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Prebuilt default Pynq image with some patches can be found for Ultra-96 board here.
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Prebuilt default Ubuntu image can be found for ZCU102 board here.
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Prebuilt Pynq image used for demo at FPL 2019 can be found here.
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If you would like to build Pynq image yourself, follow the tutorial and make scripts provided in build directory.
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Tutorial on how to build ubuntu image for Ultra96 can be found here.