Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172729
Casey D. Majhor, John E. Naglak, Carl S. Greene, W. Weaver, J. Bos
As the development and use of multi-agent autonomous systems increases for use in applications such as planetary exploration, military reconnaissance, or microgrid systems, optimized operations needs to be considered in order to maximize the utility of resources. In autonomous mobile systems, mission plans involving path planning, scheduling, and energy management are all of immense concern and priority in operations where energy resources are limited or scarce. An optimization method with the ability to allocate tasks is a valuable tool for use in these systems. Mobile microgrids, with the ability to adapt and reconfigure to better service electrical loads, requires this optimized mission planning. This paper proposes multiple algorithm optimization strategies of task allocation for energy assets in an autonomous mobile sub-microgrid system. The objective is to create an optimal mission plan to navigate to and recharge distributed and fixed electrical loads wirelessly, in order to extend and maximize their operational life. Data collection from sub-mission testing with a Clearpath Husky robotic unmanned ground vehicle is utilized for Monte Carlo simulations to better understand algorithm mission response to variable parameters. The novel results will show that the optimization approach and methods can be regarded as a reliable schedule optimization tool for this application of wireless recharging of loads/subsystems. The proposed approach can be extended to a multitude of applications in mission planning, involving different objectives such as recharging wireless sensor networks, unmanned aerial vehicles, or other UGVs to extend mission operation time.
{"title":"Recharging of Distributed Loads via Schedule Optimization with Autonomous Mobile Energy Assets","authors":"Casey D. Majhor, John E. Naglak, Carl S. Greene, W. Weaver, J. Bos","doi":"10.1109/AERO47225.2020.9172729","DOIUrl":"https://doi.org/10.1109/AERO47225.2020.9172729","url":null,"abstract":"As the development and use of multi-agent autonomous systems increases for use in applications such as planetary exploration, military reconnaissance, or microgrid systems, optimized operations needs to be considered in order to maximize the utility of resources. In autonomous mobile systems, mission plans involving path planning, scheduling, and energy management are all of immense concern and priority in operations where energy resources are limited or scarce. An optimization method with the ability to allocate tasks is a valuable tool for use in these systems. Mobile microgrids, with the ability to adapt and reconfigure to better service electrical loads, requires this optimized mission planning. This paper proposes multiple algorithm optimization strategies of task allocation for energy assets in an autonomous mobile sub-microgrid system. The objective is to create an optimal mission plan to navigate to and recharge distributed and fixed electrical loads wirelessly, in order to extend and maximize their operational life. Data collection from sub-mission testing with a Clearpath Husky robotic unmanned ground vehicle is utilized for Monte Carlo simulations to better understand algorithm mission response to variable parameters. The novel results will show that the optimization approach and methods can be regarded as a reliable schedule optimization tool for this application of wireless recharging of loads/subsystems. The proposed approach can be extended to a multitude of applications in mission planning, involving different objectives such as recharging wireless sensor networks, unmanned aerial vehicles, or other UGVs to extend mission operation time.","PeriodicalId":114560,"journal":{"name":"2020 IEEE Aerospace Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115763252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172387
S. Backus, J. Izraelevitz, Justin Quan, Rianna M. Jitosho, Eitan Slavick, A. Kalantari
In this paper, we present the design, characterization, and functional demonstration of a perching system that enables a flying vehicle to land on rough sloped or vertical surfaces. Steep slopes are of particular scientific interest since they are often associated with geologically interesting features including sites of active modification (e.g. landslides/avalanches, slope streaks), exposed bedrock and/or ice, and as-yet unmodified young features (e.g. walls of fresh craters or polar pits that are actively expanding). However the steep nature of these sites makes access with traditional field robots difficult: ground vehicles are unable to traverse the steep terrain and aerial vehicles are limited by their flight time and an ability to operate near terrain. We propose to address these limitation by enabling the UAV to reliably perch on steep terrain to perform in situ measurements and collect samples. Perching also enables a solar powered UAV to traverse large terrain features such as the Valles Marineris that could not be covered in a single flight by repeatedly perching and recharging its batteries. The proposed perching system that is being developed consists of a microspine gripper, a compliant gripper to vehicle interface, and a flying vehicle equipped with an autonomy sensor suite. The system also includes perception and control algorithms that identify perching targets and execute the required perching maneuver. To date, the majority of the effort has focused on developing and characterizing the microspine gripper. The initial prototype weighs 100 g, is capable of securely grasping a range of natural surfaces, and successful grasps support loads of over 10 N. Refinement of the gripper, integrating and testing it on a UAV, measuring aerodynamic disturbances from wall effects, and developing the required perception and control algorithms is ongoing. This paper describes the overall architecture of our proposed system, the design of the gripper, and its performance during initial testing.
{"title":"Design and Testing of an Ultra-Light Weight Perching System for Sloped or Vertical Rough Surfaces on Mars","authors":"S. Backus, J. Izraelevitz, Justin Quan, Rianna M. Jitosho, Eitan Slavick, A. Kalantari","doi":"10.1109/AERO47225.2020.9172387","DOIUrl":"https://doi.org/10.1109/AERO47225.2020.9172387","url":null,"abstract":"In this paper, we present the design, characterization, and functional demonstration of a perching system that enables a flying vehicle to land on rough sloped or vertical surfaces. Steep slopes are of particular scientific interest since they are often associated with geologically interesting features including sites of active modification (e.g. landslides/avalanches, slope streaks), exposed bedrock and/or ice, and as-yet unmodified young features (e.g. walls of fresh craters or polar pits that are actively expanding). However the steep nature of these sites makes access with traditional field robots difficult: ground vehicles are unable to traverse the steep terrain and aerial vehicles are limited by their flight time and an ability to operate near terrain. We propose to address these limitation by enabling the UAV to reliably perch on steep terrain to perform in situ measurements and collect samples. Perching also enables a solar powered UAV to traverse large terrain features such as the Valles Marineris that could not be covered in a single flight by repeatedly perching and recharging its batteries. The proposed perching system that is being developed consists of a microspine gripper, a compliant gripper to vehicle interface, and a flying vehicle equipped with an autonomy sensor suite. The system also includes perception and control algorithms that identify perching targets and execute the required perching maneuver. To date, the majority of the effort has focused on developing and characterizing the microspine gripper. The initial prototype weighs 100 g, is capable of securely grasping a range of natural surfaces, and successful grasps support loads of over 10 N. Refinement of the gripper, integrating and testing it on a UAV, measuring aerodynamic disturbances from wall effects, and developing the required perception and control algorithms is ongoing. This paper describes the overall architecture of our proposed system, the design of the gripper, and its performance during initial testing.","PeriodicalId":114560,"journal":{"name":"2020 IEEE Aerospace Conference","volume":"248 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115836814","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172622
T. Harris, A. Landis
Life cycle assessment (LCA) is a commonly used tool to quantify the environmental impacts of given engineered systems throughout entire life-cycles, starting with raw material acquisition and including manufacture, use, and end-of-life. The International Organization for Standardization (ISO) has published a series of LCA standards: ISO 14040:2006 and ISO 14044:2006. Using LCA enables an engineer, designer, or manager to identify areas of system life-cycles having significant environmental burdens and develop/evaluate alternative designs to reduce those burdens. LCA also enables comparison amongst different final product designs, to competing products, and supply chain options. LCA results typically quantify environmental impacts such as global warming potential, resource depletion, ecotoxicity, acidification, eutrophication, and human health effects, however, many other quantified impact categories such as producer cost can also be included. In this proceeding we review the basic methods for conducting an LCA and describe how these methods can be adapted for use in the design and evaluation of space technologies. Three LCA methodologies we discus and review are process-LCA, economic input-output LCA (EIO-LCA), and hybrid-LCA. We discuss the main challenges facing the use of LCA for space technologies including the need for comprehensive production and supply chain databases and developing and standardizing new life cycle impact assessment categories relevant to current and future space applications (such as orbital debris and satellite orbital volume use, i.e. the volume of space occupied in a given orbit per unit time). As a case study we explore LCA for evaluating and improving the design of a space elevator. The space elevator concept is based on simple space tether mechanics. Instead of swinging a rope in a circle while an ant climbs back and forth, imagine a strong ribbon attached to the equator and counterbalance in high orbit with tether climbers traversing the ribbon. There is a large and growing quantity of designs published in academic and technical literature. We used the most comprehensive space elevator design at the time of the space elevator LCA research was by Swan et al. (2013). Two design options evaluated in that research – the first one-tether space elevator port and subsequent one-tether space elevator ports – demonstrate how LCA can be used in evaluation of proposed and developing space technologies.
{"title":"Life Cycle Assessment: A Tool to Help Design Environmentally Sustainable Space Technologies","authors":"T. Harris, A. Landis","doi":"10.1109/AERO47225.2020.9172622","DOIUrl":"https://doi.org/10.1109/AERO47225.2020.9172622","url":null,"abstract":"Life cycle assessment (LCA) is a commonly used tool to quantify the environmental impacts of given engineered systems throughout entire life-cycles, starting with raw material acquisition and including manufacture, use, and end-of-life. The International Organization for Standardization (ISO) has published a series of LCA standards: ISO 14040:2006 and ISO 14044:2006. Using LCA enables an engineer, designer, or manager to identify areas of system life-cycles having significant environmental burdens and develop/evaluate alternative designs to reduce those burdens. LCA also enables comparison amongst different final product designs, to competing products, and supply chain options. LCA results typically quantify environmental impacts such as global warming potential, resource depletion, ecotoxicity, acidification, eutrophication, and human health effects, however, many other quantified impact categories such as producer cost can also be included. In this proceeding we review the basic methods for conducting an LCA and describe how these methods can be adapted for use in the design and evaluation of space technologies. Three LCA methodologies we discus and review are process-LCA, economic input-output LCA (EIO-LCA), and hybrid-LCA. We discuss the main challenges facing the use of LCA for space technologies including the need for comprehensive production and supply chain databases and developing and standardizing new life cycle impact assessment categories relevant to current and future space applications (such as orbital debris and satellite orbital volume use, i.e. the volume of space occupied in a given orbit per unit time). As a case study we explore LCA for evaluating and improving the design of a space elevator. The space elevator concept is based on simple space tether mechanics. Instead of swinging a rope in a circle while an ant climbs back and forth, imagine a strong ribbon attached to the equator and counterbalance in high orbit with tether climbers traversing the ribbon. There is a large and growing quantity of designs published in academic and technical literature. We used the most comprehensive space elevator design at the time of the space elevator LCA research was by Swan et al. (2013). Two design options evaluated in that research – the first one-tether space elevator port and subsequent one-tether space elevator ports – demonstrate how LCA can be used in evaluation of proposed and developing space technologies.","PeriodicalId":114560,"journal":{"name":"2020 IEEE Aerospace Conference","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114751132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172468
Sung-Hoon Mok, Jian Guo, E. Gill, R. Rajan
Employing a satellite swarm for radio astronomy has been continuously addressed in the Orbiting Low Frequency ARray (OLFAR) project. A 100 km diameter of aperture array constructed by distributed satellites will be able to provide sky maps of better than 1 arc-minute spatial resolution at 10 MHz. However, an orbit design strategy for the swarm satellites that ensures safe intersatellite distances and relative orbit stability has not yet been developed. In this paper, a new method for OLFAR orbit design is proposed. A deterministic solution is presented based on three algebraic constraints derived here, which represent three orbit design requirements: collision avoidance, maximum baseline rate, and uvw-space coverage. In addition, an idea for observation planning over the mission lifetime is presented.
{"title":"Lunar Orbit Design of a Satellite Swarm for Radio Astronomy","authors":"Sung-Hoon Mok, Jian Guo, E. Gill, R. Rajan","doi":"10.1109/AERO47225.2020.9172468","DOIUrl":"https://doi.org/10.1109/AERO47225.2020.9172468","url":null,"abstract":"Employing a satellite swarm for radio astronomy has been continuously addressed in the Orbiting Low Frequency ARray (OLFAR) project. A 100 km diameter of aperture array constructed by distributed satellites will be able to provide sky maps of better than 1 arc-minute spatial resolution at 10 MHz. However, an orbit design strategy for the swarm satellites that ensures safe intersatellite distances and relative orbit stability has not yet been developed. In this paper, a new method for OLFAR orbit design is proposed. A deterministic solution is presented based on three algebraic constraints derived here, which represent three orbit design requirements: collision avoidance, maximum baseline rate, and uvw-space coverage. In addition, an idea for observation planning over the mission lifetime is presented.","PeriodicalId":114560,"journal":{"name":"2020 IEEE Aerospace Conference","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117287959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172638
K. Kellogg, P. Hoffman, S. Standley, S. Shaffer, P. Rosen, W. Edelstein, C. Dunn, Charles J. Baker, P. Barela, Yuhsyen Shen, Ana Maria Guerrero, P. Xaypraseuth, V. R. Sagi, C. V. Sreekantha, N. Harinath, Raj Kumar, R. Bhan, C. V. H. S. Sarma
NISARis a multi-disciplinary Earth-observing radar mission that makes global measurements of land surface changes that will greatly improve Earth system models. NISAR data will clarify spatially and temporally complex phenomena, including ecosystem disturbances, ice sheet collapse, and natural hazards including earthquakes, tsunamis, volcanoes, and landslides. It provides societally relevant data that will enable better protection of life and property. The mission, a NASA-ISRO partnership, uses two fully polarimetric SARs, one at L-band (L-SAR) and one at S-band (S-SAR), in exact repeating orbits every 12 days that allows interferometric combination of data on repeated passes. NASA provides the L-SAR; a shared deployable reflector; an engineering payload that supports mission-specific data handling, navigation and communication functions; science observation planning and L-SAR data processing. ISRO provides the S-SAR, spacecraft, launch vehicle, satellite operations, and S-SAR data processing. The mission will be launched from the Satish Dhawan Space Centre, Sriharikota, India. Mission development has addressed many unique challenges and incorporates many “firsts” for a jointly-developed free-flyer radar science mission
{"title":"NASA-ISRO Synthetic Aperture Radar (NISAR) Mission","authors":"K. Kellogg, P. Hoffman, S. Standley, S. Shaffer, P. Rosen, W. Edelstein, C. Dunn, Charles J. Baker, P. Barela, Yuhsyen Shen, Ana Maria Guerrero, P. Xaypraseuth, V. R. Sagi, C. V. Sreekantha, N. Harinath, Raj Kumar, R. Bhan, C. V. H. S. Sarma","doi":"10.1109/AERO47225.2020.9172638","DOIUrl":"https://doi.org/10.1109/AERO47225.2020.9172638","url":null,"abstract":"NISARis a multi-disciplinary Earth-observing radar mission that makes global measurements of land surface changes that will greatly improve Earth system models. NISAR data will clarify spatially and temporally complex phenomena, including ecosystem disturbances, ice sheet collapse, and natural hazards including earthquakes, tsunamis, volcanoes, and landslides. It provides societally relevant data that will enable better protection of life and property. The mission, a NASA-ISRO partnership, uses two fully polarimetric SARs, one at L-band (L-SAR) and one at S-band (S-SAR), in exact repeating orbits every 12 days that allows interferometric combination of data on repeated passes. NASA provides the L-SAR; a shared deployable reflector; an engineering payload that supports mission-specific data handling, navigation and communication functions; science observation planning and L-SAR data processing. ISRO provides the S-SAR, spacecraft, launch vehicle, satellite operations, and S-SAR data processing. The mission will be launched from the Satish Dhawan Space Centre, Sriharikota, India. Mission development has addressed many unique challenges and incorporates many “firsts” for a jointly-developed free-flyer radar science mission","PeriodicalId":114560,"journal":{"name":"2020 IEEE Aerospace Conference","volume":"274 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116424082","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172665
M. Panzirsch, Harsimran Singh, Harsimran Singh, T. Krüger, C. Ott, A. Albu-Schäffer
The international space agencies plan to implement orbiting space stations around celestial bodies as moon or Mars in the near future. Autonomous robots will be assigned with exploration tasks and the building of structures as habitats. A teleoperator interface will be available in the orbiter to assure the possibility of direct control of the robots located on the celestial body as a fallback, in case an autonomous functionality fails. Communication links will be comparable to the ones between the International Space Station and earth, reaching from direct S-band communication, to communication via geostationary relay satellites in a Ku-Forward link. Since the planned Gateway orbiting the moon will not be manned throughout the year, further interfaces have to be established with which the robots can be controlled from earth. An available laser link to the moon provides a high-bandwidth communication with 2.6s roundtrip-delay, which currently allows for supervised control, for example via a tablet interface. Current advances in control theory can achieve stable and high performance kinesthetic feedback in bilateral telemanipulation at delays above 1s. This paper presents the first experimental analysis of the feasibility and human operator performance of telemanipulation with an Earth-to-Moon like delay of 3s. In light of the fact that several technologies such as visual augmentation and shared control can be integrated in addition, the results are highly promising.
{"title":"Safe Interactions and Kinesthetic Feedback in High Performance Earth-To-Moon Teleoperation","authors":"M. Panzirsch, Harsimran Singh, Harsimran Singh, T. Krüger, C. Ott, A. Albu-Schäffer","doi":"10.1109/AERO47225.2020.9172665","DOIUrl":"https://doi.org/10.1109/AERO47225.2020.9172665","url":null,"abstract":"The international space agencies plan to implement orbiting space stations around celestial bodies as moon or Mars in the near future. Autonomous robots will be assigned with exploration tasks and the building of structures as habitats. A teleoperator interface will be available in the orbiter to assure the possibility of direct control of the robots located on the celestial body as a fallback, in case an autonomous functionality fails. Communication links will be comparable to the ones between the International Space Station and earth, reaching from direct S-band communication, to communication via geostationary relay satellites in a Ku-Forward link. Since the planned Gateway orbiting the moon will not be manned throughout the year, further interfaces have to be established with which the robots can be controlled from earth. An available laser link to the moon provides a high-bandwidth communication with 2.6s roundtrip-delay, which currently allows for supervised control, for example via a tablet interface. Current advances in control theory can achieve stable and high performance kinesthetic feedback in bilateral telemanipulation at delays above 1s. This paper presents the first experimental analysis of the feasibility and human operator performance of telemanipulation with an Earth-to-Moon like delay of 3s. In light of the fact that several technologies such as visual augmentation and shared control can be integrated in addition, the results are highly promising.","PeriodicalId":114560,"journal":{"name":"2020 IEEE Aerospace Conference","volume":"38 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123673492","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172804
Tung Dang, Frank Mascarich, Shehryar Khattak, Huan Nguyen, Hai Nguyen, Satchel Hirsh, Russell Reinhart, C. Papachristos, K. Alexis
In this paper we present a comprehensive solution for autonomous underground mine rescue using aerial robots. In particular, a new class of Micro Aerial Vehicles are equipped with the ability to localize and map in subterranean settings, explore unknown mine environments on their own, and perform detection and localization of objects of interest for the purposes of mine rescue (i.e., “human survivors” and associated objects such as “backpacks”, “smartphones” or “tools”). For the purposes of GPS-denied localization and mapping in the visually-degraded underground environments (e.g., a smoke-filled mine during an accident) the solution relies on the fusion of LiDAR data with thermal vision frames and inertial cues. Autonomous exploration is enabled through a graph-based search algorithm and an online volumetric representation of the environment. Object search is then enabled through a deep learning-based classifier, while the associated location is queried using the online reconstructed map. The complete software framework runs onboard the aerial robots utilizing the integrated embedded processing resources. The overall system is extensively evaluated in real-life deployments in underground mines.
{"title":"Autonomous Search for Underground Mine Rescue Using Aerial Robots","authors":"Tung Dang, Frank Mascarich, Shehryar Khattak, Huan Nguyen, Hai Nguyen, Satchel Hirsh, Russell Reinhart, C. Papachristos, K. Alexis","doi":"10.1109/AERO47225.2020.9172804","DOIUrl":"https://doi.org/10.1109/AERO47225.2020.9172804","url":null,"abstract":"In this paper we present a comprehensive solution for autonomous underground mine rescue using aerial robots. In particular, a new class of Micro Aerial Vehicles are equipped with the ability to localize and map in subterranean settings, explore unknown mine environments on their own, and perform detection and localization of objects of interest for the purposes of mine rescue (i.e., “human survivors” and associated objects such as “backpacks”, “smartphones” or “tools”). For the purposes of GPS-denied localization and mapping in the visually-degraded underground environments (e.g., a smoke-filled mine during an accident) the solution relies on the fusion of LiDAR data with thermal vision frames and inertial cues. Autonomous exploration is enabled through a graph-based search algorithm and an online volumetric representation of the environment. Object search is then enabled through a deep learning-based classifier, while the associated location is queried using the online reconstructed map. The complete software framework runs onboard the aerial robots utilizing the integrated embedded processing resources. The overall system is extensively evaluated in real-life deployments in underground mines.","PeriodicalId":114560,"journal":{"name":"2020 IEEE Aerospace Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121887726","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172593
C. Rumpf, Oscar Bjorkman, D. Mathias
Recently, NASA has initiated a strong push to return astronauts to the lunar vicinity and surface. In this work, we assess performance and risk for proposed mission architectures using a new Mission Architecture Risk Assessment (MARA) tool. The MARA tool can produce statistics about the availability of components and overall performance of the mission considering potential failures of any of its components. In a Monte Carlo approach, the tool repeats the mission simulation multiple times while a random generator lets modules fail according to their failure rates. The results provide statistically meaningful insights into the overall performance of the chosen architecture. A given mission architecture can be freely replicated in the tool, with the mission timeline and basic characteristics of employed mission modules (habitats, rovers, power generation units, etc.) specified in a configuration file. Crucially, failure rates for each module need to be known or estimated. The tool performs an event-driven simulation of the mission and accounts for random failure events. Failed modules can be repaired, which takes crew time but restores operations. In addition to tracking individual modules, MARA can assess the availability of predefined functions throughout the mission. For instance, the function of resource collection would require a rover to collect the resources, a power generation unit to charge the rover, and a resource processing module. Together, the modules that are required for a given function are called a functional group. Similarly, we can assess how much crew time is available to achieve a mission benefit (e.g. research, building a base, etc) as opposed to spending crew time on repairs. Here we employ the method on the proposed NASA Artemis mission. Artemis aims to return United States astronauts to the lunar surface by 2024. Results provide insights into mission failure probabilities, up-and downtime for individual modules and crew-time resources spent on the repair of failed modules. The tool also allows us to tweak the mission architecture in order to find setups that produce more favorable mission performance. As such, the tool can be an aid in improving the mission architecture and enabling cost-benefit analysis for mission improvement.
{"title":"Risk and Performance Assessment of Generic Mission Architectures: Showcasing the Artemis Mission","authors":"C. Rumpf, Oscar Bjorkman, D. Mathias","doi":"10.1109/AERO47225.2020.9172593","DOIUrl":"https://doi.org/10.1109/AERO47225.2020.9172593","url":null,"abstract":"Recently, NASA has initiated a strong push to return astronauts to the lunar vicinity and surface. In this work, we assess performance and risk for proposed mission architectures using a new Mission Architecture Risk Assessment (MARA) tool. The MARA tool can produce statistics about the availability of components and overall performance of the mission considering potential failures of any of its components. In a Monte Carlo approach, the tool repeats the mission simulation multiple times while a random generator lets modules fail according to their failure rates. The results provide statistically meaningful insights into the overall performance of the chosen architecture. A given mission architecture can be freely replicated in the tool, with the mission timeline and basic characteristics of employed mission modules (habitats, rovers, power generation units, etc.) specified in a configuration file. Crucially, failure rates for each module need to be known or estimated. The tool performs an event-driven simulation of the mission and accounts for random failure events. Failed modules can be repaired, which takes crew time but restores operations. In addition to tracking individual modules, MARA can assess the availability of predefined functions throughout the mission. For instance, the function of resource collection would require a rover to collect the resources, a power generation unit to charge the rover, and a resource processing module. Together, the modules that are required for a given function are called a functional group. Similarly, we can assess how much crew time is available to achieve a mission benefit (e.g. research, building a base, etc) as opposed to spending crew time on repairs. Here we employ the method on the proposed NASA Artemis mission. Artemis aims to return United States astronauts to the lunar surface by 2024. Results provide insights into mission failure probabilities, up-and downtime for individual modules and crew-time resources spent on the repair of failed modules. The tool also allows us to tweak the mission architecture in order to find setups that produce more favorable mission performance. As such, the tool can be an aid in improving the mission architecture and enabling cost-benefit analysis for mission improvement.","PeriodicalId":114560,"journal":{"name":"2020 IEEE Aerospace Conference","volume":"269-270 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124010497","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172728
Yuepei Li, S. Podilchak, D. Anagnostou
A compact circularly polarized (CP) antenna array is presented. The array utilizes folded-shorted patches (FSPs) and printed circuit board (PCB) technology for antenna miniaturization. Both techniques enable a size decrease of the quarter-wavelength shorted-patch by a factor of 1/N, where N is number of the layers above the ground plane while maintaining a quarter-wavelength resonant length. This results in a reduction of the antenna length by half or more. The feature of CP is achieved by a compact and planar feeding circuit defined by a network of meandered 90 and 180-degree hybrid couplers which can provide quadrature feeding of the FSP elements and can be integrated onto the backside of the antenna ground plane which is only 9 cm × 9 cm. To fine tune the resonant frequency of the FSP antenna, we select different relative permittivity values for the substrate. Agreement in terms of the simulations and measurements is observed for the compact antenna (size of 0.129λ × 0.129λ × 0.014λ) with realized gain, radiation beam patterns and axial ratio values reported at UHF frequencies (430 MHz).
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Pub Date : 2020-03-01DOI: 10.1109/AERO47225.2020.9172684
J. Burt
CapSat-DRAGONS is a mission to measure orbital debris in the earth science orbit called the A-Train. CapSat-DRAGONS stands for Capsulation Satellite - Debris Resistive/Acoustic Grid Orbital National Aeronautics and Space Administration (NASA)-Navy Sensor. The CapSat-DRAGONS mission intends to collect actual impact data on the millimeter-sized orbital debris (OD) at 600–1000 km altitude. Such small debris represents the highest penetration risk to satellites operating in that region (currently over 400 spacecraft). However, there is a lack of data for reliable OD impact risk assessments to support the development and implementation of cost-effective protective measures for the safe operations of future NASA missions. CapSat-DRAGONS will help provide that data which will be used to update NASA's Orbital Debris Engineering Model (ORDEM). The model is developed and maintained by the NASA Orbital Debris Program Office (ODPO), funded by the NASA Office of Mission Assurance and used by all NASA missions and the aerospace community. CapSat-DRAGONS is in NASA's budget starting in fiscal year 2020. It is planned to launch on an available rideshare opportunity approximately 3 years later. This paper will focus on the mission architecture and technical challenges associated with implementing this type of a low cost rideshare mission.
{"title":"CapSat-DRAGONS: A Rideshare Technology Demonstration/Orbital Debris Measurement Mission","authors":"J. Burt","doi":"10.1109/AERO47225.2020.9172684","DOIUrl":"https://doi.org/10.1109/AERO47225.2020.9172684","url":null,"abstract":"CapSat-DRAGONS is a mission to measure orbital debris in the earth science orbit called the A-Train. CapSat-DRAGONS stands for Capsulation Satellite - Debris Resistive/Acoustic Grid Orbital National Aeronautics and Space Administration (NASA)-Navy Sensor. The CapSat-DRAGONS mission intends to collect actual impact data on the millimeter-sized orbital debris (OD) at 600–1000 km altitude. Such small debris represents the highest penetration risk to satellites operating in that region (currently over 400 spacecraft). However, there is a lack of data for reliable OD impact risk assessments to support the development and implementation of cost-effective protective measures for the safe operations of future NASA missions. CapSat-DRAGONS will help provide that data which will be used to update NASA's Orbital Debris Engineering Model (ORDEM). The model is developed and maintained by the NASA Orbital Debris Program Office (ODPO), funded by the NASA Office of Mission Assurance and used by all NASA missions and the aerospace community. CapSat-DRAGONS is in NASA's budget starting in fiscal year 2020. It is planned to launch on an available rideshare opportunity approximately 3 years later. This paper will focus on the mission architecture and technical challenges associated with implementing this type of a low cost rideshare mission.","PeriodicalId":114560,"journal":{"name":"2020 IEEE Aerospace Conference","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124606387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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