consortium for autonomous space systems cass texas a&m university. air force research...

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Consortium for Autonomous Space Systems CASS Texas A&M University . Air Force Research Laboratory . University of Texas

Dynamics and Control UpdateDynamics and Control Update

Texas A&M UniversityTexas A&M University

John ValasekJohn Valasek28 February 200728 February 2007

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Consortium for Autonomous Space Systems CASSTexas A&M University . Air Force Research Laboratory . University of Texas

Full Professors– Hyland (half time with Dean’s Office)– Junkins– Strganac – Vadali– ?????

Associate Professors– Hurtado– Mortari– Pollock – Valasek

Assistant Professors– Bhattacharya*– Chakravorty*– Kalmar-Nagy*

________________________*not yet tenured

Migrations– Alfriend– Ward– Crassidis

Adjunct– Turner

Aerospace D&C FacultyAerospace D&C Faculty

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Receiver UAVWingspan: 11.5 ftWing Area: 2107 in2Aspect Ratio: 9Airfoil: 4412 at the root, 2412 at the tipFuel systems: 64 oz model fuel tankWeight: 58 lbsPower plant: Brison 6.4cu intwin cylinder engine rated at 9 BHP (without muffler)C&I Electronic IgnitionPropeller: 24” diameter with 12" pitch

Tanker UAVWingspan: 14.25 ftWing Area: 2880 in2Aspect Ratio: 10Airfoil: 4412 at the root, 2412 at the tipFuel systems: 64 oz model fuel tankWeight: 70 lbs Power plant: Brison 6.4cu intwin cylinder engine rated at 9 BHP (without muffler)C&I Electronic IgnitionPropeller: 26” diameter with 10" pitch

Goal: demonstrate first air-to-air docking of UAV tanker and UAV receiver, without human supervision or intervention

Scheduled for 2nd Quarter 2007 Sensor– VisNav relative navigation

optical sensor Controller

– Reference Observer Tracking Controller (ROTC)

Air Vehicles– Custom

Phase II SBIR 10+ flights to date Refueling hardware installed Sensor integration

proceeding

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• Project Introduction• 11+ years of space flight, nanosatellite design, student education at ASU

• Over 750 students (mostly undergraduate and of all disciplines and levels)• Provision of real aerospace projects

• Sounding rocket launch out of Wallops Island in 2000• Several high-altitude balloon launches• Two major satellite programs launched with the Air Force

• ASUSat1 on 1st OSP Space Launch Vehicle “Minotaur” out of Vandenberg in Jan 2000

• Three Corner Sat on Delta IV Heavy Demo out of Cape Canaveral in Dec 2004 as part of University Nanosat program I/II

• AggieSat Lab established in March 2005 • Vision Statement: To demonstrate and develop modern technologies by

utilizing nanosatellite platform while educating students and enriching undergraduate experience.

• Problem/Challenge• Consider lessons learned from our previous missions, provide systems perspective

and implement realistic experimental program featuring series of satellites.

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Current ProjectsCurrent Projects

• AggieSat1• AFRL UN4

Competition– 30 kg

nanosatellite – Demonstrating

RSM Architecture

• AggieSat2– JSC/TAMUS/UT

Austin Collaboration

– 3.5 kg cubesat

– Inaugural Mission of LONESTAR Campaign

• AggieSat3– AFRL UN5

Competition

– 50 kg nanosatellite

– Relative navigation demonstration

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• AggieSat2: 1st of 4 satellite pairs 4th pair of satellites will demonstrate autonomous

rendezvous and docking (ARD) AggieSat2 will test communications and GPS systems Work directly with Johnson Space Center (JSC) Collaborative effort with University of Texas at Austin

LONESTAR LONESTAR (Low-earth Orbiting Experimental (Low-earth Orbiting Experimental Satellites to Test Autonomous Rendezvous)Satellites to Test Autonomous Rendezvous)

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COM & Tracking

Demo

System Test Flight

ARD Sensor/ Mechanism Validation

Complete ARD Demo

Baseline CampaignBaseline Campaign

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Consortium for Autonomous Space Systems CASS Texas A&M University . Air Force Research Laboratory . University of Texas

DOD Consortium for DOD Consortium for Autonomous Space SystemsAutonomous Space Systems

(CASS) (CASS)

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CASS Goals ICASS Goals I Enable Collaboration Between the Air Force Research

Laboratory and CASS Universities to– Conduct Research on Important Autonomous Spacecraft Technology

Accelerate Progress to Address Critical DOD Needs Accelerate Technology Transfer to Next Generation DOD Spacecraft Systems

– Enhance Education of the Future Aerospace Workforce Involve both graduate and undergraduate students (U.S. Citizens, about 70

students/year) in research

Enhance and Utilize the Unique Strengths of Two Excellent Academic Institutions:

Texas A&M University and the University of Texas, … teamed with AFRL and Industry

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Conduct Basic and Applied Research to Enable the Next Generation of DOD Space Systems that are

– More Intelligent and More Autonomous Self-Aware, Self-Healing, and Re-Configurable

– Lighter/Smaller for a Given Functionality Less Expensive to Launch

– More Responsive and More Adaptive Cooperation of multi-spacecraft systems

Research and Develop Innovative Spacecraft Designs:– Advanced Computing, Sensing, and Intelligent Control Systems for Responsive Space and

Counter Space Mission Scenarios Modular Plug and Play Sub-System Designs

– Engineering models and flight prototypes to facilitate technology validation and transfer Team with industry

CASS Goals IICASS Goals II

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Operation of CASSOperation of CASS– CASS research will have five major thrusts:

Smart Sensing Technologies Satellite Design Satellite Constellation and Formation Analysis Autonomous Control Methods Precision Navigation and Orbit Determination

– Each project will be formed by the advisory board; the teams may draw expertise from several thrusts with PIs from both Universities, and will typically cross the boundaries of the above thrusts

– Typically about 10 projects will be active at any time.

– Frequent reviews will stress collaboration and each project will be evaluated based upon measures of how well the work is achieving its goals; progress toward technology transfer will be considered.

– The AFRL advisors will assist the advisory board in planning the research projects for each year in evaluations/feedback.

– Funds for projects which fail to make satisfactory progress will be re-programmed by the advisory board to accelerate successful projects.

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CASS Organizational StructureCASS Organizational Structure

John L. Junkins/NAELead Principal Investigator

TEES/Texas A&M University

Byron Tapley/NAELead Principal Investigator

The University of Texas

Dr. ABC, A&M PILead PI forResearch

Topic TAMU-1

Dr. XYZ, A&M PILead PI forResearch

Topic TAMU-N

…Dr. ABC, UT PI

Lead PI forResearch Topic UT-1

Dr. XYZ , UT PILead PI forResearch

Topic UT-N

…

Staff

Industry partners

Grad students

Undergrad students

Staff

Industry partners

Grad students

Undergrad students

Staff

Industry partners

Grad students

Undergrad students

Staff

Industry partners

Grad students

Undergrad students

Dr. James D. TurnerOperational Director

TEES Admin and Fiscal Staff

John L. Junkins, DirectorTexas Engineering Experiment StationAFRL

Dr. Robinson Contract Monitor

Advisory Board Dr. Bishop Dr. Reed Dr. Tapley Dr. XYZ

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Constellations and Imaging for Standoff Space Situational AwarenessConstellations and Imaging for Standoff Space Situational AwarenessD. C. Hyland (PI), S. Chakravorty (Co-PI), D. Mortari (Co-PI)D. C. Hyland (PI), S. Chakravorty (Co-PI), D. Mortari (Co-PI)-- Exploits Entry Pupil Processing Technologies for design of a LEO-based observatory for ultra-fine -- Exploits Entry Pupil Processing Technologies for design of a LEO-based observatory for ultra-fine resolution imaging of GEO objectsresolution imaging of GEO objects

Entry Pupil Processing: System Level --Entry Pupil Processing: System Level --

One s/c receives the data signals. Determines coherence values and reconstructs image

Each s/c records

photodetector output signal

and sends data via comm. to coordinating

s/c

Each spacecraft an independent, interchangeable light collector.

No formation-keeping constraints (at the nanometer level) for the transfer of collected beams

Metrology requirements for Hanbury Brown-Twiss technique are extremely benign

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Earth

Low Earth Orbit

Object at GEO

String of free-flying telescopes, all pointing toward the GEO object

Illustrative Concept: The “String of Pearls” Constellation

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Example: “Skylab” at GEOExample: “Skylab” at GEO

1 pixel =1 cm

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Performance of Full Aperture TelescopesPerformance of Full Aperture Telescopes

Image with 10m monolithic telescope at

LEO

Image with 50m telescope at LEO

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Reconstructed Image: Reconstructed Image: = 0.5 , Total length of formation = 1800 m. Resolution = 1cm.

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Polar view of the “Inclined Ellipse” Flower Constellation

Axonometric view of the “Inclined Ellipse” Flower Constellation

More Sophisticated Constellation Deigns: Flower Constellations

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Active Maneuvering Strategies for High Active Maneuvering Strategies for High Resolution ImagingResolution Imaging

Problem Statement: Design of optimal maneuvers for the imaging of space objects at a desired resolution using multiple Separated Spacecraft Interferometry

PIs: Dr. S. R. Vadali and Dr. S. Chakravorty Importance to AFRL: Mission Analysis Tool that allows for the

complete design of an active maneuvering system given the parameters of the desired mission such as “desired resolution”, “Orbit Location/ size: Near-Earth or Libration point”, “desired fuel usage”, “size of telescopes” and “number of spacecraft”.

Extremely useful tool for designing space systems for Space Situational Awareness, a long-term goal of AFRL.

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Real-Time, Sub-Optimal Control Real-Time, Sub-Optimal Control for Multi-Vehicle Systemsfor Multi-Vehicle Systems

John E. Hurtado, Tamás Kalmár-Nagy


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XY

Z

V1L6C1G99

ISAT Model

XY

Z

V1L6C1G2

ISATpartially deployed

Deployed Section

(proprietary information of Lockheed Martin and Harris Corporation)

Modulating Retro-Reflectorsmounted on local (section) metrology sensor

ISAT End View:Section Metrology

Three MRRs per section sensor are imaged by VisNav sensormounted on the Central Body

Any of several local metrology sensors can be used to Make the on the local measurements of each section.

Local SectionMetrologySensor

Global MetrologySensor View of

The MRRs onThe Section

Sensors

Sensors and Algorithms for Large Space Structure MetrologySensors and Algorithms for Large Space Structure MetrologyJunkins, Hurtado, collaboration with StarVision Technology, Lockheed Martin, et alJunkins, Hurtado, collaboration with StarVision Technology, Lockheed Martin, et al

VisNav

Creamer, et alNRL

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SEARCH: Space-Eye Awareness and SEARCH: Space-Eye Awareness and Reconnaissance Camera HardwareReconnaissance Camera Hardware

Compatible orbit for periodic close encounters– Rendezvous / Single / Dual Impulse transfers– Many S/C (Gen. Cluster & 7th Space Cavarly)– Touch-to-GEO with Flower Constellations

High dynamic range imaging (HRDI)– Full information from different levels of illumination– Data processing at video rate– Hardware solution

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Autonomous Mobile Robotic System Autonomous Mobile Robotic System Concepts to Enable Ground Testing ofConcepts to Enable Ground Testing ofMulti-Spacecraft Proximity OperationsMulti-Spacecraft Proximity Operations

John Junkins, John Valasek


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Stewie VideoStewie Video


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Point of Contact

John Valasek

Aerospace Engineering Department

Texas A&M University

3141 TAMU

College Station, TX 77843-3141

(979) 845-1685

[email protected]

Department Web Page– http://aero.tamu.edu

consortium for autonomous space systems cass texas a&m university. air force research...

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