On orbit validation of solar sailing control laws with thin-film spacecraft

Many innovative approaches to solar sail mission and trajectory design have been proposed over the years, but very few ever have the opportunity to be validated on orbit with real spacecraft. Thin- Film Spacecraft/Lander/Rovers (TF-SL Rs) are a new class of very low cost, low mass space vehicle which are ideal for inexpensively and quickly testing in flight new approaches to solar sailing. This paper describes using TF- SLR based micro solar sails to implement a generic solar sail test bed on orbit. TF -SLRs are high area- to-mass ratio (A/m) spacecraft developed for very low cost consumer and scientific deep space missions. Typically based on a 5 μm or thinner metalised substrate, they include an integrated avionics and payload system -on-chip (SoC) die bonded to the substrate with passive components and solar cells printed or deposited by Metal Organic Chemical Vapour Deposition (MOCVD). The avionics include UHF/S- band transceivers, processors, storage, sensors and attitude control provided by integrated magnetorquers and reflectivity control devices. Resulting spacecraft have a typical thickness of less than 50 μm, are 80 mm in diameter, and have a mass of less than 100 mg resulting in sail loads of less than 20 g/m 2 . TF -SLRs are currently designed for direct dispensing in swarms from free flying 0.5U Interplanetary CubeSats or dispensers attached to launch vehicles. Larger 160 mm, 320 mm and 640 mm diameter TF -SLRs utilizing a CubeSat compatible TWIST deployment mechanism that maintains the high A/m ratio are also under development. We are developing a mission to demonstrate the utility of these devices as a test bed for experimenting with a variety of mission designs and control laws. Batches of up to one hundred TF- SLRs will be released on earth escape trajectories, with each batch executing a heterogeneous or homogenous mixture of control laws and experiments. Up to four releases at different points in orbit are currently envisaged with experiments currently being studied in MATLAB and GMA T including managing the rate of separation of individual spacecraft, station keeping and single deployment/substantially divergent trajectory development. It is also hoped to be able to demonstrate uploading new experiment designs while in orbit and to make this capability available to researchers around the world. A suitable earth escape mission is currently being sought and it is hoped the test bed could be on orbit in 2017/18

Compliant kagome lattice structures for generating in-plane waveforms

This paper details the design, manufacture and testing of an adaptive structure based on the kagome lattice geometry – a pattern with well documented interesting structural characteristics. The structure is used to produce in-plane travelling waves of variable length and speed in a flat surface. The geometry and dimensions, as well as the location and compliance of boundary conditions, were optimized numerically, and a pneumatically-actuated working demonstrator was manufactured. Static and dynamic photogrammetric and force measurements were taken. The structure was found to be capable of producing dynamic planar waveforms of variable wavelength with large strains. The lattice structure was then surfaced with a pre-tensioned membrane skin allowing these waveforms to be produced over a continuous plane

The determination and enhancement of compliant modes for actuation in structural assemblies

Linear algebra methods for determining modes of kinematic and static indeter- minacy in jointed frames are extended to reveal modes of compliance in oth- erwise rigid assemblies. These modes are extracted from a structural model, based on nite elements, via a singular value decomposition and yield the ways in which a structure can be most easily deformed. This modal approach also allows for the formulation of a reduced-order structural model, whereby relevant modes are selected and used as the basis for the optimisation of a complaint structure. The method detailed is shown to be a useful design tool, demon- strated by its application to a structure based on the Kagome lattice geometry. For certain frameworks, rst order e ects produce tightening under actuation. As a result, a scheme to adjust the modes to take nonlinear e ects into account is also given

Evaluation of the MERIS aerosol product over land with AERONET

The Medium Resolution Imaging Spectrometer (MERIS) launched in February 2002 on-board the ENVISAT spacecraft is making global observations of top-of-atmosphere (TOA) radiances. Aerosol optical properties are retrieved over land using Look-Up Table (LUT) based algorithm and surface reflectances in the blue and the red spectral regions. We compared instantaneous aerosol optical thicknesses retrieved by MERIS in the blue and the red at locations containing sites within the Aerosol Robotic Network (AERONET). Between 2002 and 2005, a set of 500 MERIS images were used in this study. The result shows that, over land, MERIS aerosol optical thicknesses are well retrieved in the blue and poorly retrieved in the red, leading to an underestimation of the Angstrom coefficient. Correlations are improved by applying a simple criterion to avoid scenes probably contaminated by thin clouds. To investigate the weakness of the MERIS algorithm, ground-based radiometer measurements have been used in order to retrieve new aerosol models, based on their Inherent Optical Properties (IOP). These new aerosol models slightly improve the correlation, but the main problem of the MERIS aerosol product over land can be attributed to the surface reflectance model in the red

Optimal aero-structural design of an adaptive surface for boundary layer motivation using an auxetic lattice skin

The aero-structural design of an adaptive vortex generator for repeatable, elastic, deployment and retraction from an aerodynamically clean surface is presented. A multidisciplinary objective function, containing geometrically nonlinear nite element analysis and large eddy simulation, is used to derive the optimal adaptive geometry for increasing the momentum of the near wall uid. It is found that the rapid increase of in-plane membrane stress with de ection is a signi cant limitation on achievable deformation of a continuous skin with uniform section. Use of a 2D auxetic lattice structure in place of the continuous skin allows signi cantly larger deformations and thus a signi cant improvement in performance. The optimal deformed geometry is replicated statically and the e ect on the boundary layer is validated in a wind tunnel experiment. The lattice structure is then manufactured and actuated. The deformed geometry is shown to compare well with the FEA predictions. The surface is re-examined post actuation and shown to return to the initial position, demonstrating the deformation is elastic and hence repeatable

Predator versus Prey:Locust Looming-Detector Neuron and Behavioural Responses to Stimuli Representing Attacking Bird Predators

Many arthropods possess escape-triggering neural mechanisms that help them evade predators. These mechanisms are important neuroethological models, but they are rarely investigated using predator-like stimuli because there is often insufficient information on real predator attacks. Locusts possess uniquely identifiable visual neurons (the descending contralateral movement detectors, DCMDs) that are well-studied looming motion detectors. The DCMDs trigger ‘glides’ in flying locusts, which are hypothesised to be appropriate last-ditch responses to the looms of avian predators. To date it has not been possible to study glides in response to stimuli simulating bird attacks because such attacks have not been characterised. We analyse video of wild black kites attacking flying locusts, and estimate kite attack speeds of 10.8±1.4 m/s. We estimate that the loom of a kite’s thorax towards a locust at these speeds should be characterised by a relatively low ratio of half size to speed (l/|v|) in the range 4–17 ms. Peak DCMD spike rate and gliding response occurrence are known to increase as l/|v| decreases for simple looming shapes. Using simulated looming discs, we investigate these trends and show that both DCMD and behavioural responses are strong to stimuli with kite-like l/|v| ratios. Adding wings to looming discs to produce a more realistic stimulus shape did not disrupt the overall relationships of DCMD and gliding occurrence to stimulus l/|v|. However, adding wings to looming discs did slightly reduce high frequency DCMD spike rates in the final stages of object approach, and slightly delay glide initiation. Looming discs with or without wings triggered glides closer to the time of collision as l/|v| declined, and relatively infrequently before collision at very low l/|v|. However, the performance of this system is in line with expectations for a last-ditch escape response

Reactive direction control for a mobile robot: A locust-like control of escape direction emerges when a bilateral pair of model locust visual neurons are integrated

Locusts possess a bilateral pair of uniquely identifiable visual neurons that respond vigorously to the image of an approaching object. These neurons are called the lobula giant movement detectors (LGMDs). The locust LGMDs have been extensively studied and this has lead to the development of an LGMD model for use as an artificial collision detector in robotic applications. To date, robots have been equipped with only a single, central artificial LGMD sensor, and this triggers a non-directional stop or rotation when a potentially colliding object is detected. Clearly, for a robot to behave autonomously, it must react differently to stimuli approaching from different directions. In this study, we implement a bilateral pair of LGMD models in Khepera robots equipped with normal and panoramic cameras. We integrate the responses of these LGMD models using methodologies inspired by research on escape direction control in cockroaches. Using ‘randomised winner-take-all’ or ‘steering wheel’ algorithms for LGMD model integration, the khepera robots could escape an approaching threat in real time and with a similar distribution of escape directions as real locusts. We also found that by optimising these algorithms, we could use them to integrate the left and right DCMD responses of real jumping locusts offline and reproduce the actual escape directions that the locusts took in a particular trial. Our results significantly advance the development of an artificial collision detection and evasion system based on the locust LGMD by allowing it reactive control over robot behaviour. The success of this approach may also indicate some important areas to be pursued in future biological research