Development of a design environment for integrated concurrent engineering in academia

Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, June 2001.Pages 225-226 blank.Includes bibliographical references (p. 151-154).by Simon Nolet.M.Eng

Development of a guidance, navigation and control architecture and validation process enabling autonomous docking to a tumbling satellite

Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2007.Includes bibliographical references (p. 307-324).The capability to routinely perform autonomous docking is a key enabling technology for future space exploration, as well as assembly and servicing missions for spacecraft and commercial satellites. Particularly, in more challenging situations where the target spacecraft or satellite is tumbling, algorithms and strategies must be implemented to ensure the safety of both docking entities in the event of anomalies. However, difficulties encountered in past docking missions conducted with expensive satellites on orbit have indicated a lack of maturity in the technologies required for such operations. Therefore, more experimentation must be performed to improve the current autonomous docking capabilities. The main objectives of the research presented in this thesis are to develop a guidance, navigation and control (GN&C) architecture that enables the safe and fuel-efficient docking with a free tumbling target in the presence of obstacles and anomalies, and to develop the software tools and verification processes necessary in order to successfully demonstrate the GN&C architecture in a relevant environment. The GN&C architecture was developed by integrating a spectrum of GN&C algorithms including estimation, control, path planning, and failure detection, isolation and recovery algorithms.(cont.) The algorithms were implemented in GN&C software modules for real-time experimentation using the Synchronized Position Hold Engage and Reorient Experimental Satellite (SPHERES) facility that was created by the MIT Space Systems Laboratory. Operated inside the International Space Station (ISS), SPHERES allow the incremental maturation of formation flight and autonomous docking algorithms in a risk-tolerant, microgravity environment. Multiple autonomous docking operations have been performed in the ISS to validate the GN&C architecture. These experiments led to the first autonomous docking with a tumbling target ever achieved in microgravity. Furthermore, the author also demonstrated successful docking in spite of the presence of measurement errors that were detected and rejected by an online fault detection algorithm. The results of these experiments will be discussed in this thesis. Finally, based on experiments in a laboratory environment, the author establishes two processes for the verification of GN&C software prior to on-orbit testing on the SPHERES testbed.by Simon Nolet.Sc.D

SPHERES flight operations testing and execution

Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) is a formation flight testing facility consisting of three satellites operating inside the International Space Station (ISS). The goal is to use the long term microgravity environment of the ISS to mature formation flight and docking algorithms. The operations processes of SPHERES have also matured over the course of the first seven test sessions. This paper describes the evolution of the SPHERES program operations processes from conception to implementation to refinement through flight experience. Modifications to the operations processes were based on experience and feedback from Marshall Space Flight Center Payload Operations Center, USAF Space Test Program office at Johnson Space Center, and the crew of Expedition 13 (first to operate SPHERES on station). Important lessons learned were on aspects such as test session frequency, determination of session success, and contingency operations. This paper describes the tests sessions; then it details the lessons learned, the change in processes, and the impact on the outcome of later test sessions. SPHERES had very successful initial test sessions which allowed for modification and tailoring of the operations processes to streamline the code delivery and to tailor responses based on flight experiences.United States. Dept. of Defense. Space Technologies ProgramUnited States. National Aeronautics and Space Administration. Johnson Space Center ISS Operations TeamUnited States. National Aeronautics and Space Administration. Marshall Space Flight Center Astronaut OfficeUnited States. National Aeronautics and Space Administration. Johnson Space Center Reduced Gravity Offic

SPHERES as Formation Flight Algorithm Development and Validation Testbed: Current Progress and Beyond

The MIT-SSL SPHERES testbed provides a facility for the development of algorithms necessary for the success of Distributed Satellite Systems (DSS). The initial development contemplated formation flight and docking control algorithms; SPHERES now supports the study of metrology, control, autonomy, artificial intelligence, and communications algorithms and their effects on DSS projects. To support this wide range of topics, the SPHERES design contemplated the need to support multiple researchers, as echoed from both the hardware and software designs. The SPHERES operational plan further facilitates the development of algorithms by multiple researchers, while the operational locations incrementally increase the ability of the tests to operate in a representative environment. In this paper, an overview of the SPHERES testbed is first presented. The SPHERES testbed serves as a model of the design philosophies that allow for the various researches being carried out on such a facility. The implementation of these philosophies are further highlighted in the three different programs that are currently scheduled for testing onboard the International Space Station (ISS) and three that are proposed for a re-flight mission: Mass Property Identification, Autonomous Rendezvous and Docking, TPF Multiple Spacecraft Formation Flight in the first flight and Precision Optical Pointing, Tethered Formation Flight and Mars Orbit Sample Retrieval for the re-flight mission

Autonomous GN and C for Spacecraft Exploration of Comets and Asteroids

A spacecraft guidance, navigation, and control (GN&C) system is needed to enable a spacecraft to descend to a surface, take a sample using a touch-and-go (TAG) sampling approach, and then safely ascend. At the time of this reporting, a flyable GN&C system that can accomplish these goals is beyond state of the art. This article describes AutoGNC, which is a GN&C system capable of addressing these goals, which has recently been developed and demonstrated to a maturity TRL-5-plus. The AutoGNC solution matures and integrates two previously existing JPL capabilities into a single unified GN&C system. The two capabilities are AutoNAV and GREX. AutoNAV is JPL s current flight navigation system, and is fairly mature with respect to flybys and rendezvous with small bodies, but is lacking capability for close surface proximity operations, sampling, and contact. G-REX is a suite of low-TRL algorithms and capabilities that enables spacecraft operations in close surface proximity and for performing sampling/contact. The development and integration of AutoNAV and G-REX components into AutoGNC provides a single, unified GN&C capability for addressing the autonomy, close-proximity, and sampling/contact aspects of small-body sample return missions. AutoGNC is an integrated capability comprising elements that were developed separately. The main algorithms and component capabilities that have been matured and integrated are autonomy for near-surface operations, terrain-relative navigation (TRN), real-time image-based feedback guidance and control, and six degrees of freedom (6DOF) control of the TAG sampling event. Autonomy is achieved based on an AutoGNC Executive written in Virtual Machine Language (VML) incorporating high-level control, data management, and fault protection. In descending to the surface, the AutoGNC system uses camera images to determine its position and velocity relative to the terrain. This capability for TRN leverages native capabilities of the original AutoNAV system, but required advancements that integrate the separate capabilities for shape modeling, state estimation, image rendering, defining a database of onboard maps, and performing real-time landmark recognition against the stored maps. The ability to use images to guide the spacecraft requires the capability for image-based feedback control. In Auto- GNC, navigation estimates are fed into an onboard guidance and control system that keeps the spacecraft guided along a desired path, as it descends towards its targeted landing or sampling site. Once near the site, AutoGNC achieves a prescribed guidance condition for TAG sampling (position/orientation, velocity), and a prescribed force profile on the sampling end-effector. A dedicated 6DOF TAG control then implements the ascent burn while recovering from sampling disturbances and induced attitude rates. The control also minimizes structural interactions with flexible solar panels and disallows any part of the spacecraft from making contact with the ground (other than the intended end-effector)

Local Orientation and the Evolution of Foraging: Changes in Decision Making Can Eliminate Evolutionary Trade-offs

Information processing is a major aspect of the evolution of animal behavior. In foraging, responsiveness to local feeding opportunities can generate patterns of behavior which reflect or “recognize patterns” in the environment beyond the perception of individuals. Theory on the evolution of behavior generally neglects such opportunity-based adaptation. Using a spatial individual-based model we study the role of opportunity-based adaptation in the evolution of foraging, and how it depends on local decision making. We compare two model variants which differ in the individual decision making that can evolve (restricted and extended model), and study the evolution of simple foraging behavior in environments where food is distributed either uniformly or in patches. We find that opportunity-based adaptation and the pattern recognition it generates, plays an important role in foraging success, particularly in patchy environments where one of the main challenges is “staying in patches”. In the restricted model this is achieved by genetic adaptation of move and search behavior, in light of a trade-off on within- and between-patch behavior. In the extended model this trade-off does not arise because decision making capabilities allow for differentiated behavioral patterns. As a consequence, it becomes possible for properties of movement to be specialized for detection of patches with more food, a larger scale information processing not present in the restricted model. Our results show that changes in decision making abilities can alter what kinds of pattern recognition are possible, eliminate an evolutionary trade-off and change the adaptive landscape

Contributions of a global network of tree diversity experiments to sustainable forest plantations

status: publishe

Modeling water quality in the Anthropocene : directions for the next-generation aquatic ecosystem models

“Everything changes and nothing stands still” (Heraclitus). Here we review three major improvements to freshwater aquatic ecosystem models — and ecological models in general — as water quality scenario analysis tools towards a sustainable future. To tackle the rapid and deeply connected dynamics characteristic of the Anthropocene, we argue for the inclusion of eco-evolutionary, novel ecosystem and social-ecological dynamics. These dynamics arise from adaptive responses in organisms and ecosystems to global environmental change and act at different integration levels and different time scales. We provide reasons and means to incorporate each improvement into aquatic ecosystem models. Throughout this study we refer to Lake Victoria as a microcosm of the evolving novel social-ecological systems of the Anthropocene. The Lake Victoria case clearly shows how interlinked eco-evolutionary, novel ecosystem and social-ecological dynamics are, and demonstrates the need for transdisciplinary research approaches towards global sustainability. Highlights • We present a research agenda to enhance water quality modeling in the Anthropocene. • We review adaptive responses in organisms and ecosystems to global environmental change. • We focus on eco-evolutionary, novel ecosystem and social-ecological dynamics. • These dynamics act at different integration levels and different time scales. • Lake Victoria is an iconic example of an evolving novel social-ecological system

Large expert-curated database for benchmarking document similarity detection in biomedical literature search

Document recommendation systems for locating relevant literature have mostly relied on methods developed a decade ago. This is largely due to the lack of a large offline gold-standard benchmark of relevant documents that cover a variety of research fields such that newly developed literature search techniques can be compared, improved and translated into practice. To overcome this bottleneck, we have established the RElevant LIterature SearcH consortium consisting of more than 1500 scientists from 84 countries, who have collectively annotated the relevance of over 180 000 PubMed-listed articles with regard to their respective seed (input) article/s. The majority of annotations were contributed by highly experienced, original authors of the seed articles. The collected data cover 76% of all unique PubMed Medical Subject Headings descriptors. No systematic biases were observed across different experience levels, research fields or time spent on annotations. More importantly, annotations of the same document pairs contributed by different scientists were highly concordant. We further show that the three representative baseline methods used to generate recommended articles for evaluation (Okapi Best Matching 25, Term Frequency-Inverse Document Frequency and PubMed Related Articles) had similar overall performances. Additionally, we found that these methods each tend to produce distinct collections of recommended articles, suggesting that a hybrid method may be required to completely capture all relevant articles. The established database server located at https://relishdb.ict.griffith.edu.au is freely available for the downloading of annotation data and the blind testing of new methods. We expect that this benchmark will be useful for stimulating the development of new powerful techniques for title and title/abstract-based search engines for relevant articles in biomedical research.Peer reviewe

Echinococcus multilocularis Detection in Live Eurasian Beavers (Castor fiber) Using a Combination of Laparoscopy and Abdominal Ultrasound under Field Conditions

Echinococcus multilocularis is an important pathogenic zoonotic parasite of health concern, though absent in the United Kingdom. Eurasian beavers (Castor fiber) may act as a rare intermediate host, and so unscreened wild caught individuals may pose a potential risk of introducing this parasite to disease-free countries through translocation programs. There is currently no single definitive ante-mortem diagnostic test in intermediate hosts. An effective non-lethal diagnostic, feasible under field condition would be helpful to minimise parasite establishment risk, where indiscriminate culling is to be avoided. This study screened live beavers (captive, n = 18 or wild-trapped in Scotland, n = 12) and beaver cadavers (wild Scotland, n = 4 or Bavaria, n = 11), for the presence of E. multilocularis. Ultrasonography in combination with minimally invasive surgical examination of the abdomen by laparoscopy was viable under field conditions for real-time evaluation in beavers. Laparoscopy alone does not allow the operator to visualize the parenchyma of organs such as the liver, or inside the lumen of the gastrointestinal tract, hence the advantage of its combination with abdominal ultrasonography. All live beavers and Scottish cadavers were largely unremarkable in their haematology and serum biochemistry with no values suspicious for liver pathology or potentially indicative of E. multilocularis infection. This correlated well with ultrasound, laparoscopy, and immunoblotting, which were unremarkable in these individuals. Two wild Bavarian individuals were suspected E. multilocularis positive at post-mortem, through the presence of hepatic cysts. Sensitivity and specificity of a combination of laparoscopy and abdominal ultrasonography in the detection of parasitic liver cyst lesions was 100% in the subset of cadavers (95%Confidence Intervals 34.24-100%, and 86.7-100% respectively). For abdominal ultrasonography alone sensitivity was only 50% (95%CI 9.5-90.6%), with specificity being 100% (95%CI 79.2-100%). For laparoscopy alone sensitivity was 100% (95% CI 34.2-100%), with specificity also being 100% (95% CI 77.2-100%). Further immunoblotting, PCR and histopathological examination revealed one individual positive for E. multilocularis, whilst the other individual was positive for Taenia martis