Line-of-sight-stabilization and tracking control for inertial platforms

Nowadays, line of sight stabilization and tracking using inertially stabilized platforms (ISPs) are still challenging engineering problems. With a growing demand for high-precision applications, more involved control techniques are necessary to achieve better performance. In this work, kinematic and dynamic models for a three degrees-of-freedom ISP are presented. These models are based in the vehicle-manipulator system (VMS) framework for modeling of robot manipulators operating in a mobile base (vehicles). The dynamic model follows the Euler-Lagrange formulation and is implemented by numeric simulations using the iterative Newton-Euler method. Two distinct control strategies for both stabilization and tracking are proposed: (i) computed torque control and (ii) sliding mode control using the recent SuperTwisting Algorithm (STA) combined with a High-Order Sliding Mode Observer (HOSMO). Simulations using data from a simulated vessel allow us to compare the performance of the computed torque controllers with respect to the commonly used P-PI controller. Besides, the results obtained for the sliding mode controllers indicate that the Super-Twisting algorithm offers ideal robustness to the vehicle motion disturbances and also to parametric uncertainties, resulting in a stabilization precision of approximately 0,8 mrad.Hoje em dia, a estabilização e o rastreamento da linha de visada utilizando plataformas inerciais continuam a constituir desafiadores problemas de engenharia. Com a crescente demanda por aplicações de alta precisão, técnicas de controle complexas são necessárias para atingir melhor desempenho. Neste trabalho, modelos cinemáticos e dinâmicos para uma plataforma mecânica de estabilização inercial são apresentados. Tais modelos se baseiam no formalismo para sistemas veículo-manipulator para a modelagem de manipuladores robóticos operando em uma base móvel (veículo). O modelo dinâmico apresentado segue a formulação analítica de Euler-Lagrange e é implementado em simulações numéricas através do método iterativo de Newton-Euler. Duas estratégias de controle distintas para estabilização e rastreamento são propostas: (i) controle por torque-computado e (ii) controle por modos deslizantes utilizando o recente algoritmo Super-Twisting combinado com um observador baseado em modos deslizantes de alta ordem. Simulações utilizando dados de movimentação de um navio simulado permitem comparar o desempenho dos controladores por torque computado em relação a um tipo comum de controlador linear utilizado na literatura: o P-PI. Além disso, os resultados obtidos para o controle por modos deslizantes permitem concluir que o algoritmo Super-Twisting apresenta rejeição ideal a perturbações provenientes do movimento do veículo e também a incertezas paramétricas, resultando em precisão de estabilização de aproximadamente 0,8 mrad

Application of advanced technology to space automation

Automated operations in space provide the key to optimized mission design and data acquisition at minimum cost for the future. The results of this study strongly accentuate this statement and should provide further incentive for immediate development of specific automtion technology as defined herein. Essential automation technology requirements were identified for future programs. The study was undertaken to address the future role of automation in the space program, the potential benefits to be derived, and the technology efforts that should be directed toward obtaining these benefits

Product development approach for a stabilized ambulance stretcher

The level of vibrations that a patient experiences during ambulance transport is often too high. The ambulance crew must take measures to reduce the effects of vibration. Currently, they do it by reducing the speed at which the ambulance transports the patients or by deviating from the shortest routes to routes that have better conditions for transport. The deviation in the route is required to avoid speed bumps, potholes and other obstacles that cause high vibration peaks. These vibrations are most severe in the vertical direction. The human body is most sensitive to vibrations in the range from 0.1 to 80 Hz, and it is within this range that the dominant vertical vibrations of an ambulance stretcher occur. The vibrations experienced can be reduced by placing an active stabilization unit in between the stretcher mattress and the legs of the stretcher. This active system performs vibration compensation in real time. The system is controlled with a data logger which collects the vibrational information from the road and transfers that data to the control system. The system is based on a spring-motor configuration. The springbased systems help to keep the mattress in position thereby reducing the effects of vibration and improving the comforts of patient transport. Since the stabilization unit increases the weight of the stretcher, currently this device cannot be employed for nonpowered stretchers. A business plan for the product launch is analyzed. The business plan provides the information to make this product market ready. A financial analysis is also performed to support the claims of the business plan. The business plan is focused on launching the stabilization device and then provides insight into developing stretcher solutions for the market.O nível de vibrações que um paciente experimenta durante o transporte de ambulância é muitas vezes demasiado elevado. O pessoal da ambulância tem que tomar medidas para reduzir os efeitos da vibração. Atualmente isso é feito reduzindo-se a velocidade com que a ambulância transporta os pacientes ou desviando-se das rotas mais curtas para as rotas que têm melhores condições de transporte. O desvio na rota precisa ser feito para evitar lombas, buracos e outros obstáculos que causam altos picos de vibração. Essas vibrações são mais severas na direção vertical. O corpo humano é mais sensível a vibrações na faixa de 0,1 a 80 Hz, e é dentro dessa faixa que ocorrem as vibrações verticais dominantes numa maca de ambulância. As vibrações no transporte de pacientes podem ser reduzidas colocando uma unidade de estabilização ativa entre o colchão da maca e a estrutura da maca. Este sistema ativo realiza a compensação de vibração em tempo real. O sistema é controlado por um processador de dados que coleta informações vibracionais da estrada e transfere esses dados para o sistema de controlo. O sistema atua através de uma solução dinâmica com um motor passo a passo. Os sistemas baseados em motores passo a passo ajudam a manter o colchão em posição, reduzindo assim os efeitos da vibração e melhorando o conforto do transporte do paciente. Como a unidade de estabilização aumenta o peso da maca, atualmente este dispositivo não pode ser empregado para macas não motorizadas. Com base na proposta de produto concebido, um plano de negócios para o lançamento do produto desenhado. O plano de negócios fornece as informações para preparar o lançamento deste novo produto no mercado. Também foi realizada uma análise financeira para validar os pressupostos do plano de negócios. O plano de negócios foi construído com o foco no lançamento do dispositivo de estabilização e, em seguida, pressupõem extensões assentes no posterior para o desenvolvimento de soluções de maca integral a colocar no mercado

FLEXIBLE LOW-COST HW/SW ARCHITECTURES FOR TEST, CALIBRATION AND CONDITIONING OF MEMS SENSOR SYSTEMS

During the last years smart sensors based on Micro-Electro-Mechanical systems (MEMS) are widely spreading over various fields as automotive, biomedical, optical and consumer, and nowadays they represent the outstanding state of the art. The reasons of their diffusion is related to the capability to measure physical and chemical information using miniaturized components. The developing of this kind of architectures, due to the heterogeneities of their components, requires a very complex design flow, due to the utilization of both mechanical parts typical of the MEMS sensor and electronic components for the interfacing and the conditioning. In these kind of systems testing activities gain a considerable importance, and they concern various phases of the life-cycle of a MEMS based system. Indeed, since the design phase of the sensor, the validation of the design by the extraction of characteristic parameters is important, because they are necessary to design the sensor interface circuit. Moreover, this kind of architecture requires techniques for the calibration and the evaluation of the whole system in addition to the traditional methods for the testing of the control circuitry. The first part of this research work addresses the testing optimization by the developing of different hardware/software architecture for the different testing stages of the developing flow of a MEMS based system. A flexible and low-cost platform for the characterization and the prototyping of MEMS sensors has been developed in order to provide an environment that allows also to support the design of the sensor interface. To reduce the reengineering time requested during the verification testing a universal client-server architecture has been designed to provide a unique framework to test different kind of devices, using different development environment and programming languages. Because the use of ATE during the engineering phase of the calibration algorithm is expensive in terms of ATE’s occupation time, since it requires the interruption of the production process, a flexible and easily adaptable low-cost hardware/software architecture for the calibration and the evaluation of the performance has been developed in order to allow the developing of the calibration algorithm in a user-friendly environment that permits also to realize a small and medium volume production. The second part of the research work deals with a topic that is becoming ever more important in the field of applications for MEMS sensors, and concerns the capability to combine information extracted from different typologies of sensors (typically accelerometers, gyroscopes and magnetometers) to obtain more complex information. In this context two different algorithm for the sensor fusion has been analyzed and developed: the first one is a fully software algorithm that has been used as a means to estimate how much the errors in MEMS sensor data affect the estimation of the parameter computed using a sensor fusion algorithm; the second one, instead, is a sensor fusion algorithm based on a simplified Kalman filter. Starting from this algorithm, a bit-true model in Mathworks Simulink(TM) has been created as a system study for the implementation of the algorithm on chip

Multi -mission Attitude Determination System for balloon flight

MADS (Multi-mission Attitude Determination System) is a new software package used to determine the attitude of instruments on a high-altitude balloon employed for scientific experiments. There is no existing system for the automated determination of the attitude of instruments in balloon experiments, so we have developed MADS to do the data analysis for balloon experiments to find the location of astrophysical sources such as gamma-ray or x-ray sources. The two areas that required most work were modeling star trackers and modeling the motion of the balloon. Star trackers are used on satellites, but are far too expensive and sophisticated to use on balloons. Their processes have to be modeled using only the data from simple CCD cameras. The motion of a three-axis-stabilized satellite moving in a prescribed orbit is very much simpler than the motion of a balloon, which is carried by stratospheric winds and always retains to some degree its initial spinning and pendular motions. Another area that had to be addressed was interpolation when the balloon is out of range of a sufficient number of GPS satellites to determine it position (This may happen in the Arctic or Antarctic). The software package, with documentation written to NASA standards, is being made available to NASA at their request

Insect inspired visual motion sensing and flying robots

International audienceFlying insects excellently master visual motion sensing techniques. They use dedicated motion processing circuits at a low energy and computational costs. Thanks to observations obtained on insect visual guidance, we developed visual motion sensors and bio-inspired autopilots dedicated to flying robots. Optic flow-based visuomotor control systems have been implemented on an increasingly large number of sighted autonomous robots. In this chapter, we present how we designed and constructed local motion sensors and how we implemented bio-inspired visual guidance scheme on-board several micro-aerial vehicles. An hyperacurate sensor in which retinal micro-scanning movements are performed via a small piezo-bender actuator was mounted onto a miniature aerial robot. The OSCAR II robot is able to track a moving target accurately by exploiting the microscan-ning movement imposed to its eye's retina. We also present two interdependent control schemes driving the eye in robot angular position and the robot's body angular position with respect to a visual target but without any knowledge of the robot's orientation in the global frame. This "steering-by-gazing" control strategy, which is implemented on this lightweight (100 g) miniature sighted aerial robot, demonstrates the effectiveness of this biomimetic visual/inertial heading control strategy

Technology for large space systems: A special bibliography with indexes (supplement 06)

This bibliography lists 220 reports, articles and other documents introduced into the NASA scientific and technical information system between July 1, 1981 and December 31, 1981. Its purpose is to provide helpful information to the researcher, manager, and designer in technology development and mission design in the area of the Large Space Systems Technology (LSST) Program. Subject matter is grouped according to systems, interactive analysis and design, structural concepts, control systems, electronics, advanced materials, assembly concepts, propulsion, solar power satellite systems, and flight experiments

Safe navigation for vehicles

La navigation par satellite prend un virage très important ces dernières années, d'une part par l'arrivée imminente du système Européen GALILEO qui viendra compléter le GPS Américain, mais aussi et surtout par le succès grand public qu'il connaît aujourd'hui. Ce succès est dû en partie aux avancées technologiques au niveau récepteur, qui, tout en autorisant une miniaturisation de plus en plus avancée, en permettent une utilisation dans des environnements de plus en plus difficiles. L'objectif aujourd'hui est de préparer l'utilisation de ce genre de signal dans une optique bas coût dans un milieu urbain automobile pour des applications critiques d'un point de vue sécurité (ce que ne permet pas les techniques d'hybridation classiques). L'amélioration des technologies (réduction de taille des capteurs type MEMS ou Gyroscope) ne peut, à elle seule, atteindre l'objectif d'obtenir une position dont nous pouvons être sûrs si nous utilisons les algorithmes classiques de localisation et d'hybridation. En effet ces techniques permettent d'avoir une position sans cependant permettre d'en quantifier le niveau de confiance. La faisabilité de ces applications repose d'une part sur une recherche approfondie d'axes d'amélioration des algorithmes de localisation, mais aussi et conjointement, sur la possibilité, via les capteurs externes de maintenir un niveau de confiance élevé et quantifié dans la position même en absence de signal satellitaire. ABSTRACT : Satellite navigation has acquired an increased importance during these last years, on the one hand due to the imminent appearance of the European GALILEO system that will complement the American GPS, and on the other hand due to the great success it has encountered in the commercial civil market. An important part of this success is based on the technological development at the receiver level that has rendered satellite navigation possible even in difficult environments. Today's objective is to prepare the utilisation of this kind of signals for land vehicle applications demanding high precision positioning. One of the main challenges within this research domain, which cannot be addressed by classical coupling techniques, is related to the system capability to provide reliable position estimations. The enhancement in dead-reckoning technologies (i.e. size reduction of MEMS-based sensors or gyroscopes) cannot all by itself reach the necessary confidence levels if exploited with classical localization and integration algorithms. Indeed, these techniques provide a position estimation whose reliability or confidence level it is very difficult to quantify. The feasibility of these applications relies not only on an extensive research to enhance the navigation algorithm performances in harsh scenarios, but also and in parallel, on the possibility to maintain, thanks to the presence of additional sensors, a high confidence level on the position estimation even in the absence of satellite navigation signals