End to end numerical simulations of the MAORY multiconjugate adaptive optics system

MAORY is the adaptive optics module of the E-ELT that will feed the MICADO imaging camera through a gravity invariant exit port. MAORY has been foreseen to implement MCAO correction through three high order deformable mirrors driven by the reference signals of six Laser Guide Stars (LGSs) feeding as many Shack-Hartmann Wavefront Sensors. A three Natural Guide Stars (NGSs) system will provide the low order correction. We develop a code for the end-to-end simulation of the MAORY adaptive optics (AO) system in order to obtain high-delity modeling of the system performance. It is based on the IDL language and makes extensively uses of the GPUs. Here we present the architecture of the simulation tool and its achieved and expected performance.Comment: 8 pages, 4 figures, presented at SPIE Astronomical Telescopes + Instrumentation 2014 in Montr\'eal, Quebec, Canada, with number 9148-25

TransFusionOdom: Interpretable Transformer-based LiDAR-Inertial Fusion Odometry Estimation

Multi-modal fusion of sensors is a commonly used approach to enhance the performance of odometry estimation, which is also a fundamental module for mobile robots. However, the question of \textit{how to perform fusion among different modalities in a supervised sensor fusion odometry estimation task?} is still one of challenging issues remains. Some simple operations, such as element-wise summation and concatenation, are not capable of assigning adaptive attentional weights to incorporate different modalities efficiently, which make it difficult to achieve competitive odometry results. Recently, the Transformer architecture has shown potential for multi-modal fusion tasks, particularly in the domains of vision with language. In this work, we propose an end-to-end supervised Transformer-based LiDAR-Inertial fusion framework (namely TransFusionOdom) for odometry estimation. The multi-attention fusion module demonstrates different fusion approaches for homogeneous and heterogeneous modalities to address the overfitting problem that can arise from blindly increasing the complexity of the model. Additionally, to interpret the learning process of the Transformer-based multi-modal interactions, a general visualization approach is introduced to illustrate the interactions between modalities. Moreover, exhaustive ablation studies evaluate different multi-modal fusion strategies to verify the performance of the proposed fusion strategy. A synthetic multi-modal dataset is made public to validate the generalization ability of the proposed fusion strategy, which also works for other combinations of different modalities. The quantitative and qualitative odometry evaluations on the KITTI dataset verify the proposed TransFusionOdom could achieve superior performance compared with other related works.Comment: Submitted to IEEE Sensors Journal with some modifications. This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

Autonomous pointing control of a large satellite antenna subject to parametric uncertainty

With the development of satellite mobile communications, large antennas are now widely used. The precise pointing of the antenna’s optical axis is essential for many space missions. This paper addresses the challenging problem of high-precision autonomous pointing control of a large satellite antenna. The pointing dynamics are firstly proposed. The proportional–derivative feedback and structural filter to perform pointing maneuvers and suppress antenna vibrations are then presented. An adaptive controller to estimate actual system frequencies in the presence of modal parameters uncertainty is proposed. In order to reduce periodic errors, the modified controllers, which include the proposed adaptive controller and an active disturbance rejection filter, are then developed. The system stability and robustness are analyzed and discussed in the frequency domain. Numerical results are finally provided, and the results have demonstrated that the proposed controllers have good autonomy and robustness

Suppressing low-order eigenmodes with local control for deformable mirrors

To improve the mechanical characteristics of actively controlled continuous faceplate deformable mirrors in adaptive optics, a strategy for reducing crosstalk between adjacent actuators and for suppressing low-order eigenmodes is proposed. The strategy can be seen as extending Saint-Venant’s principle beyond the static case, for small local families of actuators. An analytic model is presented, from which we show the feasibility of the local control. Also, we demonstrate how eigenmodes and eigenfrequencies are affected by mirror parameters, such as thickness, diameter, Young’s modulus, Poisson’s ratio, and density. This analysis is used to evaluate the design strategy for a large deformable mirror, and how many actuators are needed within a family