Pathfinder autonomous rendezvous and docking project

Capabilities are being developed and demonstrated to support manned and unmanned vehicle operations in lunar and planetary orbits. In this initial phase, primary emphasis is placed on definition of the system requirements for candidate Pathfinder mission applications and correlation of these system-level requirements with specific requirements. The FY-89 activities detailed are best characterized as foundation building. The majority of the efforts were dedicated to assessing the current state of the art, identifying desired elaborations and expansions to this level of development and charting a course that will realize the desired objectives in the future. Efforts are detailed across all work packages in developing those requirements and tools needed to test, refine, and validate basic autonomous rendezvous and docking elements

Task Oriented Programming and Service Algorithms for Smart Robotic Cells

L'abstract è presente nell'allegato / the abstract is in the attachmen

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

The General Flow-Adaptive Filter : With Applications to Ultrasound Image Sequences

While image filtering is limited to two dimensions, the filtering of image sequences can utilize three dimensions; two spatial and one temporal. Unfortunately, simple extensions of common two-dimensional filters into three dimensions yield undesirable motion blurring of the images. This thesis addresses this problem and introduces a novel filtering approach termed the general flow-adaptive filter. Most often a three-dimensional filter can be visualized as a cubic lattice shifted over the data, and at each point the element corresponding to the central coordinate is replaced with a new value based entirely on the values inside the lattice. The general principle of the flow-adaptive approach is to spatially adapt the entire filter lattice to possibly complex spatial movements in the temporal domain by incorporating local flow-field estimates. Results using the flow-adaptive technique on five filters the temporal discontinuity filter, a tensor-based adaptive filter, the average, the median and a Gaussianshaped convolution filter are presented. Both ultrasound image sequences and synthetic data sets were filtered. An edge-adaptive normalized mean-squared error is used as performance metric on the filtered synthetic sets, and the error is shown to be substantially reduced using the flow-adaptive technique, as much as halved in many instances. There are even indications that simple Gaussian-shaped convolution filters can outperform larger and more complex adaptive filters by implementing the flow-adaptive procedure. For the ultrasound image sequences, the filters adopting the flow-adaptive principles had outputs with less motion blur and sharper contrast compared to the outputs of the non-flow-adaptive filters. At the cost of flow estimation, the flow-adaptive approach substantially improves the performance of all the filters included in this study

Seamount structure and subduction at the Louisville Ridge – Tonga-Kermadec collision

The Louisville Ridge (LRSC) is an ~4000 km-long SW Pacific seamount chain currently being subducted at the Tonga-Kermadec Trench (TKT). Both the trend of the LRSC and the subduction of the Pacific plate are oblique to the trench, resulting in southward migration of the intersection point at a rate of 120-180 mm yr-1, and producing significant along-strike variation in forearc structure and seismicity. The LRSC-TKT intersection was investigated by a multi-disciplinary geophysical experiment aboard the R/V Sonne in 2011, acquiring multichannel and wide-angle seismic, gravity, and bathymetry data, to better understand the effect of subducting bathymetric features on forearc deformation. As part of this, it is necessary to determine the structure and characteristics of the incoming seamounts, and how they are deformed during subduction. This study is underpinned by an ~725 km-long profile traversing the oldest extant LRSC seamounts, that continues along its projection into the trench and forearc. LRSC seamounts display a range of internal structures, including shallow, high-velocity (≥6 km s-1) cores. The also sit on crust that is not significantly thickened. At the trench, Osbourn seamount is experiencing bend-induced normal faulting which suggests that each seamount may be disarticulated to a size smaller than the imaging resolution. Observed similarity between the P-wave velocity structure of seamount flank material and ordinary subducting oceanic crust also suggests that distinguishing between these in the trench-forearc region is challenging. Consequently, it is not unequivocally possible to determine, within the confines of the profile locations and model resolution, whether the last LRSC seamount to have subducted, was subducted intact along the continuation of the trend of the extant chain. Along-margin observations indicate that significant seamount-related forearc deformation is superimposed on pre-existing crustal structures, with the maximum deformation occurring in the wake of the migration of active collision. Observations of forearc morphology at the present-day intersection point support those from seismicity and plate reconstruction, which suggests that this location may also coincide with a westerly rotation in the trend of the chain

Supernova / Acceleration Probe: A Satellite Experiment to Study the Nature of the Dark Energy

The Supernova / Acceleration Probe (SNAP) is a proposed space-based experiment designed to study the dark energy and alternative explanations of the acceleration of the Universe's expansion by performing a series of complementary systematics-controlled measurements. We describe a self-consistent reference mission design for building a Type Ia supernova Hubble diagram and for performing a wide-area weak gravitational lensing study. A 2-m wide-field telescope feeds a focal plane consisting of a 0.7 square-degree imager tiled with equal areas of optical CCDs and near infrared sensors, and a high-efficiency low-resolution integral field spectrograph. The SNAP mission will obtain high-signal-to-noise calibrated light-curves and spectra for several thousand supernovae at redshifts between z=0.1 and 1.7. A wide-field survey covering one thousand square degrees resolves ~100 galaxies per square arcminute. If we assume we live in a cosmological-constant-dominated Universe, the matter density, dark energy density, and flatness of space can all be measured with SNAP supernova and weak-lensing measurements to a systematics-limited accuracy of 1%. For a flat universe, the density-to-pressure ratio of dark energy can be similarly measured to 5% for the present value w0 and ~0.1 for the time variation w'. The large survey area, depth, spatial resolution, time-sampling, and nine-band optical to NIR photometry will support additional independent and/or complementary dark-energy measurement approaches as well as a broad range of auxiliary science programs. (Abridged)Comment: 40 pages, 18 figures, submitted to PASP, http://snap.lbl.go

A high-performance open-source framework for multiphysics simulation and adjoint-based shape and topology optimization

The first part of this thesis presents the advances made in the Open-Source software SU2, towards transforming it into a high-performance framework for design and optimization of multiphysics problems. Through this work, and in collaboration with other authors, a tenfold performance improvement was achieved for some problems. More importantly, problems that had previously been impossible to solve in SU2, can now be used in numerical optimization with shape or topology variables. Furthermore, it is now exponentially simpler to study new multiphysics applications, and to develop new numerical schemes taking advantage of modern high-performance-computing systems. In the second part of this thesis, these capabilities allowed the application of topology optimiza- tion to medium scale fluid-structure interaction problems, using high-fidelity models (nonlinear elasticity and Reynolds-averaged Navier-Stokes equations), which had not been done before in the literature. This showed that topology optimization can be used to target aerodynamic objectives, by tailoring the interaction between fluid and structure. However, it also made ev- ident the limitations of density-based methods for this type of problem, in particular, reliably converging to discrete solutions. This was overcome with new strategies to both guarantee and accelerate (i.e. reduce the overall computational cost) the convergence to discrete solutions in fluid-structure interaction problems.Open Acces