A Survey on FPGA-Based Sensor Systems: Towards Intelligent and Reconfigurable Low-Power Sensors for Computer Vision, Control and Signal Processing

The current trend in the evolution of sensor systems seeks ways to provide more accuracy and resolution, while at the same time decreasing the size and power consumption. The use of Field Programmable Gate Arrays (FPGAs) provides specific reprogrammable hardware technology that can be properly exploited to obtain a reconfigurable sensor system. This adaptation capability enables the implementation of complex applications using the partial reconfigurability at a very low-power consumption. For highly demanding tasks FPGAs have been favored due to the high efficiency provided by their architectural flexibility (parallelism, on-chip memory, etc.), reconfigurability and superb performance in the development of algorithms. FPGAs have improved the performance of sensor systems and have triggered a clear increase in their use in new fields of application. A new generation of smarter, reconfigurable and lower power consumption sensors is being developed in Spain based on FPGAs. In this paper, a review of these developments is presented, describing as well the FPGA technologies employed by the different research groups and providing an overview of future research within this field.

Astrophysical parameters of the peculiar X-ray transient IGR J11215−5952

Context. The current generation of X-ray satellites has discovered many new X-ray sources that are difficult to classify within the well-described subclasses. The hard X-ray source IGR J11215−5952 is a peculiar transient, displaying very short X-ray outbursts every 165 days. Aims. To characterise the source, we obtained high-resolution spectra of the optical counterpart, HD 306414, at different epochs, spanning a total of three months, before and around the 2007 February outburst with the combined aims of deriving its astrophysical parameters and searching for orbital modulation. Methods. We fit model atmospheres generated with the fastwind code to the spectrum, and used the interstellar lines in the spectrum to estimate its distance. We also cross-correlated each individual spectrum to the best-fit model to derive radial velocities. Results. From its spectral features, we classify HD 306414 as B0.5 Ia. From the model fit, we find Teff ≈ 24 700 K and log g ≈ 2.7, in good agreement with the morphological classification. Using the interstellar lines in its spectrum, we estimate a distance to HD 306414 d ≳ 7 kpc. Assuming this distance, we derive R∗ ≈ 40 R⊙ and Mspect ≈ 30 M⊙ (consistent, within errors, with Mevol ≈ 38 M⊙, and in good agreement with calibrations for the spectral type). Analysis of the radial velocity curve reveals that radial velocity changes are not dominated by the orbital motion, and provide an upper limit on the semi-amplitude for the optical component Kopt ≲ 11 ± 6 km   s-1. Large variations in the depth and shape of photospheric lines suggest the presence of strong pulsations, which may be the main cause of the radial velocity changes. Very significant variations, uncorrelated with those of the photospheric lines are seen in the shape and position of the Hα emission feature around the time of the X-ray outburst, but large excursions are also observed at other times. Conclusions. HD 306414 is a normal B0.5 Ia supergiant. Its radial velocity curve is dominated by an effect that is different from binary motion, and is most likely stellar pulsations. The data available suggest that the X-ray outbursts are caused by the close passage of the neutron star in a very eccentric orbit, perhaps leading to localised mass outflow.

Massive open star clusters using the VVV survey III. A young massive cluster at the far edge of the Galactic bar

Context. Young massive clusters are key to map the Milky Way’s structure, and near-infrared large area sky surveys have contributed strongly to the discovery of new obscured massive stellar clusters. Aims. We present the third article in a series of papers focused on young and massive clusters discovered in the VVV survey. This article is dedicated to the physical characterization of VVV CL086, using part of its OB-stellar population. Methods. We physically characterized the cluster using JHKS near-infrared photometry from ESO public survey VVV images, using the VVV-SkZ pipeline, and near-infrared K-band spectroscopy, following the methodology presented in the first article of the series. Results. Individual distances for two observed stars indicate that the cluster is located at the far edge of the Galactic bar. These stars, which are probable cluster members from the statistically field-star decontaminated CMD, have spectral types between O9 and B0 V. According to our analysis, this young cluster (1.0 Myr < age < 5.0 Myr) is located at a distance of 11+5-6 kpc, and we estimate a lower limit for the cluster total mass of (2.8+1.6-1.4) · 103 M⊙. It is likely that the cluster contains even earlier and more massive stars.

IRAS 18357-0604 – an analogue of the galactic yellow hypergiant IRC +10420?

Context. Yellow hypergiants represent a short-lived evolutionary episode experienced by massive stars as they transit to and from a red supergiant phase. As such, their properties provide a critical test of stellar evolutionary theory, while recent observations unexpectedly suggest that a subset may explode as Type II supernovae. Aims. The galactic yellow hypergiant IRC +10420 is a cornerstone system for understanding this phase since it is the strongest post-RSG candidate known, has demonstrated real-time evolution across the Hertzsprung-Russell diagram and been subject to extensive mass loss. In this paper we report on the discovery of a twin of IRC +10420 - IRAS 18357-0604. Methods. Optical and near-IR spectroscopy are used to investigate the physical properties of IRAS 18357-0604 and also provide an estimate of its systemic velocity, while near- to mid-IR photometry probes the nature of its circumstellar environment. Results. These observations reveal pronounced spectral similarities between IRAS 18357-0604 and IRC +10420, suggesting comparable temperatures and wind geometries. IR photometric data reveals a similarly dusty circumstellar environment, although historical mass loss appears to have been heavier in IRC +10420. The systemic velocity implies a distance compatible with the red supergiant-dominated complex at the base of the Scutum Crux arm; the resultant luminosity determination is consistent with a physical association but suggests a lower initial mass than inferred for IRC +10420 (≲20 M⊙ versus ~40 M⊙). Evolutionary predictions for the physical properties of supernova progenitors derived from ~18–20 M⊙ stars – or ~12–15 M⊙ stars that have experienced enhanced mass loss as red supergiants – compare favourably with those of IRAS 18357-0604, which in turn appears to be similar to the the progenitor of SN2011dh; it may therefore provide an important insight into the nature of the apparently H-depleted yellow hypergiant progenitors of some Type IIb SNe.

Assessment of a simplified experimental procedure to evaluate impact sound reduction of floor coverings

The impact noise reduction provided by floor coverings is usually obtained in laboratory, using the methodology described in the standard EN ISO 140-8, which requires the use of standard acoustic chambers. The construction of such chambers, following the requirements described in the EN ISO 140-1, implies a significant investment, and therefore only a limited number exists in each country. Alternatives to these standard methodologies, that allow a sufficiently accurate evaluation and require lower resources, have been interesting many researchers and manufacturers. In this paper, one such strategy is discussed, where a reduced sized slab is used to determine the noise reduction provided by floor coverings, following the procedure described in the ISO/CD 16251-1 technical document. Several resilient coverings, floating floors and floating slabs are tested and the results are compared with those obtained using the procedures described in the standards EN ISO 140-8 and EN ISO 717-2.

Dynamic Visual Servoing With Chaos Control for Redundant Robots

This paper presents a new dynamic visual control system for redundant robots with chaos compensation. In order to implement the visual servoing system, a new architecture is proposed that improves the system maintainability and traceability. Furthermore, high performance is obtained as a result of parallel execution of the different tasks that compose the architecture. The control component of the architecture implements a new visual servoing technique for resolving the redundancy at the acceleration level in order to guarantee the correct motion of both end-effector and joints. The controller generates the required torques for the tracking of image trajectories. However, in order to guarantee the applicability of this technique, a repetitive path tracked by the robot-end must produce a periodic joint motion. A chaos controller is integrated in the visual servoing system and the correct performance is observed in low and high velocities. Furthermore, a method to adjust the chaos controller is proposed and validated using a real three-link robot.

Polarimetric Response of Rice Fields at C-Band: Analysis and Phenology Retrieval

A set of ten RADARSAT-2 images acquired in fully polarimetric mode over a test site with rice fields in Seville, Spain, has been analyzed to extract the main features of the C-band radar backscatter as a function of rice phenology. After observing the evolutions versus phenology of different polarimetric observables and explaining their behavior in terms of scattering mechanisms present in the scene, a simple retrieval approach has been proposed. This algorithm is based on three polarimetric observables and provides estimates from a set of four relevant intervals of phenological stages. The validation against ground data, carried out at parcel level for a set of six stands and up to nine dates per stand, provides a 96% rate of coincidence. Moreover, an equivalent compact-pol retrieval algorithm has been also proposed and validated, providing the same performance at parcel level. In all cases, the inversion is carried out by exploiting a single satellite acquisition, without any other auxiliary information.

Crop Phenology Estimation Using a Multitemporal Model and a Kalman Filtering Strategy

In this letter, a new approach for crop phenology estimation with remote sensing is presented. The proposed methodology is aimed to exploit tools from a dynamical system context. From a temporal sequence of images, a geometrical model is derived, which allows us to translate this temporal domain into the estimation problem. The evolution model in state space is obtained through dimensional reduction by a principal component analysis, defining the state variables, of the observations. Then, estimation is achieved by combining the generated model with actual samples in an optimal way using a Kalman filter. As a proof of concept, an example with results obtained with this approach over rice fields by exploiting stacks of TerraSAR-X dual polarization images is shown.

The Gaia-ESO Survey: processing FLAMES-UVES spectra

The Gaia-ESO Survey is a large public spectroscopic survey that aims to derive radial velocities and fundamental parameters of about 105 Milky Way stars in the field and in clusters. Observations are carried out with the multi-object optical spectrograph FLAMES, using simultaneously the medium-resolution (R ~ 20 000) GIRAFFE spectrograph and the high-resolution (R ~ 47 000) UVES spectrograph. In this paper we describe the methods and the software used for the data reduction, the derivation of the radial velocities, and the quality control of the FLAMES-UVES spectra. Data reduction has been performed using a workflow specifically developed for this project. This workflow runs the ESO public pipeline optimizing the data reduction for the Gaia-ESO Survey, automatically performs sky subtraction, barycentric correction and normalisation, and calculates radial velocities and a first guess of the rotational velocities. The quality control is performed using the output parameters from the ESO pipeline, by a visual inspection of the spectra and by the analysis of the signal-to-noise ratio of the spectra. Using the observations of the first 18 months, specifically targets observed multiple times at different epochs, stars observed with both GIRAFFE and UVES, and observations of radial velocity standards, we estimated the precision and the accuracy of the radial velocities. The statistical error on the radial velocities is σ ~ 0.4 km s-1 and is mainly due to uncertainties in the zero point of the wavelength calibration. However, we found a systematic bias with respect to the GIRAFFE spectra (~0.9 km s-1) and to the radial velocities of the standard stars (~0.5 km s-1) retrieved from the literature. This bias will be corrected in the future data releases, when a common zero point for all the set-ups and instruments used for the survey is be established.

Evaluation of Two Alternative Procedures for Measuring Airflow Resistance of Sound Absorbing Materials

It is well known that sound absorption and sound transmission properties of open porous materials are highly dependent on their airflow resistance values. Low values of airflow resistance indicate little resistance for air streaming through the porous material and high values are a sign that most of the pores inside the material are closed. The laboratory procedures for measuring airflow resistance have been stan- dardized by several organizations, including ISO and ASTM for both alternate flow and continuous flow. However, practical implementation of these standardized methods could be both complex and expensive. In this work, two indirect alternative measurement procedures were compared against the alternate flow standardized technique. The techniques were tested using three families of eco-friendly sound absorbent materials: recycled polyurethane foams, coconut natural fibres, and recycled polyester fibres. It is found that the values of airflow resistance measured using both alternative methods are very similar. There is also a good correlation between the values obtained through alternative and standardized methods.

Deriving the Dynamical Masses of Ultra-Luminous X-ray Sources with OSIRIS

Ultra Luminous X-ray Sources (ULXs) are extragalactic X-ray point sources with LX ∼ 1039 − 1041 erg s−1 discovered in the 80s with the Einstein satellite and confirmed as black hole X-ray binaries during the last decade. The nature of the compact object is highly controversial. They could be super-Eddington stellar-mass black holes or intermediate mass black holes. Deriving dynamical masses of the brightest ULXs, which can be done with OSIRIS, is the only way to find out the nature of the compact object.

Calibración de cámaras de tiempo de vuelo: ajuste adaptativo del tiempo de integración y análisis de la frecuencia de modulación

La percepción de profundidad se hace imprescindible en muchas tareas de manipulación, control visual y navegación de robots. Las cámaras de tiempo de vuelo (ToF: Time of Flight) generan imágenes de rango que proporcionan medidas de profundidad en tiempo real. No obstante, el parámetro distancia que calculan estas cámaras es fuertemente dependiente del tiempo de integración que se configura en el sensor y de la frecuencia de modulación empleada por el sistema de iluminación que integran. En este artículo, se presenta una metodología para el ajuste adaptativo del tiempo de integración y un análisis experimental del comportamiento de una cámara ToF cuando se modifica la frecuencia de modulación. Este método ha sido probado con éxito en algoritmos de control visual con arquitectura ‘eye-in-hand’ donde el sistema sensorial está compuesto por una cámara ToF. Además, la misma metodología puede ser aplicada en otros escenarios de trabajo.

Dynamic visual servo control of a 4-axis joint tool to track image trajectories during machining complex shapes

A large part of the new generation of computer numerical control systems has adopted an architecture based on robotic systems. This architecture improves the implementation of many manufacturing processes in terms of flexibility, efficiency, accuracy and velocity. This paper presents a 4-axis robot tool based on a joint structure whose primary use is to perform complex machining shapes in some non-contact processes. A new dynamic visual controller is proposed in order to control the 4-axis joint structure, where image information is used in the control loop to guide the robot tool in the machining task. In addition, this controller eliminates the chaotic joint behavior which appears during tracking of the quasi-repetitive trajectories required in machining processes. Moreover, this robot tool can be coupled to a manipulator robot in order to form a multi-robot platform for complex manufacturing tasks. Therefore, the robot tool could perform a machining task using a piece grasped from the workspace by a manipulator robot. This manipulator robot could be guided by using visual information given by the robot tool, thereby obtaining an intelligent multi-robot platform controlled by only one camera.

Inclusion of immersive virtual learning environments and visual control systems to support the learning of students with Asperger syndrome

This paper presents the use of immersive virtual reality systems in the educational intervention with Asperger students. The starting points of this study are features of these students' cognitive style that requires an explicit teaching style supported by visual aids and highly structured environments. The proposed immersive virtual reality system, not only to assess the student's behavior and progress, but also is able to adapt itself to the student's specific needs. Additionally, the immersive reality system is equipped with sensors that can determine certain behaviors of the students. This paper determines the possible inclusion of immersive virtual reality as a support tool and learning strategy in these particular students' intervention. With this objective two task protocols have been defined with which the behavior and interaction situations performed by participant students are recorded. The conclusions from this study talks in favor of the inclusion of these virtual immersive environments as a support tool in the educational intervention of Asperger syndrome students as their social competences and executive functions have improved.

Providing Collaborative Support to Virtual and Remote Laboratories

Virtual and remote laboratories (VRLs) are e-learning resources that enhance the accessibility of experimental setups providing a distance teaching framework which meets the student's hands-on learning needs. In addition, online collaborative communication represents a practical and a constructivist method to transmit the knowledge and experience from the teacher to students, overcoming physical distance and isolation. This paper describes the extension of two open source tools: (1) the learning management system Moodle, and (2) the tool to create VRLs Easy Java Simulations (EJS). Our extension provides: (1) synchronous collaborative support to any VRL developed with EJS (i.e., any existing VRL written in EJS can be automatically converted into a collaborative lab with no cost), and (2) support to deploy synchronous collaborative VRLs into Moodle. Using our approach students and/or teachers can invite other users enrolled in a Moodle course to a real-time collaborative experimental session, sharing and/or supervising experiences at the same time they practice and explore experiments using VRLs.