Engineering Commons^™

Iprec And Isoblaze: Fuzzy Subcircuit Isomorphism For Ip Detection In Physical Netlists, Dallin Dahl, Corey Simpson, Keenan Faulkner, Brent Nelson, Jeffrey Goeders

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Netlist reverse engineering has many uses, from detecting hardware trojans to recovering missing design source files. However, the basic problem of finding IP in a netlist has not been widely discussed. The problem boils down to subgraph isomorphism on graphs constructed from netlists. We present two approaches to identifying IP in larger circuits. IPRec focuses on exploiting hierarchy in the IP design and is a rather conservative approach, while Isoblaze focuses on local properties and connectivity and is more liberal in matching.

Precision Maritime Localization And Landing With Real-Time Kinematic Gnss, Alexander Jordan, Matthew Kent Rydalch, Tim Mclain, Michael Williamson Tabango

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This paper presents a highly effective method for UAV precision shipboard localization and landing using Real-time Kinematic Global Navigation Satellite System (RTK GNSS). To assess the feasibility of RTK GNSS for this use case we explicitly exclude vision-based localization techniques which are most often presented in the literature. Instead, the methods presented in this paper use only RTK GNSS with an inertial measurement unit aboard the landing pad to estimate the state of the boat and the relative position of the UAV with respect to the boat. We use a continuous-discrete extended Kalman filter combined with a complementary filter for …

An Iterative Five-Point Algorithm With Application To Multi-Target Tracking, Jacob H. White, Randal W. Beard

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We present ReSORtSAC: Recursively-seeded optimization, refinement, sample, and consensus. ReSORtSAC is a novel algorithm that can be used to estimate the relative pose between consecutive frames of a video sequence. Relative pose estimation algorithms typically generate a large number of hypotheses from minimum subsets and score them in order to be robust to noise and outliers. The relative pose is often represented using the essential matrix. Previous methods calculate essential matrix hypotheses directly without utilizing prior information. These equations are complex to evaluate and can return up to ten essential matrix solutions for each minimum subset, all of which must …

The Homography As A State Transformation Between Frames In Visual Multi-Target Tracking, Jacob H. White, Randal W. Beard

Student Works

No abstract provided.

Extending Motion Detection To Track Stopped Objects In Visual Multi-Target Tracking, Jacob H. White, Karl T. Salva, Randal W. Beard

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Various solutions to visual multi-target tracking have been proposed, but many of them are not capable of running in real time from a moving camera on an unmanned aerial vehicle (UAV). We present a tracker that runs in real time and tracks multiple objects while accounting for camera motion on a UAV. Our algorithm is capable of processing over 10 frames per second on a 1280x720 video sequence.

We utilize Recursive-RANSAC, an efficient algorithm for tracking multiple objects in clutter. Our work combines motion detection with optical flow and feature matching to allow stationary objects to be tracked. We use …

Visual Multiple Target Tracking From A Descending Aerial Platform, Parker C. Lusk, Randal Beard

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A real-time visual multiple target tracker is demonstrated onboard a descending multirotor. Measurements of moving ground targets are generated using the Kanade-Lucas-Tomasi (KLT) tracking method. Homography-based image registration is used to align the measurements into the same coordinate frame, allowing for the detection of independently moving objects. The recently developed Recursive-RANSAC algorithm uses the visual measurements to estimate targets in clutter. Altitude-dependent tuning increases track continuity and coverage during the descent of the vehicle. The algorithm requires no operator interaction and increases the situation awareness of the unmanned aerial system. Real-time tracking efficiency is analyzed on GPUs and CPUs. Tracking …

Relative Target Estimation Using A Cascade Of Extended Kalman Filters, Jerel Nielsen, Randal Beard

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This paper presents a method of tracking multiple ground targets from an unmanned aerial vehicle (UAV) in a 3D reference frame. The tracking method uses a monocular camera and makes no assumptions on the shape of the terrain or the target motion. The UAV runs two cascaded estimators. The first is an Extended Kalman Filter (EKF), which is responsible for tracking the UAV’s state, such as position and velocity relative to a fixed frame. The second estimator is an EKF that is responsible for estimating a fixed number of landmarks within the camera’s field of view. Landmarks are parameterized by …

Quantum Dot Band Gap Investigations, John Ryan Peterson

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Improving solar panel efficiency has become increasingly important as the world searches for cheap renewable energy. Recent developments in the industry have focused on multi-layer cells, some of which use semiconducting dyes to absorb light in place of crystalline solids. In this paper, I characterize various dyes recently synthesized for use in solar panels. These dyes contain semiconducting nanoparticles enclosed primarily by the protein ferritin to limit particle size. The band gaps were measured using either optical absorption spectroscopy or measuring the photoluminescence spectrum, depending on the type of semiconductor. The results indicate that both manganese oxide and lead sulfide …

Modeling And Control Of A Tailsitter With A Ducted Fan, Matthew Elliott Argyle

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There are two traditional aircraft categories: fixed-wing which have a long endurance and a high cruise airspeed and rotorcraft which can take-off and land vertically. The tailsitter is a type of aircraft that has the strengths of both platforms, with no additional mechanical complexity, because it takes off and lands vertically on its tail and can transition the entire aircraft horizontally into high-speed flight. In this dissertation, we develop the entire control system for a tailsitter with a ducted fan. The standard method to compute the quaternion-based attitude error does not generate ideal trajectories for a hovering tailsitter for some …

Jezik: A Cognitive Translation System Employing A Single, Visible Spectrum Tracking Detector, Davor Bzik

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A link between eye movement mechanics and the mental processing associated with text reading has been established in the past. The pausing of an eye gaze on a specific word within a sentence reflects correctness or fluency of a translated text. A cognitive translation system has been built employing a single, inexpensive web camera without the use of infrared illumination. It was shown that the system translates the text, detects rarely occurring and out-of-context words from eye gaze information, and provides solutions in real time while the user is still reading. The solutions are in form of a translation, definition …

Technical Note On Manipulating Multivariate Gaussian Distributions, John C. Macdonald

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In this technical note we present some derivations treating conditional, marginal, and joint distributions for Gaussian random vectors.