Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

In 2004 NASA began investigation of a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would require estimates of the HST attitude and rates in order to achieve a capture by the proposed Hubble robotic vehicle (HRV). HRV was to be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The inertial HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a nonlinear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. The development includes an analysis of the estimator stability given errors in the measured attitude. Second, a linearized approach is developed. The linearized approach is a pseudo-linear Kalman filter. Simulation test results for both methods are given, including scenarios with erroneous measured attitudes. Even though the development began as an application for the HST robotic servicing mission, the methods presented are applicable to any rendezvous/capture mission involving a non-cooperative target spacecraft

Precision Pointing Control to and Accurate Target Estimation of a Non-Cooperative Vehicle

In 2004, NASA began investigating a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates in order to achieve capture by the proposed Hubble Robotic Vehicle (HRV), but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST. To generalize the situation, HST is the target vehicle and HRV is the chaser. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a control scheme. Non-cooperative in this context relates to the target vehicle no longer having the ability to maintain attitude control or transmit attitude knowledge

Neuromorphic regulation of dynamic systems using back propagation networks

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1988.Includes bibliographical references.by Robert M. Sanner.M.S

Accurate State Estimation and Tracking of a Non-Cooperative Target Vehicle

Autonomous space rendezvous scenarios require knowledge of the target vehicle state in order to safely dock with the chaser vehicle. Ideally, the target vehicle state information is derived from telemetered data, or with the use of known tracking points on the target vehicle. However, if the target vehicle is non-cooperative and does not have the ability to maintain attitude control, or transmit attitude knowledge, the docking becomes more challenging. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a tracking control scheme. The approach is tested with the robotic servicing mission concept for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates, but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST

Formation Control for the MAXIM Mission

Over the next twenty years, a wave of change is occurring in the space-based scientific remote sensing community. While the fundamental limits in the spatial and angular resolution achievable in spacecraft have been reached, based on today s technology, an expansive new technology base has appeared over the past decade in the area of Distributed Space Systems (DSS). A key subset of the DSS technology area is that which covers precision formation flying of space vehicles. Through precision formation flying, the baselines, previously defined by the largest monolithic structure which could fit in the largest launch vehicle fairing, are now virtually unlimited. Several missions including the Micro-Arcsecond X-ray Imaging Mission (MAXIM), and the Stellar Imager will drive the formation flying challenges to achieve unprecedented baselines for high resolution, extended-scene, interferometry in the ultraviolet and X-ray regimes. This paper focuses on establishing the feasibility for the formation control of the MAXIM mission. MAXIM formation flying requirements are on the order of microns, while Stellar Imager mission requirements are on the order of nanometers. This paper specifically addresses: (1) high-level science requirements for these missions and how they evolve into engineering requirements; and (2) the development of linearized equations of relative motion for a formation operating in an n-body gravitational field. Linearized equations of motion provide the ground work for linear formation control designs

VASCo: computation and visualization of annotated protein surface contacts

<p>Abstract</p> <p>Background</p> <p>Structural data from crystallographic analyses contain a vast amount of information on protein-protein contacts. Knowledge on protein-protein interactions is essential for understanding many processes in living cells. The methods to investigate these interactions range from genetics to biophysics, crystallography, bioinformatics and computer modeling. Also crystal contact information can be useful to understand biologically relevant protein oligomerisation as they rely in principle on the same physico-chemical interaction forces. Visualization of crystal and biological contact data including different surface properties can help to analyse protein-protein interactions.</p> <p>Results</p> <p>VASCo is a program package for the calculation of protein surface properties and the visualization of annotated surfaces. Special emphasis is laid on protein-protein interactions, which are calculated based on surface point distances. The same approach is used to compare surfaces of two aligned molecules. Molecular properties such as electrostatic potential or hydrophobicity are mapped onto these surface points. Molecular surfaces and the corresponding properties are calculated using well established programs integrated into the package, as well as using custom developed programs. The modular package can easily be extended to include new properties for annotation. The output of the program is most conveniently displayed in PyMOL using a custom-made plug-in.</p> <p>Conclusion</p> <p>VASCo supplements other available protein contact visualisation tools and provides additional information on biological interactions as well as on crystal contacts. The tool provides a unique feature to compare surfaces of two aligned molecules based on point distances and thereby facilitates the visualization and analysis of surface differences.</p

Stable adaptive control and recursive identification of nonlinear systems using radial Gaussian networks

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1993.Includes bibliographical references (p. 273-285).by Robert Michael Sunner.Ph.D

A Nonlinear Spacecraft Attitude Controller and Observer with an Unknown Constant Gyro Bias and Gyro Noise

A nonlinear control scheme for attitude control of a spacecraft is combined with a nonlinear gyro bias observer for the case of constant gyro bias, in the presence of gyro noise. The observer bias estimates converge exponentially to a mean square bound determined by the standard deviation of the gyro noise. The resulting coupled, closed loop dynamics are proven to be globally stable, with asymptotic tracking which is also mean square bounded. A simulation of the proposed observer-controller design is given for a rigid spacecraft tracking a specified, time-varying attitude sequence to illustrate the theoretical claims

Nonlinear Observers for Gyro Calibration

Nonlinear observers for gyro calibration are presented. The first observer estimates a constant gyro bias. The second observer estimates scale factor errors. The third observer estimates the gyro alignment for three orthogonal gyros. The convergence properties of all three observers are discussed. Additionally, all three observers are coupled with a nonlinear control algorithm. The stability of each of the resulting closed loop systems is analyzed. Simulated test results are presented for each system

QoS Tradeoffs for Guidance, Navigation, and Control

Future space missions will require onboard autonomy to reduce data, plan activities, and react appropriately to complex dynamic events. Software to support such behaviors is computationally-intensive but must execute with sufficient speed to accomplish mission goals. The limited processing resources onboard spacecraft must be split between the new software and required guidance, navigation, control, and communication tasks. To-date, controlrelated processes have been scheduled with fixed execution period, then autonomy processes are fit into remaining slack time slots. We propose the use of Quality-of-Service (QoS) negotiation to explicitly trade off the performance of all processing tasks, including those related to spacecraft control. We characterize controller performance based on exhaustive search and a Lyapunov optimization technique and present results that analytically predict worst-case performance degradation characteristics. The results are illustrated by application to a second-order linear system with a linear state feedback control law