Kategori: Nyheter

Oxford Technical Solutions (OxTS) has launched the latest version of its lidar georeferencing software, OxTS Georeferencer 1.4.

OxTS is taking steps to improve surveyor’s user experience, streamline survey processes, and allow surveyors to get to work faster, while simultaneously improving results.

OxTS Georeferencer fuses position, navigation and timing (PNT) data from an OxTS inertial navigation system (INS) with raw lidar data to output highly accurate 3D point clouds. The software uniquely makes use of navigation diagnostic data that provides surveyors with lidar point-error estimation. This error estimation allows surveyors to focus their analysis on viewing parts of their survey based on estimated errors in points, helping them understand if there are any parts of a survey that need to be looked at again.

Rather than relying on surveyors to integrate their chosen lidar sensors themselves, OxTS has pre-integrated a number of sensors natively. Previous versions of OxTS Georeferencer integrated widely used sensors from Velodyne, Ouster and Hesai. The pre-existing integrations allow surveyors to focus on surveying rather than ensuring the two datasets work in tandem.

An optional boresight calibration tool uses data to calibrate the angles between the navigation and survey devices.

Highlights of OxTS Georeferencer 1.4

Version 1.4 of OxTS Georeferencer integrates new lidar sensors from Hesai. A previous version released in November 2020 was the first integration of the Pandar40P Hesai lidar. Now, seven new Hesai sensors are being integrated:

• Pandar40 (beta)
• Pandar40M (beta)
• Pandar64 (beta)
• PandarQT (beta)
• Pandar128 (beta)
• PandarXT-16 (beta)
• PandarXT-32 (tested)

OxTS Georeferencer 1.4 also features several new developments to enhance the user experience and make it more intuitive.

3D Hardware Setup Viewer. To help input the correct relative rotation angles, specific lidar models will be available to view depending on the surveyor’s choice of lidar. The model will represent the lidar sensor in appearance, size and orientation within OxTS Georeferencer with respect to the OxTS INS for quick and intuitive configuration.

Time overlap chart. Georeferencer 1.4 reintroduces a time overlap chart that allows surveyors to visualize their survey route on a map and select specific start and end times. This enables surveyors to control the part of the route they would like to view, with the added ability to georeference only that section of the survey.

Lidar CAD models will make it easier for surveyors to calculate and input accurate LIR angles into OxTS Georeferencer, further streamlining the survey process.

The time overlap function will provide surveyors with even more flexibility — this time after the survey. Giving surveyors the ability to choose the start and end times of their survey, and therefore which part of the survey to georeference, enables full control of what to present to their peers.

These new features, coupled with those already present in OxTS Georeferencer (optional boresight calibration and point uncertainty analysis) give surveyors the flexibility and control they need to produce the best possible lidar surveys.

New, smaller sensors provide high-performance navigation at a low cost with less power consumption, company said.

Honeywell has unveiled a new rate sensor to help small satellites navigate increasingly crowded orbits above the Earth’s surface. The new micro-electro-mechanical system (MEMS)-based product provides low cost and power consumption in a smaller size than previous Honeywell offerings, while maintaining high performance levels. It is suitable for customers building smaller and lower-cost satellites, according to Honeywell.

Honeywell’s HG4934 space rate sensor is roughly the same size and weight (145 grams) as a baseball. Compared to Honeywell’s previous rate sensors, it consumes only one-fifth the electric power, is more than 32 times lighter, and is 60 times smaller. It also is more tolerant of radiation, a key attribute in space.

“With this new sensor, our customers can build smaller, lower cost satellites that are just as capable and reliable as their traditional predecessors, which will allow them to field new satellite technologies like 5G telecommunications or high-bandwidth global Internet,” said Mike Elias, vice president and general manager, Space, Honeywell Aerospace. “Furthermore, the number of satellites is only increasing, which leads to more crowded orbits. It’s critical that our customers have highly precise navigation solutions to help prevent accidents, which could knock functional satellites out of orbit.”

A space rate sensor, also known as an inertial reference unit or IRU, is an inertial sensor composed of three gyroscopes that work together to sense rotation rates. They determine an aircraft or spacecraft’s change in rotational attitude over time and allow it to move from one location to another without using any external information. It can also serve as a backup solution to provide redundancy if other navigation systems fail.

Celestial navigation options like star trackers are a popular method of obtaining pointing directions for satellites and spacecraft. This form of navigation uses angular measurements between objects in space (stars, planets, etc.) and the horizon to calculate location. However, sometimes these star trackers are blinded by the sun or affected by thruster gases. In this case, Honeywell’s HG4934 can act as a secondary method of attitude determination.

Honeywell’s HG4934 Space Rate Sensor is available now for commercial, defense, and science applications. The first deliveries to customers began at the end of 2020.

The European Space Agency (ESA) is issuing a call for ideas to overcome GNSS service gaps in urban canyons by using imaging and 3D mapping technology. A workshop to discuss the call for ideas will be held virtually on July 6.

According to ESA, the growing availability of high-quality image sensors and high-fidelity 3D maps — such as those within smartphone mapping apps — offer a promising way to shrink the performance gap caused by urban canyons and multipath for future mobility applications in terms of ubiquity, reliability and resilience.

NAVISP — ESA’s Navigation Innovation and Support Programme — specifically is seeking prospects for technology demonstrations of mobility tech to support applications such as  road, maritime transport and drones. The tech would provide assisted satnav by harnessing image sensors and 3D urban models. The proof-of-concept demonstration projects or national testbeds would facilitate introduction of this technology into commercial products.

Use cases include private or public autonomous transportation in cities, including cars, trams, scooters, bikes, urban ferries, harbors, narrow waterway navigation and future passenger drones.

The NAVISP project, called a “thematic window,” is titled “Assisted GNSS with Imaging Sensors and 3-D models for Mobility Applications.” The thematic window opened on June 10 and will close on Oct. 31. During its duration, ESA is offering dedicated support to companies interested in participating in the projects and submitting outline proposals.

On July 6, the agency is hosting an online workshop with stakeholders to raise awareness about the initiative and clarify any issues interested companies may have. ESA will present the requirements of the Thematic Window and the application process. The workshop will include presentations from high-level experts covering market perspectives, techniques involved in the use of 3D models and imaging sensors, the state of the art of these technologies and latest advances in visual navigation and artificial intelligence applied to mobility applications.

To register for the July 6 workshop, click here. The workshop agenda is available here.

Latest advancement from Skydel uses software-defined advantages to deliver real-time performance

Orolia has announced the launch of its Real-Time Performance capability, which achieves an ultra-low latency of five milliseconds. The feature will be standard on all Skydel-powered GNSS simulators.

Skydel is a software-defined simulation engine that powers Orolia’s advanced GNSS simulators including its BroadSim (available via Orolia Defense & Security) and GSG product lines.

“Skydel is known by users for its intuitive nature and ability to be quickly redeployed for a variety of projects,” said Tim Erbes, director of engineering for Orolia Defense & Security. “Delivering Real-Time Performance with latency as low as five milliseconds further shows that Orolia is a market leader empowering our customers by exceeding their expectations.”

Skydel’s software-defined architecture is designed to meet the demanding GNSS simulation testing requirements in the automotive, military, space and other high-tech industries. Skydel also supports hardware-in-the-loop simulations without sacrificing ultra-low latency and high-end performance.

The user interface has a sophisticated dashboard showing Real-Time Performance graphs. The tool enables users to grade the simulator’s performance, interpret data, diagnose inefficiencies, and optimize scenarios on the fly. In a video tutorial, Orolia demonstrates how the simulation engine processes data and how easy it is to read the graphs through its visualization and precise indications. As the system reaches its limits, it remains stable and fully operational, preserving the integrity of the simulation.

Erbes said the Real-Time Performance graphs not only instill confidence in the simulator, but also allow for better integration in the testbed.

“For example, instead of just hoping their hardware-in-the-loop configuration is working, users can view the real-time data and see that low latency is being maintained,” he said. “This feature provides enhanced visibility not only into the performance of the simulation, but also into the reliability of the hardware-in-the-loop integration, resulting in a more robust solution. This is critical when generating complex environments with high dynamics, jamming, spoofing, repeating, and alternative PNT sensors.”

SpaceX launched into orbit for the U.S. Space Force an upgraded GPS satellite on June 17.

The GPS III SV05/GPS III is the fifth Lockheed Martin-built, next-generation GPS III space vehicle. The SpaceX Falcon 9 rocket is the first U.S. Space Force mission to reuse a previously-flown booster, the company said.

The U.S. Space Force contracted Lockheed Martin to design and build GPS III/GPS IIIF to help modernize today’s GPS satellite constellation with new technology and advanced capabilities. Lockheed Martin said the GPS III provides three-times greater accuracy, eight times improved anti-jamming capability for U.S. military forces; a new L1C civil signal to the constellation that is compatible with other Global Navigation Satellite Systems (GNSS); and a new modular design that allows new technology and capabilities to be added in the future to better address changing mission needs and emerging threats.

The U.S. Space Force said GPS III SV05 eventually will replace one of the legacy GPS IIR satellites. Once GPS III SV05 is operational, about 16% of the 31-satellite constellation will be modernized with GPS III’s new capabilities.

GPS III SV05 will be the 24th Military Code (M-Code) signal-enabled GPS space vehicle on orbit. This completes the constellation’s baseline requirement to provide U.S. military forces a more-secure, harder-to-jam and spoof GPS signal, Lockheed Martin said.

GPS III Space Vehicles 06, 07 and 08 already are complete and waiting to be called up for their launch dates, which are to be determined.

In addition, GPS III SV09 was coremated, meaning it reached a major production milestone in which two major satellite components – the mission module and the propulsion core – are paired to form one space vehicle. The GPS III SV10 currently is in the component build up stage.

Lockheed Martin has been contracted to design and build up to 22 additional GPS III Follow On – or GPS IIIF – satellites (SV11-32), with even more capabilities. Contract options for the first four GPS IIIFs, SV11-14, have been exercised so far.

There is a lot of UAV action taking place this month. An anti-drone defensive system is being trialed by the U.S. Department of Homeland Security (DHS). DJI drones get the green light again for use by government agencies. The U.S. Navy/Boeing refuel an F/A-18 aircraft using a drone, and the Mars helicopter drone has a non-fatal in-flight problem.

DJI drones cleared for government use

There’s good news for operators who might have been scared away from using drones manufactured by Chinese company DJI. Two “government” models have now been cleared by the Pentagon for use by agencies who had previously been instructed to cease and desist operating them. The Matrice 600 Pro and the Mavic Pro government models were cleared, because “no malicious code or intent” was found. These types of drone are now “recommended for use by government entities and forces working with U.S. services.”

The drones have been modified from standard models to provide a customized control application, prevent automatic software updates being applied without user approval, and implement an operational control-zone capability.

The U.S. Interior Department was behind the modifications, with the objective of resuming use of its grounded fleet of more than 500 DJI drones. They may need them again soon for forest-fire monitoring — it’s the season again. Allegations of potential “sharing of data” with the Chinese government were previously investigated and apparently debunked by Booz Allen Hamilton, in a report released in June 2020. Now the Pentagon seems to affirm these earlier findings.

Nevertheless, DJI remains on the Commerce Department’s don’t-buy list, and the Justice Department has banned agencies from buying foreign drones that could be vulnerable to tampering with data, or otherwise might be a threat to the U.S.

DHS trials anti-drone system

In recent “bad-drone” incidents, people have tried to smuggle contraband into prisons, flown into landing flight paths at airports, and even successfully inflicted significant damage on oil storage facilities in Saudi Arabia — never mind a failed assassination attempt in Venezuela. And with illegal immigration and drug smuggling becoming crisis issues, DHS has decided that its probably time to build a level of protection at U.S. borders. A trial is now scheduled at the quieter and more orderly Canadian border so that DHS can fully focus on evaluating the Fortem SkyDome system.

Bad actors attacking a facility using a drone, sometimes with explosives strapped to it, have set their target as a waypoint and switched off the radio control link. The drone then carries on to its target, without fear of radio “sniffer” detection systems picking it up and jamming the control link.

Fortem built a drone defense system that uses radar for “RF silent drone” detection. Not only does the Fortem SkyDome system detect unwanted intruder drones, but it also can send out a DroneHunter UAV which hones in on and fires a net to capture, immobilize and bring back the offending drone so the defenders can investigate the attack.

Boeing UAV refuels F-18 fighter aircraft

Boeing is engaged in development of an unmanned tanker vehicle for the U.S. Navy. The company has built and flown the first test drone, known as Stingray MQ-25 T1. Boeing has another seven unmanned refueling tankers on order. T1 is the first test article for the program. Following a number of successful initial handling, control and envelope extension test flights — including several with the Navy refueling pod installed under the T1 left wing — fuel was loaded, and on June 4, a Navy F/A-18 Super Hornet fighter aircraft accompanied the T1 into the air on another test flight.

The F/A-18 flew close to and maneuvered around the drone for some time, and when the pilot and test managers concluded that both were in joint, controlled, stable flight, the MQ-25 was commanded to extend the refueling pod hose and drogue. The F/A-18 normally refuels in the air from another F/A-18 configured with the same refueling pod and refueling boom, so the actual transfer of fuel which then took place was somewhat commonplace for the F-18 pilot, save the slipstream buffet was probably less significant. Nevertheless, this was the very first time that a Navy aircraft has been refueled by an unmanned aircraft.

After further MQ-25 T1 test flights, the tanker-drone will be transported to Norfolk, Virginia, for deck handling trials aboard a U.S. Navy carrier later in the year. The MQ-25 Stingray is planned to take over this airborne refueling work which is currently handled by other F/A-18s, freeing up the fighter aircraft for operational fighter missions.

Mars drone flight experiences navigation anomaly

On May 25, the Mars drone Integrity had been commanded to take its sixth longer, higher flight. Like a good little tech package on the end of a 220-million-mile distant signal, Integrity did as it was told. However, after around 490 feet in the Mars atmosphere, Integrity started to change speed and dramatically oscillate back and forth. Even so, the UAV managed to complete the transit to within about 16 feet of the new intended parking spot.

NASA analyzed the data sent back from the drone through the Perseverance rover. NASA discovered that the flow of images from the navigation camera had been disrupted by a missing image, and the time-stamps for the images became incorrect.

Integrity’s navigation system is fed by an inertial measurement unit with images from the nav camera, so the time-stamp discrepancies between what the camera was saying and what the IMU was saying gave it an unforeseen issue to resolve. The resultant bucking in flight was an effort to resolve the data time differences. Images are not used in the landing phase, so the oscillations ceased as the rover descended, and the landing was as graceful as usual.

Fortunately, it appears that Integrity has not been damaged, and NASA is working to send the little drone on further scouting missions for its companion rover. NASA’s website indicates that the drone should have flown again on June 6, but right now there doesn’t seem to be any further evidence that a flight did or did not take place.

Summary

The testing that the Pentagon has done on a couple of models of DJI drones appears to have cleared them of possible malfeasance, but otherwise the report is classified. I wonder what secret science DOD used to detect/eliminate possible illicit communications with China by the drones? And it’s high time everyone realized that these “drone -thingies” can also be used to hurt us — as new technology in the hands of people who do not wish us well almost always can.

This month I discovered that Navy F/A-18s could fly further by hanging refueling pods on other F/A-18s, thereby taking the tanking aircraft out of the regular training and combat rotation. I’m glad we’ve got a drone alternative coming that must cost a lot less and also will free up fighting assets.

Finally, it doesn’t seem that we have to worry the Mars helicopter is too broken to keep seeking the best route for the rover. There were enough margins in the navigation algorithms that the little guy didn’t wreck when the image processing hiccupped. Let’s get flying again, NASA!

Tony Murfin
GNSS Aerospace

Global space community convenes in person and virtually Aug. 23-26

Space Foundation, a nonprofit advocate organization founded in 1983, is offering a hybrid in-person and virtual experience for its  36th Space Symposium. The event will take place Aug. 23-26 in person at The Broadmoor in Colorado Springs and virtually through Symposium 365 digital platform.

“The past year has challenged us all, but the space community has demonstrated its perseverance and inspiration in countless ways,” said Space Foundation CEO Tom Zelibor. “The capabilities are now in hand for us to safely gather again in person, while expanding our reach to host attendees from around the world virtually and make them part of the Space Symposium experience.”

Working with its multiple partners, corporate members, and stakeholders, Space Foundation has created a hybrid program for the first time in nearly four decades of Space Symposium operations that will allow for in-person and virtual attendance. The in-person assembly of global space leaders and innovators will be limited in its physical size to comply with public health ordinances, but the virtual assembly will allow unlimited, real-time and on-demand access to the event.

“As the preeminent advocate and gateway for lifelong education, trusted information, and seamless collaboration, Space Foundation is doing everything we can to bring together this community of people and organizations engaged in space exploration and space-inspired industries that define the global space ecosystem,” Zelibor added.

Registration and details are on the event website.

The fifth GPS III satellite was encapsulated within a SpaceX payload fairing on June 9 in preparation for its June 17 launch.

The U.S. Space Force’s Space and Missile Systems Center’s Lockheed Martin-built GPS III Space Vehicle 05 satellite was encapsulated within a SpaceX payload fairing at Astrotech Space Operations Florida facility on June 9 in preparation for launch, scheduled for June 17 from Cape Canaveral Space Force Station.

The 15-minute launch window opens 12:09 p.m. EDT. If SpaceX provides a live feed to view the launch, it will be available here.

Encapsulation of the satellite within the payload fairing protects the satellite from the impact of dynamic pressure and aerodynamic heating during its harrowing journey through the earth’s atmosphere, and supports the ability to communicate with the satellite until separation from the launch vehicle on orbit.

“The GPS III program continues to make strides in modernizing the GPS constellation for the United States Space Force, maintaining the ‘gold standard’ for position, navigation and timing,” said Col. Edward Byrne, Medium Earth Orbit Space Systems division chief, “SV05 is not only the first-ever USSF satellite launched on a previously flown booster, but also is the 24th military-code (M-xode) satellite introduced to our constellation, the last needed to bring M-code to full operational capability.”

GPS III SV05 will join the current 31-satellite operational constellation to continue to provide the gold standard in positioning, navigation and timing services for more than four billion users worldwide.

The Space and Missile Systems Center, located at Los Angeles Air Force Base in El Segundo, California, is the U.S. Space Force’s center of acquisition excellence for acquiring and developing military space systems. Its portfolio includes the development of advanced space and launch capability and systems, global positioning systems, military satellite communications, defense meteorological satellites, space launch and range systems, satellite control networks, space-based infrared systems, and space situational awareness capabilities.

GPS company NextNav and Spartacus Acquisition Corp, a special-purpose acquisition company, has entered into a definitive merger agreement that will result in NextNav becoming a public company. The combined company will be named NextNav Inc. Its common stock and warrants will be listed on the Nasdaq under the ticker symbol “NN” and “NNW”, respectively.

Gross proceeds of up to $408 million from the business combination are expected to be used to fuel growth in its current businesses, continue to build NextNav’s next-generation GPS platform, expand products (one of which is already deployed in 4,400 cities), and to expand its land-based radio positioning and timing network.

The NextNav platform serves a $100 billion global total addressable market in public safety, E911, mass-market consumer apps, eVTOLs, UAVs and autonomous vehicles, internet of things (IoT), critical infrastructure and other sectors. Beyond its technology and intellectual property, NextNav owns a portfolio of nationwide spectrum licenses for 2.4 billion MHz-PoPs of 900 MHz spectrum.

Gary Parsons, former chairman of the board of Sirius XM Radio, has served as chairman of NextNav’s board of directors for the past 10 years and will continue in that role. Peter Aquino, chairman of the board and CEO of Spartacus, will also join the NextNav board upon closing of the business combination. Aquino has led several companies through fiber and wireless operations and network deployments, and the development of overlay technologies designed to drive new revenue streams.

NextNav will continue to be led by Ganesh Pattabiraman, the company’s co-founder, CEO and president. Pattabiraman, who started at Qualcomm, has experience in building scalable location technologies using terrestrial and satellite-based technologies,

In addition, the full NextNav management team — co-founder Arun Raghupathy, SVP of Engineering; Chris Gates, CFO; and David Knutson, SVP of Network Operations and Deployment — will continue to manage NextNav.

Sony’s first professional drone is small, but can be equipped with alpha mirrorless camera

Sony Electronics Inc. has announced its first professional drone, the Airpeak S1. An introductory model in the new Airpeak line, the S1 is a small drone that can be equipped with Sony’s full-size mirrorless interchangeable-lens Alpha camera.

The new drone uses a proprietary motor, propeller, control system and sensing technology, allowing it to fly at extremely high speeds with stable wind resistance.

The Airpeak S1 features an advanced remote controller that can support the production of high-quality aerial images and freely control the aircraft. It also includes obstacle detection, automatic flight control via sensing and increased safety via cloud management of the aircraft and flight information.

“Sony is excited to launch our new drone business with the Airpeak S1,” said Yang Cheng, Vice President, Imaging Solutions, Sony Electronics Inc. “Combining an extremely compact size with some of Sony’s most advanced imaging, sensing, AI and robotics technologies, the S1 will allow content creators, storytellers and commercial professionals to capture that which they’ve never been able to capture before.”

Advanced flight performance

The new Airpeak S1 offers dynamic flying capabilities, including a maximum speed of 55mph (90km/h), a maximum angular velocity of 180°/s, and a maximum tilt angle of 55°.

Propulsion technology using a combination of key devices developed by Sony provides wind resistance in strong wind speeds up to 44.7 mph (20 m/s).

In addition to the lightweight, highly efficient, sturdy and responsive proprietary 17″ propeller and brushless motor, the Airpeak S1 is equipped with an electric speed controller (ESC) for optimal control of these components. A unique, high-performance flight control system integrates the propulsion device and all sensor information to ensure stable flight and high maneuverability, Sony stated.

Stable flight by sensing

Stereo cameras equipped with Sony’s image sensors are installed in five locations (front, back, left, right, bottom) of the aircraft. Sony’s vision-sensing processor, which processes camera data at high speed and with low power consumption, and proprietary algorithms are used to accurately estimate the aircraft’s spatial position and orientation in real time, enabling stable flight even in environments where it may be hindered, such as indoors or under bridges.

The Airpeak S1 is also equipped with a unique high-performance flight-control system that integrates all sensor information such as inertial measurement unit (IMU), direction, barometric pressure and infrared ranging to optimize the propulsion device.

The Airpeak S1 uses multi-directional sensors to enable its obstacle braking function. The front, rear, left and right stereo cameras and the infrared range-finding sensor mounted on the top recognize obstacles in the vicinity of the aircraft, allowing the aircraft to automatically decelerate and stop according to its behavior and the surrounding conditions.

Camera and lens variations

Users have the flexibility to choose the right Alpha system for their desired application to expand their filmmaking horizons. The Airpeak S1 is compatible with a wide range of camera bodies including:

• Alpha 7S series and FX3 for high descriptive capability with suppressed noise
• Alpha 7R series for ultra-high definition
• Alpha 9 series and others for distortion-free images

The Alpha 1, which can shoot footage in 8K, is also compatible.

The drone includes Airpeak Flight, an iOS- and iPadOS-compatible application that integrates the aircraft, transmitter, camera and gimbal, allowing the operator to monitor status information such as flight distance and remaining battery power, and change various operations and settings on the screen.

Airpeak S1 also includes a dual-operation mode so that one user can operate the drone while another user can operate the gimbal and camera simultaneously while checking the same image, even in complicated scenes. The first-person view camera, which can be tilt-operated from the remote controller, is mounted on the nose of the aircraft and is useful for the operator to check the direction of the aircraft and the direction of travel.

Airspeak Base

The new drone includes “Airpeak Base,” a web application that allows the operator to manage equipment, create flight plans, and manage flight logs. In the equipment management, information on the equipment used is automatically listed and managed based on the flight log. This allows the operator to check the condition of the aircraft before going to the field, minimizing on-set issues.

With Airpeak Base, the operator can create advanced flight plans and automatically fly the aircraft along the same course repeatedly, as if the drone were on rails installed in the air. It is able to set the position (latitude, longitude and altitude) and speed of the aircraft along the timeline, and specify the orientation of the gimbal and the timing of video or still image shooting. It can also draw smooth curves on the map. Reproduction flight is an automatic flight function that reproduces the flight route, gimbal, and camera movements based on the flight logs that have been flown in the past.

All aircraft information, including logs, can be uploaded to the cloud via the mobile app Airpeak Flight. Airpeak Base allows users to check the status of the aircraft and can provide notifications if necessary. Users can manage the status of all managed aircraft in one place before flight. Past flight logs can be viewed on the logbook screen, and details such as in-flight errors can also be reviewed.

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Sony Group will be exhibiting Airpeak S1 at Japan Drone 2021, a drone exhibition to be held at Makuhari Messe in Chiba, Japan, June 14-16. In addition, Izumi Kawanishi, Senior Vice President, AI Robotics Business, Sony Group Corp. will provide the keynote speech on the morning of June 14.