An autonomous satellite architecture integrating deliberative reasoning and behavioural intelligence

This paper describes a method for the design of autonomous spacecraft, based upon behavioral approaches to intelligent robotics. First, a number of previous spacecraft automation projects are reviewed. A methodology for the design of autonomous spacecraft is then presented, drawing upon both the European Space Agency technological center (ESTEC) automation and robotics methodology and the subsumption architecture for autonomous robots. A layered competency model for autonomous orbital spacecraft is proposed. A simple example of low level competencies and their interaction is presented in order to illustrate the methodology. Finally, the general principles adopted for the control hardware design of the AUSTRALIS-1 spacecraft are described. This system will provide an orbital experimental platform for spacecraft autonomy studies, supporting the exploration of different logical control models, different computational metaphors within the behavioral control framework, and different mappings from the logical control model to its physical implementation

FIELD-PROGRAMMABLE GATE ARRAY IMPLEMENTATION OF EMPIRICAL MODE DECOMPOSITION ALGORITHM FOR ELECTROCARDIOGRAM PROCESSING

The electrocardiogram (ECG) signal contains important information that is utilized by physicians for the diagnosis and analysis of heart diseases. Therefore, good quality ECG signal is required. Hilbert-Huang transform (HHT) is a method to analyze non-stationary and non-linear signals. Empirical mode decomposition (EMD) is the core of HHT. EMD breaks down signals into smaller number of components. These components form a complete and nearly orthogonal basis for the original signal. This algorithm is implemented on field-programmable gate array using the process of extrema generation, envelope generation, and stopping criterion.Â