras

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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

Comparative Study of Various Systems on Chips Embedded in Mobile Devices

Systems-on-chips (SoCs) are the latest incarnation of very large scale integration (VLSI) technology. A single integrated circuit can contain over 100 million transistors. Harnessing all this computing power requires designers to move beyond logic design into computer architecture, meet real-time deadlines, ensure low-power operation, and so on. These opportunities and challenges make SoC design an important field of research. So in the paper we will try to focus on the various aspects of SOC and the applications offered by it. Also the different parameters to be checked for functional verification like integration and complexity are described in brief. We will focus mainly on the applications of system on chip in mobile devices and then we will compare various mobile vendors in terms of different parameters like cost, memory, features, weight, and battery life, audio and video applications. A brief discussion on the upcoming technologies in SoC used in smart phones as announced by Intel, Microsoft, Texas etc. is also taken up. Keywords: System on Chip, Core Frame Architecture, Arm Processors, Smartphone

Rolling Shutter Stereo

A huge fraction of cameras used nowadays is based on CMOS sensors with a rolling shutter that exposes the image line by line. For dynamic scenes/cameras this introduces undesired effects like stretch, shear and wobble. It has been shown earlier that rotational shake induced rolling shutter effects in hand-held cell phone capture can be compensated based on an estimate of the camera rotation. In contrast, we analyse the case of significant camera motion, e.g. where a bypassing streetlevel capture vehicle uses a rolling shutter camera in a 3D reconstruction framework. The introduced error is depth dependent and cannot be compensated based on camera motion/rotation alone, invalidating also rectification for stereo camera systems. On top, significant lens distortion as often present in wide angle cameras intertwines with rolling shutter effects as it changes the time at which a certain 3D point is seen. We show that naive 3D reconstructions (assuming global shutter) will deliver biased geometry already for very mild assumptions on vehicle speed and resolution. We then develop rolling shutter dense multiview stereo algorithms that solve for time of exposure and depth at the same time, even in the presence of lens distortion and perform an evaluation on ground truth laser scan models as well as on real street-level data

Digital Image Sensor Integration in the Scope of EyeFundusScope: a Retinal Imaging System for Mobile Diabetic Retinopathy Assessment

Diabetic Retinopathy is a pathology, asymptomatic in early stages, that is a consequence of diabetes mellitus, a disease that affects millions of people worldwide. Specifically on people with Diabetic Retinopathy, long periods of hyperglycemia lead to the creation of very fragile blood vessels in the retina, or to the suppression of old ones, leading to problems like hemorrhages or exudates, that may cause blindness. Diabetic Retinopathy can be diagnosed with several devices, but these are mainly too expensive and non-portable, not allowing the screening of a great part of the population. This way, EyeFundusScope was created, being a smartphone based, non-mydriatic, handheld and low-cost Embedded Retinal Imaging System. Image quality depends on the system’s optical alignment and it should provide fundus images with a wide field-of-view. A communication protocol for streaming video and capturing still fundus images, from an UVC-Compliant Camera was developed, after a careful examination of the types of cameras that could be integrated in the system. Such cameras can be placed meticulously in the compact optical system, and suppress issues related to the different specifications of smartphone cameras, that often vary according to the manufacturers. An approach for low level control of high resolution and low cost camera modules was also evaluated. With the system developed, the user can select Internal Fixation Point Actuators, that are extremely important for this diagnosis, since they allow a fixed target for the patient to fixate on, reducing image aberrations due to its eye movement and providing wider field-of-view images. In the future, the UVC-Compliant Camera and Internal Fixation Points Actuators should be integrated on the current prototype, providing an accurate Diabetic Retinopathy screening tool which can enhance the early treatment of the pathology to a greater percentage of the population

Design of Autonomous Underwater Vehicle and Optimization of Hydrodynamic Properties and Control

Autonomous vehicles are becoming more and more prevalent in military, private industry and residential applications. Unfortunately, research currently being done in the area of autonomous underwater craft is often hindered by expense. It was desired to build a craft at WPI which could serve as an inexpensive test-bed for future research and implementation of control algorithms, etc. The vehicle\u27s construction required the design and manufacture of a number of components including water-jet stabilization thrusters, propeller driven main thrusters, a complete multi-hub electronic sensor and drive control system and individual sensors such as a tri-axial sonar unit as well as a capacitance based water-leak sensor. A Lexan heat forming process was also developed for hull construction

Validation of a Confocal Light Sheet Microscope using Push Broom Translation for Biomedical Applications

There exists a need for research of optical methods capable of image cytometry suitable for point-of-care technology. To propose am optical approach with no moving parts for simplification of mechanical components for the further development of the technology to the poin-of-care, a linear sensor with push broom translation method. Push broom translation is a method of moving objects by the sensor for an extended field of view. A polydimethylsiloxane (PDMS) microfluidic chamber with a syringe pump was used to deliver objects by the sensor. The volumetric rate of the pump was correlated to the integration time of the sensor to ensure images were realistically being formed, termed aspect ratio. An electro-chemical microfluidic system was then also investigated, redox-magnetohydrodynamics (R-MHD), to eliminate the mechanical syringe pump which showed deviations in linear speeds at the specimen plane. To image with adequate signal to background ratio within the deep chamber of the R-MHD device, an epitaxial light sheet confocal microscope (e-LSCM) was used to improve axial resolution. The linear sensor, having small pixels, blocked out-of-plane light while eliminating the need for a mechanical aperture which is used for traditional point-scanning confocal microscopy. The particular linear sensor used has binning modes that were used to vary the axial resolution by increasing the sensor aperture. This approach was validated by using a mirror translated in the axial direction and measuring remitted light intensity. The resulting curve estimated the real axial resolution of the microscope, which compared favorably to theoretical values. The R-MHD and the e-LSCM were then synchronized to perform continuous imaging of fluorescent microspheres and cells in suspension. This study combines epitaxial light sheet confocal microscopy and electro-chemical microfluidics as a robust approach which could be used in future point-of-care image cytometry applications