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A hybrid FPGA/Tilera compute element for autonomous hazard detection and navigation

Show simple item record Villalpando, Carlos Y. Werner, Robert A. Carson III, John M. Khanoyan, Garen Stern, Ryan A. Trawny, Nikolas 2015-04-24T19:41:17Z 2015-04-24T19:41:17Z 2013-03-02
dc.identifier.citation 2013 IEEE Aerospace Conference, Big Sky, Montana, March 2-9, 2013 en_US
dc.identifier.clearanceno 13-0324
dc.description.abstract To increase safety for future missions landing on other planetary or lunar bodies, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is developing an integrated sensor for autonomous surface analysis and hazard determination. The ALHAT Hazard Detection System (HDS) consists of a Flash LIDAR for measuring the topography of the landing site, a gimbal to scan across the terrain, and an Inertial Measurement Unit (IMU), along with terrain analysis algorithms to identify the landing site and the local hazards. An FPGA and Manycore processor system was developed to interface all the devices in the HDS, to provide high-resolution timing to accurately measure system state, and to run the surface analysis algorithms quickly and efficiently. In this paper, we will describe how we integrated COTS components such as an FPGA evaluation board, a TILExpress64, and multi-threaded/multi-core aware software to build the HDS Compute Element (HDSCE). The ALHAT program is also working with the NASA Morpheus Project and has integrated the HDS as a sensor on the Morpheus Lander. This paper will also describe how the HDS is integrated with the Morpheus lander and the results of the initial test flights with the HDS installed. We will also describe future improvements to the HDSCE. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2013 en_US
dc.subject Multicore en_US
dc.title A hybrid FPGA/Tilera compute element for autonomous hazard detection and navigation en_US
dc.type Preprint en_US

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