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51st European Microwave Conference, EuMC 2021

作者： Gardill, Markus Tandon, Tushar Brandenburgische Technische Universität Cottbus-Senftenberg Department of Electronic Systems and Sensors Germany Computer Science VII - Robotics and Telematics Germany

ISBN: (纸本)9782874870637

We present an approach to experimental radar systems education based on a combination of commercial low-cost hardware with modern open-source software technologies. Following a discussion of the general top-level architecture of flexible, software-defined radar systems, we introduce the specific selection of subsystems, their capabilities, and current system limitations. Compared to existing approaches to practical radar education, a more top-level modular design with a greater focus on performance and flexibility of baseband processing is selected while reducing the complexity of circuit and subsystem assembly and total system cost. We present example measurements obtained from the radar kit. The radar kit allows for bringing a radar lab to the students instead of students into the labs. It enables practical hands-on radar education also in distance-only-learning scenarios. © 2022 European Microwave Association.

关键词： Open source software

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A Radar Kit for Hands-On Distance-Learning

A Radar Kit for Hands-On Distance-Learning

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European Conference on Microwave

作者： Markus Gardill Tushar Tandon Chair of Electronic Systems and Sensors Brandenburgische Technische Universität Cottbus-Senftenberg Germany Computer Science VII - Robotics and Telematics Julius-Maximilians-Universität Würzburg (JMU) Germany

ISBN: (数字)9782874870637

ISBN: (纸本)9781665447218

关键词： Microwave measurement Costs Radar measurements Current measurement Education Europe Radar

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Communication System Architecture and Firmware Design for Nano Satellites

Communication System Architecture and Firmware Design for Na...

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IAF Space Communications and Navigation Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Tandon, Tushar Mayank Schumacher, Johannes Kaur, Ravneet Sundaramoorthy, Guhan Sahoo, Udit Kumar Gardill, Markus Department of Computer Science VII Robotics and Telematics Julius-Maximilians Universität Würzburg Am Hubland WürzburgD-97074 Germany Department of engineering Celestial Space Technologies GmbH Zollhof 7 Nuremberg90443 Germany Celestial Space Technologies GmbH Zollhof 7 Nuremberg90443 Germany

ISBN: (纸本)9781713843023

In earlier days, very few countries were a part of the space race and only a couple of space agencies worked towards space exploration. But today, with the privatization of the space industry many new public-private players have emerged and collaborate to develop various missions for deep space exploration activities. The new space industry is a cooperative effort by private companies, startups, public and private research institutes, and governmental reforms to enable these collaborations for realizing the global vision of space exploration. The upcoming space exploration missions are focused to establish a permanent human presence on Moon and Mars. Many studies have been conducted to analyze the different challenges and risks for such courageous missions. One of the main challenges is to stay connected all the time with the least possible delay. This paper will explain the firmware architecture design developed for a student project demonstration for the IGLUNA 2020 campaign in the context of lunar infrastructure development. The paper documents the mission scenario and the firmware that was developed using open-source software and related libraries. The designed firmware can be used for CubeSat missions that provide an opportunity for students and educational institutions to effortlessly develop a working system for technology demonstration in space. The paper will also explain the different software blocks used for the development which can be further utilized for creating complex and more robust communication software for nanosatellites missions. Copyright © 2021 by Tushar Tandon. Published by IAF

关键词： Nanosatellites

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SCOUT3D - An underwater laser scanning system for mobile mapping

SCOUT3D - An underwater laser scanning system for mobile map...

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2019 Optical 3D Metrology

作者： Bleier, Michael Van Der Lucht, Joschka Nüchter, Andreas Computer Science VII: Robotics and Telematics Julius-Maximilians-University Würzburg Germany

This paper presents an underwater laser scanning system and GNSS based trajectory estimation system for scanning from a surface vessle in shallow water. The system has an above-the-water and an underwater component. Above-the-water two low-cost multiband GNSS receivers with an antenna baseline of one meter are used for RTK positioning with heading. The full 6-DOF is estimated by fusing the satellite navigation data with a MEMS-based INS. The 3D data is captured in water using a structured light scanner consisting of a low-light underwater camera and a green cross line laser projector. We describe the development of the system and employed hardware components. We show results of scanning a large test object in a water tank acquired by from a tripod with a motorized yaw axis. Additionally, we demonstrate first results of mobile mapping from a floating platform. We evaluate the performance of the system by measuring the 6-DOF trajectory with an external optical tracking system. Additionally, we assess the quality of the created point cloud using reference objects placed in the scene. © 2019 Authors.

关键词： Mapping

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Self-supervised point set local descriptors for point cloud registration

arXiv

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arXiv 2020年

作者： Yuan, Yijun Hou, Jiawei Nüchter, Andreas Schwertfeger, Soren School of Information Science and Technology ShanghaiTech University China Department of Informatics VII - Robotics and Telematics Julius-Maximilians-University Würzburg Germany

In this work, we propose to learn local descriptors for point clouds in a self-supervised manner. In each iteration of the training, the input of the network is merely one unlabeled point cloud. On top of our previous work, that directly solves the transformation between two point sets in one step without correspondences, the proposed method is able to train from one point cloud, by supervising its self-rotation, that we randomly generate. The whole training requires no manual annotation. In several experiments we evaluate the performance of our method on various datasets and compare to other state of the art algorithms. The results show, that our self-supervised learned descriptor achieves equivalent or even better performance than the supervised learned model, while being easier to train and not requiring labeled data. Copyright © 2020, The Authors. All rights reserved.

关键词： Geometry

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Hybrid attitude and orbit control of a pico-satellite using magnetic torquers and an electric propulsion system 69

Hybrid attitude and orbit control of a pico-satellite using ...

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69th International Astronautical Congress: #InvolvingEveryone, IAC 2018

作者： Bangert, Philip Kramer, Alexander Schilling, Klaus Julius-Maximilians-UniversitÃ¤t WÃ¼rzburg Computer Science VII: Robotics and Telematics Am Hubland WÃ¼rzburg Germany Julius-Maximilians-UniversitÃ¤t WÃ¼rzburg Computer Science VII: Robotics and Telematics Am Hubland WÃ¼rzburg Germany

Increasing mission requirements for precise attitude pointing and size and power constraints of relevant payloads have been a major driver towards larger nano-satellite platforms over the recent years. Nevertheless, pico-satellites still promise interesting application potential for a variety of mission concepts and an increase in their performance while adhering to their specific constraints will even broaden their utilization. Precise attitude and orbit control is a key technology still to be incorporated in the pico-satellite class due to its typical size and power constraints. The University Wuerzburg Experimental Satellite 4 (UWE-4) strives to demonstrate a hybrid attitude and orbit control using magnetic torquers and an electric propulsion system in the 1U CubeSat class. Four NanoFEEP thrusters, developed at TU Dresden, are integrated into the corners of the CubeSat in order to provide precise thrust-vector pointing in combination with the magnetic attitude control system. Achievable orbit control capabilities comprise very Low-Earth-Orbit maintenance, orbit lifetime reduction of more than 40 years for orbits >700 km, and even formation control while providing pointing control for potential future payloads. The contribution elaborates on the satellite's hybrid attitude and orbit control system (AOCS) with focus on the thrust estimation procedure as well as the AOCS' projected performance and the satellite's manoeuvrability. UWE-4 is currently in preparation for launch on board of a Soyuz from Vostochny Cosmodrome in Q4 2018. Copyright © 2018 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Electric propulsion

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MOBILE MAPPING of the la CORONA LAVATUBE on LANZAROTE 4

MOBILE MAPPING of the la CORONA LAVATUBE on LANZAROTE

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4th ISPRS Geospatial Week 2019

作者： Lauterbach, H.A. Borrmann, D. Nüchter, A. Rossi, A.P. Unnithan, V. Torrese, P. Pozzobon, R. Computer Science VII - Robotics and Telematics Julius-Maximilians-Universität Würzburg Germany Physics and Earth Sciences Jacobs University Bremen Germany Dipartimento di Scienze della Terra e dell'Ambiente Università di Pavia Italy Department of Geosciences Università degli Studi di Padova Italy

Planetary surfaces consist of rough terrain and cave-like environments. Future planetary exploration demands for accurate mapping. However, recent backpack mobile mapping systems are mostly tested in structured, indoor environments. This paper evaluates the use of a backpack mobile mapping system in a cave-like environment. The experiments demonstrate the abilities of an continuous-time optimization approach by mapping part of a lavatube of the La Corona volcano system on Lanzarote. We compare two strategies for trajectory estimation relying either on 2D or 3D laser scanners and show that a 3D laser scanner substantially improved the final results. © Authors 2019.

关键词： Mapping

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Space master: An international, interdisciplinary master in space science and technology 68

Space master: An international, interdisciplinary master in ...

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68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017

作者： Schilling, Klaus Barabash, Victoria Julius-Maximilians Universität Würzburg Informatik VII: Robotics and Telematics WürzburgD-97074 Germany Luleå University of Technology Department of Computer Science Electrical and Space Engineering Division of Space Technology Box 848 KirunaS-981 28 Sweden

ISBN: (纸本)9781510855373

The significant demand for aerospace engineers led 2005 to the foundation of the interdisciplinary program "SpaceMaster" by six European Universities. It was established in the European elite-program "Erasmus Mundus" to train talented young people in the challenging subject of space science and technology. The universities cooperate and contribute their special expertise to the courses in order to cover the broad interdisciplinary area of spacecraft design and space environment. In particular system design techniques are emphasized, which are of interest for a broad spectrum of industrial applications well beyond aerospace. The international dimension of this space education is reflected in the distribution of places for education: 1st semester in Würzburg (Germany), 2nd semester in Kiruna (Sweden), second year according to the desired specialization in one of the six partner European Universities. The successful students will receive double diploma from the two European Universities, where most credits were received. The student population is also very international: typically from about 600 applications 50 students are selected, half of them from Europe, the other half from outside Europe. The students are able to follow the more scientific tracks on space physics with an emphasis on instrumentation and astronomy, or atmospheric and planetary physics. The engineering tracks emphasize the design of spacecraft and mission realization. Here specifically the design of CanSats and educational CubeSats is used to complement the lectures by practical implementation aspects. For more than 10 years, the SpaceMaster-alumni encounter excellent career perspectives in industry, space agencies and research institutes. In this contribution the international university cooperation, the contents of the curriculum, as well as the specific challenges and acquired experiences in this international program are addressed. © 2018 International Astronautical Federation IAF. All rights re

关键词： Students

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Preparation of Papers for IFAC Conferences & Symposia: Guidance, Navigation, and Control for Future Miniature Satellite Formations: Current Limitations and Impending Advancements

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IFAC-PapersOnLine 2016年第17期49卷 290-295页

作者： Bangert, Philip Busch, Stephan Kramer, Alexander Schilling, Klaus University of Würzburg Computer Science VII: Robotics and Telematics Germany Zentrum für Telematik e.V. Würzburg Germany

The usage of pico- and nano-satellites has seen a significant shift away from technology demonstration missions towards scientific and commercial projects in the field of Earth observation and communication networks. This contribution elaborates on the implications concerning the relevant Guidance, Navigation, and Control systems to meet the advanced requirements including recent developments made in the context of the NetSat pico-satellite formation mission. © 2016

关键词： Satellites Attitude control Communication satellites Orbits Commercial projects Formation flying Guidance , navigation , and controls Guidance system Orbit controls Preparation of papers Satellite control Satellite formations

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Industry 4.0 approaches for production of large quantities of satellites 67

Industry 4.0 approaches for production of large quantities o...

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67th International Astronautical Congress, IAC 2016

作者： Schilling, Klaus J. Department of Computer Science VII: Robotics and Telematics University Würzburgy Am Hubland Wuerzburg97082 Germany

The planned mega-constellations in the communication (internet for everybody via satellite) and the Earth observation (high temporal resolution images by small satellites) sector will impact production methods significantly. The traditional way of satellite implementation is classical manufacturing based on significant manpower and not including significant automation nor robotic systems. For the currently envisaged mega-constellations hundreds of satellites are to be produced in a very limited timeframe, this will not be feasible by the traditional approach. Therefore this contribution analyses transfer of advanced networked automation approaches developed as "industry 4.0" for advanced production of consumer goods and for automotive industry. Specific joint requirements with satellite production include - high flexibility to variations of standard product - fast integration of modular components - respecting high quality requirements This contribution reports about the concept and first experiences with a technology demonstrator realized in Wuerzburg, addressing the following realized key design steps for efficient satellite realization: • modular satellite bus architecture to support flexible integration in production. Here a standardized baseplate (similar like in computers) carries all power and data line;the different subsystems are plugged in, allowing high flexibility in replacement, • satellite system integration is realized by close worker / robot cooperation, introducing a much higher automation level, • to take account of extremly high quality assurance requirements, transport robots provide a flexible flow of materials between integration and testing areas, • automated tests for functionality and performance of the satellite are established. Thus the similarities to automotive and computer production will be exploited for potential future satellite mass production. In this contribution details of the industry 4.0 demonstrator in Wuerzburg will be presen

关键词： Satellites

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