4Boot up

Hi,
Recently I have brought a beagleboard with Rev C4, along with it have
also brought an OTG.
Now need some help how to flash the kernel Images into that target
board.
New to TI chipsets it would be helpful for me if I could get some
documents or links that describe about the bring up using USB. I don't
have neither serial to USB not SD card.
Please suggest.

Regards,
vishnu

http://circuitco.com/support/index.php?title=BeagleBoard#Image_Files

Gerald