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Ar.Drone Hacking and SDK 1.5

 

Dear Friends,

this is my first hack to Ar.Drone. I'm enjoy with Ardrode SDK 1.5 , Build Linux Application for controll Ar.Drone.

  • I change battery and use 3S Lipo 2200 ma instead of standard 1000 mah.
  • Use my mac with VMWare with Ubuntu Linux 9.04 .
  • Connect the drone by adhoc network.
  • The Linux application use Ardrone SDK 1.5 .
  • I use PS3 Gamepad for control the Drone.
  • Recive realtime video by wifi from Ardrone.

I prefer to use it by PS3 Gamepad instead to use Iphone , the connection is very stable.

If you need more info about my hack contact me on skype virtualrobotix contact.

original blog post : http://www.virtualrobotix.com/profiles/blogs/ardrone-hacking-and-sdk-15

Regards

Roberto.

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3D Robotics

The untethered flght is in the second half of the video. From a paperby Charles Richter and Hod Lipson:

"This project has focused on developing a flapping-wing hovering insect using 3D printed wings and mechanical parts. The use of 3D printing technology has greatly expanded the possibilities for wing design, allowing wing shapes to replicate those of real insects or virtually any other shape. It has also reduced the time of a wing design cycle to approximately one hour. An ornithopter with a mass of 3.89g has been constructed using the 3D printing technique and has demonstrated an 85- second passively stable hovering flight. This flight exhibits the functional utility of printed materials for flapping wing experimentation and ornithopter construction."

[Source: Makezine]

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3D Robotics

Neato Lidar + ROS = SLAM

Willow Garage's ROS continues to impress: this time with a driver for the Neato Robotics vacuum cleaner that has a cool little Lidar unit. Here's a cool video showing how it can pretty easily do Simultaneous Location and Mapping (SLAM), which is essential for indoors navigation. Sadly Neato doesn't sell the Lidar units on their own, so you can just buy one for your MAV, but maybe someday....

BTW, some of the DIY Drones team will be visiting Willow Garage on Monday, so if you've got UAV questions you'd like us to ask, post them here.

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HK's GCS v1.1.1 is in need of translators

v110.gif

Version 1.1.1 is ready to be translated. There are currently 206 words and phrases in the list. Anyone who can help me out with this task, please respond below. Thank you!!!

 

Languages Completed So Far:

en;English
zh-CN;Chinese-PRC
zh-TW;Chinese-Traditional
da;Danish
es;Español
fi;Finnish
fr;Française
it;Italiano
pl;Polski
pt-BR;Português Brasileiro
pt-PT;Português
ro;Romana
ru;Russian
sk;Slovensky
tr;Türkçe
ur;Urdu

 

Language File Translation Instructions:

1) Download the latest GCS software: http://code.google.com/p/happykillmore-gcs/downloads/list
2) Open the Ground Control Station and Click Help, About
3) Make note of the "Current Culture" above the OK button.
4) Press the "F9" key on your keyboard
5) In the program that opens, Click the "Browse Button" and select Strings.resx in the installation folder (if it's missing, download it here: http://www.happykillmore.com/Software/HK_GCS/strings.zip unzip and save it in C:\Program Files\HappyKillmore\GCS)
6) Translate the "Value" column only. Do not change anything in the other columns.
7) When finished, click Save.

8) Send me an email (happy@happykillmore.com) including your "Current Culture:" value from step #3, what you'd like to call your language (ie: Español instead of Spanish....I'm going to add an option to override the OS selection) and attach the strings.resx file. I will compile your resx file and send it back to you for review. Place the file I send back in your C:\Program Files\HappyKillmore\GCS\Language folder.


- or with GCS v1.1.8 or newer -

 

8) Open C:\Program Files\HappyKillmore\GCS\Language and rename the edited strings.resx file to strings.XX-XX.resx where XX-XX is your Current Culture from Step #3 (ie strings.pl-PL.resx).

9) Right click on this file and select Open With -> ResXtoResource.exe

10) If this is a new file, then double click the Languages.txt file and add a reference to your new file including XX-XX;{Language Name} (ie pl-PL;Polski)

11) Start the GCS and select File, Settings and select your new language.

12) Send me an email (happy@happykillmore.com) including what you'd like to call your language (ie: Español instead of Spanish and attach your strings.XX-XX.resources and strings.XX-XX.resx files

 

A few notes about translating

**** Save early and save often! Some users have reported problems saving their file once they're already done translating!!! Try translating a couple and then SAVE! It might save LOTS of wasted effort if you get to the end and then cannot save!!!
1) Anywhere there is a carrat (^) that's a carriage return + new line. Please include this in your string.
2) Anywhere you wee &1 or &2 these are replacement variables which means a number or some other text will be inserted in the string. Please make sure to include these as well.
3) The available space for text is very small, please be as brief as possible.
4) Please keep track of how long it takes (I'm curious) and please let me know if there's anything confusing in there. I can add more comments to the English language file to make things earier.

5) Watch out for abbreviations. There are some VERY short (only 1 letter) translations for things like Right and Left = R and L. Also, things like MPH (Miles per hour) need to be very short. So abbreviate where you can.

For those who downloaded 1.1.0...I forgot to include the program that pops up with the "F9" button. 1.1.1 has it...sorry about that.

Thank you for your time and effort!!!!!


PS, I found the trees in Google Earth! California is hogging all of them!
trees.gif

 

 

urdu.gif?width=721

See how the numbers 1,2,3,4,5,etc stick out like a sore thumb?

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First Hobby Autopilot? Mims at MITS

Bill Gates and Paul Allen moved to Albuquerque (~1975?) to write Software for the MITS Altair 8800, but 10 years earlier MITS cofounder Forest Mims III aka "god" in electronics hobbyist parlance, was working at this desk on sophisticated electronics for .... Drones.

Well, ok, maybe just model rockets, but hey this is 1966. Who would have though that a rocket launchable "Blinky" would have led to the Personal Computer revolution? Now I know why Nate is does his new product "launches" the MITS way: he's hoping some Mims Magic will rub off. Anyway, it's a great story, hiding away on an antique website. I just had to share:

In your comments please admit if you have a design housed in a circa 1966 Ray-o-Vac blue plastic flashlight (check). And if you hung out at the local radio shack memorizing the color wheel, waiting for the next edition of the Engineers Notebook while your schoolmates were hiding under the covers with a flashlight and contraband?

All kidding aside, you are probably looking at the first hobbyist autopilot: In this closeup, Mims describes a "Sun Tracking Guidance system."

As I have recently done some daydreaming on a solar tracker, I think I can explain how this might work, A single light sensor drives a solenoid on a rotating rocket, when the sensor rolls into the sun, it moves a pair of fins (or engine) which pushes the rocket towards the sun for a brief portion of its rotation. Over-correcting is probably an issue - imagine no PID?

It is suggested that the Blinky was invented to help debug the solar tracker, but the resultant article leads to the MITS company, the altair, Gates & Allen, and the rest, as they say....

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Embry-Riddle Aeronautical University IARC Quadrotor

This is the first flight video of the Embry-Riddle IARC Quadrotor. This will be our fourth year in the IARC competition, we are moving away from our award winning monocopter platform this year in favor of a quadrotor. It will be fully autonomous by the time the IARC competition rolls around this summer.

Some specs:

Autopilot: HoverflyPro

Motors: Scorpion SII-2208-1280

Props: Draganfly Innovations 8x4.5

ESC: CastleCreations Thunderbird 36

Tx/Rx: Spektrum Dx6i Tx and AR6100e Rx

Frame: Black sections are FDM (Fused Deposition Modeling) printed PolyCarbonate, White section is FDM printed PC-ABS. Build-to-fly time: about 3 hours total for the machine to print all four ducts and about 15 minutes for us to assemble and fly. (not including shipping time from Boeing)

Some info on us:

The Robotics Association at Embry-Riddle is a multidisciplinary student organization that operates Unmanned and Autonomous Vehicle Systems of all shapes and sized. We are the only school on the planet to compete in all 5 major AUVSI student competitions (IGVC, RoboBoat, SUAS, IARC, RoboSub) we also compete in the NASA lunabotics competition.

Hopefully after finals and as things progress more video and information will be posted on:

https://www.youtube.com/user/RAERRobots

http://clubs.db.erau.edu/dbrobots/

or follow us on Facebook at Robotics Association at Embry-Riddle or on twitter @RAERrobotics

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3D Robotics

ArduPilotMega 1.0 launched! (bye-bye beta)

After nearly six months of development from first public alpha, hundreds of hours of flight testings and countless bug fixes, I'm delighted to announce that ArduPilot Mega 1.0 is now out of beta. This code is solid, should run pretty much out of the box and has been tested on more than 30 different airframes, to say nothing of countless flight simulator hours. This is almost certainly the most complex Arduino program ever written, and takes the Arduino hardware further than anyone thought was possible.

Between the APM code and the Libraries, there have been more than 3,000 commits to the SVN repository, which is just one indication of the amazing amount of work that's gone into this. Huge thanks to the team leaders: Doug Weibel, Jason Short, Michael Smith, Michael Oborne, James Goppert, Benjamin Pelletier, and Paul Mather, with special library assistance from Jani Hirvinen, Jose Julio and Randy Mackay.

To get started with APM 1.0, we highly recommend using the hardware-in-the-loop simulator using the Mission Planner and the excellent Xplane Flight Simulator. Hugely fun to program missions and watch the planes perform them perfectly, hands off.

Included in APM 1.0:
  • Flight modes: Manual, Stabilize, Fly By Wire, Auto, RTL
  • Mission Scripting commands: Navigate to Waypoint, Loiter X turns, Loiter X seconds, Loiter (indefinitely, good for ending mission), RTL, Land, Takeoff, Landing Options, Delay, Reset index, Go to index, Change throttle, Change airspeed, Reset home, Change PID gain, Set relay, Set servo
  • Hardware support for airspeed sensor, Xbee telemetry (one-way), battery monitoring
  • The awesome Mission Planner utility
  • The equally awesome HappyKillmore Ground Station
Coming in APM 1.1 (probably in about a month):
  • Mission Scripting commands: Climb (rate based), Get Variable, Send Variable, Telemetry, Change radio trims, Change radio mins/maxes.
  • Hardware support for magnetometer
  • Two-way telemetry and in-flight gain and command sending
  • Support for the MavLink com/telemetry protocol.

The work to bring APM to maturity will also pay dividends for the rest of the Ardu* family of autopilots and UAV systems, which share the same libraries. This includes:

  • ArduCopter (quad) will be moving to 1.0 (codename NG) later this week, and a 1.5 version (codename ArduCopter Mega) that syncs up with the rest of the APM family, including the Mission Planner and Ground Stations, will be out in beta in a about a month.
  • ArduCopter (heli) is already out in beta and flying. If you've got a Trex 450-style heli, please give it a try and let us know how it's working for you.

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Developer

With the latest ArduPilotMega trunk you can perform in flight gain and waypoint adjustment along with many other parameters. This enables hardware in the loop flight control law debugging and testing. QGroundControl serves as the interface to the onboard parameter adjustment and also displays map views and real-time data plots with logging available.

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Developer

Hello to all,

A new VTOL OAT Bicopter fully stabilized by a 9DOF IMU (arduIMU v2 + HMC5843) has successfully done its fist series of flights. This is the SCORPID-450 build by Matthieu Bourdarias from the french VTOL-UAV Team. The Scorpid-450 UAV uses an innovative design based on Gary Gress concept. The Oblique Active Tilting (OAT) at 45° of the twin engines allow a full pitch control by using the induced gyroscopic moment. Now with only a 9D0F IMU its flight is fully stabilized on its all axis with a dedicated firmware (AutoStab v3.31 JLN) and a special mixing software.

Here the setup used by Matthieu Bourdarias:

- ArduIMU+ V2 flat,

- HMC5843 Triple axis magnetometer,

- Firmware AutoStab v3.31 by Jean-Louis Naudin,

- Two brushless motors + ESC: EMax CF2822 (202W, 1200KV),

- 1 propeller GWS HD9050Rx3 - 1 propeller GWS HD9050x3,

- 1 receiver Futaba R617FS,

- 1 Lipo Turnigy 11.1V (3S1P) 2600 mAh,

Stay tuned on: http://diydrones.com/profile/JeanLouisNaudin

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Arduimu v2 flat based quadrotor build

hello all on this forum,

i have started building my quadrotor. and i am using arduimu v2 flat as a main controller.

i am very new to all those things,uptill now i got my arduimu v2 and i just programmed it with

the latest firmware 1.7ver with the parameters said in the program for testing and

i also tested it with the happykillmore sofware and is working well.

so now my question is the values which are said to be set in the firmware should i change them

since i am using only arduimu v2 flat and no magnetometer and no gps module.

and 2nd is how to do PID tuning since i dont have any idea about this.

and how the arduimu recognizes the perticular s isnal coming from transmitter.

please anyone help me out.

thanks in advance

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3D Robotics

Indoors autonomous quadcopter

From the description: "The robot is equipped with an IMU, camera, and laser scanner with deflective mirrors. All computations are performed onboard using a 1.6GHz atom processor. The robot is able to navigate autonomously in indoor or outdoor, GPS-denied environments.

A SLAM module with vision based loop closure allows the robot to map large-scale, multi-floor environments.A sparse 3D map is generated on the robot based on sensor data, enabling high-level planning and visualization.

An RRT* based planner provides an anytime planning solution that fits the computational constraints of the robot. This planner also enables online re-planning and obstacle avoidance.

An LQR optimal controller with external force compensation enables reliable autonomous flight in highly constrained environments, such as hallways, doors, and windows. The robot is able to track the high-level plans accurately."

From I Love Robotics: "More quadrotor action from the team at UPenn (Shaojie Shen, Nathan Michael, and Vijay Kumar). A previous video of their earlier work is here.

ROS seems to be helping with the team's productivity, but I am still looking for a paper to go with these videos for more details. Once again thermodynamics and energy storage look like the biggest performance limits facing quadrotor aircraft."

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Sikorsky Cypher predecessor?


Sikorsky Cypher; Although the Wikipedia article on this UAV claims it was developed in the late 80's, It was a classified project in the 70's. I know this because I personally put many of the used and damaged blueprints in the "burn barrel" with other top secret documents in 1974.

I am not sure why this was classified as it was devloped at a university in the 60's and quite well known at the time.

Now, here is my question: What was the university and professor that invented it ? for the life of me I can't remember. I think it was at Stanford but I can't find any info on it anymore. There was a video clip of it in an old documentary but I can't remember it either. Getting too old I guess.

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7W boosters for OpenLRS Project

Hi Guys

Good news from OpenLRS (Opensource Long Range System) project!

Today i received 7 watt RF booster chips and at last i'm ready to finishing the PCB designs. This weekend i will finish the booster design and PCBs will be ready in 3 weeks.

Here is the latest PCB designs of Tx, Rx and IMU modules of OpenLRS

Tx and Rx modules size smaller than most of RC modules. Rx module including I2C (or 3 adc) conector pads on back side. I'm planning to connect my new 6DOF IMUnext v3 board there. Rx can stabilize the plane (or quadro) without any external parts and it sends the parameters to the ground over telemetry system. And Rx's rs232 port already available for digital telemetry or direct GPS connection.

Some advantages of OpenFARC:

  • Direct ground computer based remote control and telemetry (Autopilot by computer?)
  • Rx based Autopilot/stabilization/return to home.
  • No Frequency hoping. I'm planning to using static 2 frequency switching for safety. You can use 2 or more modules for receiving the telemetry signals or transmitting the controls with static frequency, because you know your frequencies. Or hopping already possible.
  • If you want to use it for really long range, you can add 7W booster on Tx module (only one way control without telemetry)
  • Direct analog RSSI output on Rx
  • RS232 telemetry and commandset (like "S2512" mean turn the 2th servo to center position,etc)

I'm developing OpenLRS project with AVR-GCC on Atmega328 chipset. All ATMEL developers are welcome ;)

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EAA takes note of the NYC FPV Video

This week's "EAA Hotline", an email newsletter for EAA members has a story on the Team Black Sheep video. They don't state a position on the flight, but report AMA's position, and conclude with:

"The FAA includes R/C aircraft flown by modelers in its definition of Unmanned Aircraft Systems and states its “recreational use of the National Airspace System is covered by FAA Advisory Circular (AC) 91-57, which generally limits operations to below 400 feet above ground level and away from airports and air traffic."

http://www.eaa.org/news/2010/2010-12-09_zephyr.asp

That video is getting notice in a lot of places...

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Perhaps I was missing something in VB6. Life seemed so much easier when using the serial port control. Granted, MSCOMM has some serious limitations (see max limit of COM16). But back then, sending a character from ASCII 1 to 255 was a non-issue. If you sent a &HA0 out the serial port, you got &HA0 out the other end. More specifically, if your hardware was streaming binary data in to your serial port, it was simple enough to decode. In .NET that changed.

In my GCS project, my intention is to be able to handle many different types of data input, both ASCII and binary..so I had to make a decision on how to handle the data stream. Should I import it as a byte array (encoding is not an issue if you receive data this way) or as a string so I can use SubString (or Mid, Left and Right) functions on the data. Since there's no easy way to do an InStr function (searches the string for an occurance of another string) on a byte array, I opted for the string.

When dealing with human readable data, there's no problem. Even without specifying anything for the .Encoding property of the SerialPort anything that is ASCII 127 or lower will pass through the port, no problem. As soon as you start streaming binary data that goes all the way up to 255, funky things start happening. So what's the deal? Well, in .NET the data coming out of the serial port is automatically encoded (or really decoded). That's because it's sending Unicode data. This means that some characters are not a single byte but instead are represented by 2 bytes.

But I don't need any of that. I just needed one byte per character. Nothing fancy. 1 to 255 is just fine.... but there's no option to turn this "feature" off. The SerialPort1.Encoding property can be set to all sorts of settings. Generally, I knew I needed 8 bits, so UTF7 was not an option. So I tried System.Text.Encoding.UTF8, System.Text.Encoding.GetEncoding(28591), System.Text.Encoding.GetEncoding(65001) System.Text.Encoding.GetEncoding(1251), System.Text.Encoding.GetEncoding(1252). The best results came from GetEncoding(28591) initially. I thought everything was working great... but then throw in Regional settings and everything gets whacky again.

In XP, click Start, Control Panel, Regional and Language Options and change your Standards Format from English (United States) to Polish and you'll see what I mean. It's the craziest thing. I created a sample project using a com0com feedback port to pump ASCII 1 to 255 out one port in VB6 and I received it in to my GCS on the paired port. 246 of the 255 characters came through just fine. 9 of them were goofy (either a 3F...which is the "unknown" replacement by the serial port or something comepletely odd like &H54 where &H98 should have been).

So the Google search began. How if the world do I fix this or turn it off or something? The first solution was to try and use Chr on some ASCII values and ChrW on others...but that didn't fix all of the bad characters either. The data was coming in with the right hex value, but the change from Byte to ASCII was the problem. In the end, the solution was not to look at every byte. I get rid of the Serial Port's DataReceived event and instead am firing a timer every 75 ms looking for .BytesToRead > 0 and using a built-in encoding function to get the right string from the serial port.

nReadCount = serialPortIn.BytesToRead 'Number of Bytes to read
Dim cData(nReadCount - 1) As Byte

serialPortIn.Encoding = System.Text.Encoding.UTF8

nReadResult = serialPortIn.Read(cData, 0, nReadCount) 'Reading the Data

sNewString = System.Text.Encoding.Default.GetString(cData)
sBuffer = sBuffer & sNewString

Originally, I had been allowing the DataReceived event to fire after 1 character arrived in the ReadBuffer and then evaluating the new character(s) one at a time to build my strings. Without the GetString function, I was unable to get the correct string data from the serial port.

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3D Robotics
From Fast Company: "The Air Force is funding research involving fruit flies and virtual reality tunnels, with an eye toward building "future insect-sized vehicles for the military."

Andrew Straw, a Caltech scientist who studies neurons and behavior, is leading the research, supported by an Air Force Office of Scientific Research grant. In order to better understand how fruit flies navigate, Straw basically forces the insects to play an immersive videogame of sorts. His lab has designed a virtual reality environment for the flies, giving him complete control over the visual stimuli they're exposed to. He and his fellow researchers also developed a tracking system that locates a fly in 3-D "nearly instantaneously." By tossing the fruit flies in the VR tunnel, controlling what the flies see, and tracking them precisely, Straw has an unprecedented sense of how the flies use visual cues to navigate.

What he found was surprising. Previously, it had been thought that flies measured motion beneath them to regulate their height. Straw's team, by contrast, has found that horizontal edges are the most important cue the flies use."

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Latest from AMA on FAA/NPRM

From AMA Today December 2010 (electronic newsletter)

Update on FAA

The FAA process to create regulation for the operation of small unmanned aircraft systems (sUAS) in the national airspace continues to move forward. There's been a lot of speculation about what will be contained in the sUAS proposed rule that is scheduled to be released as a notice of proposed rulemaking (NPRM) sometime in June 2011.


The NPRM will contain proposed regulation that will most likely have some impact on model aviation. The FAA is prohibited by law from disclosing the exact language in the NPRM until it's released in the Federal Register. However, we have been able to determine, in a generic sense, what some of the proposed language might be. The Aviation Rulemaking Committee’s report submitted to the FAA in 2009 indentifies many of the sUAS issues under consideration; however the specific recommendations in the report may or may not be reflected in the final rule. We know that the NPRM will most likely address things like how high, how fast, and where a model aircraft may fly. We know that the FAA has drawn a hard line between recreational use and commercial use.

AMA is continuing to work with the Unmanned Aircraft Program Office (UAPO) within the FAA and is in contact with the UAPO on a weekly, if not daily basis. Over the past 90 days there have been five face-to-face meetings with AMA and the UAPO staff. AMA’s internal workgroup, consisting of members with a diverse and knowledgeable model aviation background meet by conference call weekly and continues to develop standards that will eventually be submitted to the FAA for adoption that will allow modelers who follow these standards additional latitude from the rule. The foundation of our standards has always been the National Model Aviation Safety Code and its supporting documents including our Turbine Waiver Program and our Large Model aircraft Program. Recently a member of the UAPO office has been regularly attending these calls.

We're fighting a tough battle between keeping our members informed and not painting an overly tenuous picture of the future of model aviation. Not knowing exactly what will be in the proposed rule makes this a difficult challenge. And we're still working through some issues today that may be satisfactorily resolved before the NPRM is released. At the same time we need to make sure our members are aware, engaged, and prepared to react, if necessary, when the time is right.

The FAA has been invited to the AMA Expo in January. They have accepted. Our intent is to hold a roundtable Q&A session to help clarify a number of issues. This roundtable will be open to those in attendance and will also be taped and posted online. The Expo will also signal the beginning of an increased awareness campaign to keep the model aviation community as informed as possible as we move into 2011 and the eventual release of the NPRM.

– Dave Mathewson AMA President

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3D Robotics

Visual SLAM with Kinect

Visual Simultaneous Location and Mapping (SLAM) with the Xbox 360 Kinect. Says I Heart Robotics: "This is an interesting demo using MRPT to perform 6DoF SLAM to estimate the position and oritentation of the Kinect. While the performance looks good, it's clear that the 3D future of robotics will be computationally challenging. I think there is probably going to be a need for GPUs that work with embedded systems."
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