Abstract: A computer implemented method for updating a scene representation model is disclosed. The method comprises obtaining a scene representation model representing a scene having one or more objects, the scene representation model being configured to predict a value of a physical property of one or more of the objects; obtaining a value of the physical property of at least one of the objects, the obtained value being derived from a physical contact of a robot with the at least one object; and updating the scene representation model based on the obtained value. An apparatus is also disclosed.

Abstract: A system and method for SpaceWire network management are disclosed involving a network and a network manager (NM). The network includes a plurality of switches and a plurality of nodes. The switches and nodes do not have any preprogrammed knowledge of the network topology and/or of their unit identification (UID) code. In one or more embodiments, the network is a spacecraft communications network. In at least one embodiment, the method for managing the SpaceWire network comprises the network manager (NM) determining link connectivity of the network; verifying the switches are properly configured to allow for logical address routing; and verifying the nodes are configured to process, receive, and transmit data through the network. In some embodiments, the method further comprises determining newly added units, removed units, and/or unresponsive units in the network, and propagating this information through an active unit table.