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arXiv 2021年

作者： Hari, Sai Krishna Kanth Rathinam, Sivakumar Darbha, Swaroop Kalyanam, Krishna Manyam, Satyanarayana Gupta Casbeer, David Applied Mathematics and Plasma Physics Division Los Alamos National Laboratory NM87544 United States Department of Mechanical Engineering Texas A&M University College StationTX77843 United States NASA Ames Research Center Moffett FieldCA94035 United States Infoscitex corporation DaytonOH45431 United States Autonomous Control Branch Air Force Research Laboratory Wright-Patterson A.F.B. OH45433 United States

Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of targets representing tasks (and locations) in the environment and collect data therein for long time periods. The enduring nature of these missions requires the UAV to be regularly recharged at a service station. In this paper, we consider the case in which the service station is not co-located with any of the targets. An efficient monitoring requires the revisit time, defined as the maximum of the time elapsed between successive revisits to targets, to be minimized. Here, we consider the problem of determining UAV routes that lead to the minimum revisit time. The problem is NP-hard, and its computational difficulty increases with the fuel capacity of the UAV. We develop an algorithm to construct near-optimal solutions to the problem quickly, when the fuel capacity exceeds a threshold. We also develop lower bounds to the optimal revisit time and use these bounds to demonstrate (through numerical simulations) that the constructed solutions are, on an average, at most 0.01 % away from the optimum. Copyright © 2021, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Spacecraft heath monitoring using a biomimetic fault diagnosis scheme

Spacecraft heath monitoring using a biomimetic fault diagnos...

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AIAA Information Systems-Infotech At Aerospace Conference, 2017

作者： Garcia, Diego F. Perez, Andres E. Moncayo, Hever Rivera, Karina Du Puis, Michael Mueller, Robert P. Department of Aerospace Engineering Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University United States Robotics and Autonomous Systems Testing and Design Branch NASA Kennedy Space Center Swamp Works Laboratory United States Science and Technology Projects Division NASA Kennedy Space Center Swamp Works Laboratory United States

ISBN: (纸本)9781624104497

This paper presents the design, development and implementation of a bio-inspired fault diagnosis scheme applied to a cold gas based spacecraft prototype. The proposed framework relies on the Artificial Immune System metaphor (AIS) with the goal of monitoring the health of the spacecraft by detecting subsystem upset conditions such as actuator malfunctions. A non-linear dynamic inversion (NLDI) baseline controller has been developed and implemented for attitude control of the spacecraft. The performance of the proposed health monitoring scheme is determined by analyzing the system response under different actuator failures and the results show acceptable performance in terms of high detection rate and low false alarms. The application of this artificial intelligent based scheme to aerospace systems will provide a high impact on space exploration by increasing mission protection and performance. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Attitude control

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control laws development for a free-flying unmanned robotic system to support interplanetary bodies prospecting and characterization missions

Control laws development for a free-flying unmanned robotic ...

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AIAA Guidance, Navigation, and control Conference, 2016

作者： Perez, Andres E. Moncayo, Hever Prazenica, Richard J. Zacny, Kris Mueller, Robert P. Ebert, Tom Dupuis, Michael Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Aerospace Engineering Department Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Exploration Technology Group Honneybee Robotics Company CA United States Exploration Research and Technology Programs Science and Technology Projects Division NASA Kennedy Space Center FL United States Autonomous Flight Systems Lead Testing and Design Branch NASA Kennedy Space Center FL United States Robotics and Autonomous Systems Testing and Design Branch NASA Kennedy Space Center FL United States

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

In situ Resource Utilization (ISRU) facilitates planetary exploration by drawing needed resources, such as water, from the local environment. However, the extreme nature of these environments require the development of advanced unmanned space systems integrated with sample-capture devices to achieve the ultimate goal of prospecting these resources. This paper presents the design, development and Hardware-in-the-Loop (HIL) simulation testing of guidance and tracking control laws for an autonomous small marsupial free-flyer prospector system. The control laws are based on an extended non-linear dynamic inversion (NLDI) approach and its implementation is illustrated through HIL simulation using a mathematical model of an autonomous vehicle research platform developed by nasa Kennedy Space center. This vehicle has been designed to support the development, testing and validation of algorithms for safe, reliable, and scalable control space missions with minimal need for human intervention in complex, unstructured environments. The main objective of the control laws is to minimize 3-axis distances with respect to a desired trajectory and maintain stability and adequate performance in the presence of uncertainties. The performance of the control laws is evaluated during autonomous flight in terms of trajectory tracking errors, real-time execution on board the flight computer, and control activity at nominal and dynamically-changing conditions. The results show that for all mission cases investigated the control laws approach has desirable capabilities and is reliable for in-flight testing operation as a next step towards the validation and verification of this configuration. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hardware-in-the-loop simulation

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Rendezvous and docking sensor and effector system design considerations for the lunar lander Altair

Rendezvous and docking sensor and effector system design con...

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AIAA Guidance, Navigation, and control Conference

作者： Sullivan, Jacob J. Lee, Allan Y. Grover, Myron R. GN and C Autonomous Flight Systems Branch Johnson Space Center Mail Code EG6 2101 NASA Parkway Houston TX 77058 United States Guidance Navigation and Control Section Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive Pasadena CA 91109-8099 United States Guidance Navigation and Control System Altair Lunar Lander Mail Stop 230-104 United States Altair Lunar Lander Systems Engineering Section Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena CA 91109-8099 United States

ISBN: (纸本)9781600869624

One key function performed by the Guidance, Navigation, and control (GN&C) system of the lunar lander Altair is to rendezvous and dock with the Crew Exploration Vehicle named Orion, in both low Earth orbit and low lunar orbit. The rendezvous and docking process consists of a series of orbital maneuvers and spacecraft attitude controls that successively bring the active vehicle into the vicinity of, and eventually into contact with, the passive vehicle. This paper provides an overview of the rendezvous and docking performance of the Altair GN&C system. To this end, key rendezvous and docking requirements will first be described. These requirements drive the selections of the Altair GN&C sensors, attitude control effectors, and the rendezvous trajectory design. Measurements needed for the rendezvous and docking task will come from the star tracker, inertial measurement unit, docking camera, LIDAR, two-way S-band radiometric ranging data, as well as crew inputs. Measurements from these sensors will be used by the onboard control systems to control well-selected and well-placed Reaction control System (RCS) thrusters to achieve a safe docking. The final contact must be made with the docking axes of the mating vehicles well aligned, both translationally and angularly. Before a high-fidelity simulation test bed is made available, error budgeting is a cost-effective way to assess the docking capability of the Altair and Orion GN&C systems. In docking error budgeting, we first identified all key docking error sources (e.g., attitude control deadbands of mating vehicles, docking sensor measurement error, misalignment between docking sensor and docking mechanism, and others). Results of an error budget study provides the system engineers with a good estimate of whether the GN&C system can achieve the constraints imposed by the docking system. If the docking requirements cannot be met, the relevant error budgets will reveal the source(s) of the problem. Before a high-fidelity

关键词： Budget control

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A real-time obstacle detection and reactive path planning system for autonomous small-scale helicopters

A real-time obstacle detection and reactive path planning sy...

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AIAA Guidance, Navigation, and control Conference 2007

作者： Redding, Joshua Amin, Jayesh N. Bošković, Jovan D. Kang, Yeonsik Hedrick, Karl Howlett, Jason Poll, Scott Scientific Systems Company Inc. University of California Berkeley U.S. Army Research Development and Engineering Command NASA Ames Research Center AIAA Intelligent and Autonomous Control Systems Group Vehicle Dynamics Lab. Aeroflightdynamics Directorate Intelligent Systems Division

ISBN: (纸本)1563479044

This paper presents the design of a comprehensive Multi-layer Architecture for Trajectory Replanning and Intelligent execution (MATRIX) system and its evaluation through high-fidelity simulations of the R-50 helicopter in the Real-time Interactive Prototype Technology Integration/Development Environment (RIPTIDE). The main feature of the MATRIX system is that it assures effective real-time obstacle detection & avoidance in a cluttered environment. Specifically, this paper discusses the (i) Design of the MATRIX System;(ii) Design, implementation & testing of individual modules;(iii) Integration & implementation under RIPTIDE;and (iv) Study of the features and limitations of the proposed architecture and algorithms. The MATRIX system consists of several subsystems including: Path Planner based on Rapidly-exploring Random Trees (RRT), shortest path algorithm for pruning of redundant waypoints, a safety corridor for preventing collisions with obstacles, 4D trajectory generator, nonlinear adaptive outer-loop controller, representation of obstacles using Quadtrees, and obstacle detection using a scanning laser and Interacting Multiple Model Kalman Filters (IMM-KF). These subsystems were developed and integrated within RIPTIDE, and extensive testing was carried out using R-50 helicopter dynamics. It was found that the MATRIX system rapidly generates new paths and trajectories to avoid unknown obstacles, is highly robust, and achieves excellent overall performance.

关键词： Helicopters

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Minimal fuel consumption of electric propulsion space vehicles for deep space exploration

Minimal fuel consumption of electric propulsion space vehicl...

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IEEE Conference on Aerospace

作者： B.B.R. Reddy A.C. Esterline A. Homaifar NASA Autonomous Control and Information Technology Center Department of Electrical and Computer Engineering North Carolina Agriculture and Technical State University NC USA

The objective of this research is to find a near optimal control strategy of an electric propulsion space vehicle to consume minimal fuel while traversing between two points in space. Micro genetic algorithms (GA) wit... 详细信息

关键词： Fuels Propulsion Space vehicles Space exploration Space technology Earth Optimal control Moon Planets nasa

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Evolutionary algorithms for parameter determination of patched conic approximation

Evolutionary algorithms for parameter determination of patch...

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IEEE Conference on Aerospace

作者： B.B.K. Reddy B. Kimiaghalam A. Homaifar NASA Autonomous Control and Information Technology Center Department of Electrical and Computer Engineering North Carolina Agriculture and Technical State University NC USA

The objective of this research is to investigate the utility of micro genetic algorithms (GA) to determine the initial conditions of a spacecraft at the point of departure from Earth's orbit to make a successful lunar landing or a lunar flyby. The states of the spacecraft at the point at the destination are then obtained using the patched-conic approximation. As demonstrated in this work, faster convergence is obtained using micro genetic algorithms. This methodology can also be extended to interplanetary translation by utilizing the intermediate thrust of the spacecraft.

关键词： Evolutionary computation Space vehicles Moon Planets Earth Genetic algorithms Sun nasa Information technology Convergence

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Distributed sensor networks based on mobile agents paradigm

Distributed sensor networks based on mobile agents paradigm

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Southeastern Symposium on System Theory

作者： M. Ketel N.S. Dogan A. Homaifar Department of Computer Science North Carolina Agriculture and Technical State University Greensboro NC USA Department of Electrical & Computer Engineering North Carolina Agriculture and Technical State University Greensboro NC USA NASA Autonomous Control and Information Technology Center North Carolina Agriculture and Technical State University Greensboro NC USA

Distributed sensor networks (DSNs) are being developed for a wide range of applications. A sensor networks consist of a large number of nodes performing distributed sensing/event detection. Sensor nodes are energy-constrained, efficient routing is essential for increasing the lifetime of a sensor network. A DSN requires interoperability, low latency, and low power consumption in order to operate for long periods of time. Due to power constraints, DSN should be able to operate at low data rates and still delivering acceptable quality of service. In a DSN the energy required for communications tasks is usually much greater than the energy required for computational tasks. To reduce the data communication between nodes and to maximize the network lifetime, we propose to use the mobile-agent paradigm. In mobile-agent based DSN9 instead of moving data from an individual sensor node to a processing center as in the client-server based computing, mobile agents are dispatched from the processing center to the sensor nodes and process data locally. By moving code to the data, a mobile agent can reduce latency, bandwidth and vulnerability to network disconnection.

关键词： Mobile agents Computer networks Routing Data communication Bandwidth Wireless communication Application software Delay Wireless sensor networks Capacitive sensors

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Reactive real time behavior for mobile robots in unknown environments

Reactive real time behavior for mobile robots in unknown env...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： B.B.K. Reddy B. Kimiaghalam A. Homaifar NASA Autonomous Control and 1iformation Technology Center (NASA ACIT) Department of Electrical and Computer Engineering North Carolina Agriculture and Technical State University USA

The objective is to emulate the stimulus-response behavior for robot navigation in unknown environments. The robot's objective is to move from its current position to some predefined coordinates, namely, a predefined goal point. The proposed behavior is reactive and the robot has no prior information about the size and location of the obstacles in the environment. This control algorithm is a combination of two main behaviors: wall following and goal seeking, and is based totally on real-time data acquisition from immediate surroundings of the robot. A carefully designed fuzzy inference system (FlS) is used to determine the change in velocity and direction of the robot based on the sonar sensor and inertial cube (Gyro) sensor readings.

关键词： Mobile robots Robot kinematics Robot sensing systems Tactile sensors nasa Inference algorithms Data acquisition Fuzzy systems Sonar navigation Sensor systems

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Goal seeking with obstacle avoidance behavior for mobile robots

Goal seeking with obstacle avoidance behavior for mobile rob...

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Midwest Symposium on Circuits and Systems (MWSCAS)

作者： B.B.K. Reddy B. Kimiaghalam Abdollah Homaifar A.C. Esterline B. Sayyarrodsari N.S. Dugan NASA Autonomous Control and Information Technology Center Electrical and Computer Engineering Department North Carolina Agriculture and Technical State University USA

The objective of this paper is to briefly discuss the goal seeking with obstacle avoidance behavior (GSOA) for mobile robots. Hardware and software implementation using the Pioneer DX robot is also discussed. The detailed implementation of the MATLAB code with Visual C++ is also provided which is the underlying methodology for the software developed

关键词： Mobile robots Robot kinematics Robot sensing systems Orbital robotics Sonar MATLAB Sockets Batteries nasa Paper technology

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