Indoor GPS-denied Context Based SLAM Aided Guidance for Autonomous Unmanned Aerial Systems

Presented at AIAA Guidance, Control, and Navigation (GNC) conference, 2013.DOI: dx.doi.org/10.2514/6.2013-4989Autonomous exploration and mapping of environments is an important problem in robotics. Efficient exploration of structured environments requires that the robot utilize region-specific exploration strategies and coordinate with search other agents. This paper details the exploration and guidance system of a multi-quadrotor unmanned aerial system (UAS) capable of exploring cluttered indoor areas without relying on any external aides. Specifically, a graph-based frontier search algorithm which is aided by an onboard Simultaneous Localization and Mapping (SLAM) system is developed and flight tested. A technique is developed in for segmenting an indoor office-like environment into regions and to utilize the SLAM map to conduct specific activities in these regions. A goal-directed exploration strategy is created building on existing hybrid deliberative-reactive approaches to exploration. An obstacle avoidance and guidance system is implemented to ensure that the vehicle explores maximum indoor area while avoiding obstacles. The environment is explored and regions are segmented by detecting rooms and hallways which expedites the search. The multi-vehicle system is Georgia Tech Aerial Robotic Team's entry for the annual International Aerial Robotics Competition (IARC)

Infrared interferometry to spatially and spectrally resolve jets in X-ray binaries

Infrared interferometry is a new frontier for precision ground based observing, with new instrumentation achieving milliarcsecond (mas) spatial resolutions for faint sources, along with astrometry on the order of 10 microarcseconds. This technique has already led to breakthroughs in the observations of the supermassive black hole at the Galactic centre and its orbiting stars, AGN, and exo-planets, and can be employed for studying X-ray binaries (XRBs), microquasars in particular. Beyond constraining the orbital parameters of the system using the centroid wobble and spatially resolving jet discrete ejections on mas scales, we also propose a novel method to discern between the various components contributing to the infrared bands: accretion disk, jets and companion star. We demonstrate that the GRAVITY instrument on the Very Large Telescope Interferometer (VLTI) should be able to detect a centroid shift in a number of sources, opening a new avenue of exploration for the myriad of transients expected to be discovered in the coming decade of radio all-sky surveys. We also present the first proof-of-concept GRAVITY observation of a low-mass X-ray binary transient, MAXI J1820+070, to search for extended jets on mas scales. We place the tightest constraints yet via direct imaging on the size of the infrared emitting region of the compact jet in a hard state XRB.Comment: 12 Pages, 3 figures, accepted for publication in MNRA

Global identification of electrical and mechanical parameters in PMSM drive based on dynamic self-learning PSO

A global parameter estimation method for a PMSM drive system is proposed, where the electrical parameters, mechanical parameters and voltage-source-inverter (VSI) nonlinearity are regarded as a whole and parameter estimation is formulated as a single parameter optimization model. A dynamic learning estimator is proposed for tracking the electrical parameters, mechanical parameters and VSI of PMSM drive by using dynamic self learning particle swarm optimization (DSLPSO). In DSLPSO, a novel movement modification equation with dynamic exemplar learning strategy is designed to ensure its diversity and achieve a reasonable tradeoff between the exploitation and exploration during the search process. Moreover, a nonlinear multi-scale based interactive learning operator is introduced for accelerating the convergence speed of the Pbest particles; meanwhile a dynamic opposition-based learning (OBL) strategy is designed to facilitate the gBest particle to explore a potentially better region. The proposed algorithm is applied to parameter estimation for a PMSM drive system. The results show that the proposed method has better performance in tracking the variation of electrical parameters, and estimating the immeasurable mechanical parameters and the VSI disturbance voltage simultaneously

The Hypanis fluvial deltaic system in Xanthe Terra: a candidate ExoMars 2018 Rover landing site

The search for life on Mars is a cornerstone of international solar system exploration. In 2018, the European Space agency will launch the ExoMars Rover to further this goal. The key science objectives of the ExoMars Rover are to: 1) search for signs of past and present life on Mars; 2) investigate the water/geochemical environment as a function of depth in the shallow subsurface; and 3) to characterize the surface environment. ExoMars will drill into the sub-surface to look for indicators of past life using a variety of complementary techniques, including assessment of morphology (potential fossil organisms), mineralogy (past environments) and a search for organic molecules and their chirality (biomarkers). The choice of landing site is vital if the objectives are to be met. The landing site must: (i) be ancient (≥3.6 Ga); (ii) show abundant morphological and mineral evidence for long-term, or frequently reoccurring, aqueous activity; (iii) include numerous sedimentary outcrops that (iv) are distributed over the landing region (the typical Rover traverse range is a few km, but ellipse size is ~ 104 by 19 km). Various ‘engineering constraints’ also apply, including: (i) latitude limited to 5º S to 25º N; (ii) maximum altitude of the landing site 2 km below Mars’s datum; and (iii) few steep slopes within the ellipse

Incremental embodied chaotic exploration of self-organized motor behaviors with proprioceptor adaptation

This paper presents a general and fully dynamic embodied artificial neural system, which incrementally explores and learns motor behaviors through an integrated combination of chaotic search and reflex learning. The former uses adaptive bifurcation to exploit the intrinsic chaotic dynamics arising from neuro-body-environment interactions, while the latter is based around proprioceptor adaptation. The overall iterative search process formed from this combination is shown to have a close relationship to evolutionary methods. The architecture developed here allows realtime goal-directed exploration and learning of the possible motor patterns (e.g., for locomotion) of embodied systems of arbitrary morphology. Examples of its successful application to a simple biomechanical model, a simulated swimming robot, and a simulated quadruped robot are given. The tractability of the biomechanical systems allows detailed analysis of the overall dynamics of the search process. This analysis sheds light on the strong parallels with evolutionary search

The Palomar Transient Factory Orion Project: Eclipsing Binaries and Young Stellar Objects

The Palomar Transient Factory (PTF) Orion project is an experiment within the broader PTF survey, a systematic automated exploration of the sky for optical transients. Taking advantage of the wide field of view available using the PTF camera at the Palomar 48" telescope, 40 nights were dedicated in December 2009-January 2010 to perform continuous high-cadence differential photometry on a single field containing the young (7-10Myr) 25 Ori association. The primary motivation for the project is to search for planets around young stars in this region. The unique data set also provides for much ancillary science. In this first paper we describe the survey and data reduction pipeline, and present initial results from an inspection of the most clearly varying stars relating to two of the ancillary science objectives: detection of eclipsing binaries and young stellar objects. We find 82 new eclipsing binary systems, 9 of which we are candidate 25 Ori- or Orion OB1a-association members. Of these, 2 are potential young W UMa type systems. We report on the possible low-mass (M-dwarf primary) eclipsing systems in the sample, which include 6 of the candidate young systems. 45 of the binary systems are close (mainly contact) systems; one shows an orbital period among the shortest known for W UMa binaries, at 0.2156509 \pm 0.0000071d, with flat-bottomed primary eclipses, and a derived distance consistent with membership in the general Orion association. One of the candidate young systems presents an unusual light curve, perhaps representing a semi-detached binary system with an inflated low-mass primary or a star with a warped disk, and may represent an additional young Orion member. Finally, we identify 14 probable new classical T-Tauri stars in our data, along with one previously known (CVSO 35) and one previously reported as a candidate weak-line T-Tauri star (SDSS J052700.12+010136.8).Comment: 66 pages, 27 figures, accepted to Astronomical Journal. Minor typographical corrections and update to author affiliation

Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR

This paper addressed the challenge of exploring large, unknown, and unstructured industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure a 3D structure. Our approach combined frontier-based exploration, the Lazy Theta* path planner, and a flyby sampling manoeuvre to create a 3D map of large scenarios. One of the novelties of our system is that all the algorithms relied on the multi-resolution of the octomap for the world representation. We used a Hardware-in-the-Loop (HitL) simulation environment to collect accurate measurements of the capability of the open-source system to run online and on-board the UAV in real-time. Our approach is compared to different reference heuristics under this simulation environment showing better performance in regards to the amount of explored space. With the proposed approach, the UAV is able to explore 93% of the search space under 30 min, generating a path without repetition that adjusts to the occupied space covering indoor locations, irregular structures, and suspended obstaclesUnión Europea Marie Sklodowska-Curie 64215Unión Europea MULTIDRONE (H2020-ICT-731667)Uniión Europea HYFLIERS (H2020-ICT-779411

Orthogonal methods based ant colony search for solving continuous optimization problems

Research into ant colony algorithms for solving continuous optimization problems forms one of the most significant and promising areas in swarm computation. Although traditional ant algorithms are designed for combinatorial optimization, they have shown great potential in solving a wide range of optimization problems, including continuous optimization. Aimed at solving continuous problems effectively, this paper develops a novel ant algorithm termed "continuous orthogonal ant colony" (COAC), whose pheromone deposit mechanisms would enable ants to search for solutions collaboratively and effectively. By using the orthogonal design method, ants in the feasible domain can explore their chosen regions rapidly and e±ciently. By implementing an "adaptive regional radius" method, the proposed algorithm can reduce the probability of being trapped in local optima and therefore enhance the global search capability and accuracy. An elitist strategy is also employed to reserve the most valuable points. The performance of the COAC is compared with two other ant algorithms for continuous optimization of API and CACO by testing seventeen functions in the continuous domain. The results demonstrate that the proposed COAC algorithm outperforms the others