Mission Design and GNC for In-Orbit Demonstration of Active Debris Removal Technologies with CubeSats

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This paper presents the first practical results of a model-based approach to autonomous navigation applied to a small delta wing drone. The aerodynamic coefficients of the considered platform are unknown and need to be determined for the (vehicle dynamic) model-based navigation to work properly. The proposed approach uses post-processed INS/GNSS trajectory estimates of relatively high precision as observations to refine ``priors'' of aerodynamic coefficients via state-estimation (Extended Kalman Filter). Tw

The Global Navigation Satellite System (GNSS) refers to a constellation of satellites emitting signals from space, used to provide Position, Navigation and Timing (PNT) services to the receivers on Earth. Nowadays, the GNSS is exploited in a wide range of applications among which ground mapping, transportation, machine control, timing, surveying, defense, or aerial photogrammetry [1]. However, as we become more dependent on GNSS technology, we also become more vulnerable to its limitations [2]. The GNSS ope

In this case study, we apply the architecture-based design approach to the control software of the CubETH satellite. Architectures are a means for ensuring global coordination properties and thus, achieving correctness of complex systems by construction. The design approach comprises three main steps: 1) definition of a domain-specific taxonomy of architecture styles; 2) design of the software model by applying architectures to enforce the required properties; 3) deadlock-freedom analysis of the resulting m

Biogas is a fuel made from the anaerobic digestion of organic material to form methane. It can be used to power a stationary engine to generate electricity making it a viable method of decentralised power generation from renewables. However, biogas is a mixture of methane and carbon dioxide, and other trace gases such as hydrogen, hydrogen sulphide and oxygen. As such the quality can vary and setting the air-fuel ratio for efficient combustion can be problematic under these conditions. The Wobbe Index, or W

Recently, the energy-efficiency constraints have become the dominant limiting factor for datacenters due to their unprecedented increase of growing size and electrical power demands. In this chapter we explain the power and thermal modeling and control solutions which can play a key role to reduce the power consumption of datacenters considering time-varying workload characteristics while maintaining the performance requirements and the maximum temperature constraints. We first explain simple-yet-accurate p

The CubETH satellite mission, a cooperative Swiss CubeSat mission involving ETH Zurich, EPF Lausanne, several universities of applied sciences, and Swiss companies, will allow technology demonstrations and proof-of-concepts concerning GNSS-based navigation information by carrying five patch antennas, each connected to two independent u-blox NEO-7N receivers. These very small, commercially available low-cost receivers are able to track single-frequency code and phase data of all the major GNSS, i.e. GPS, GLO

Presentation of the COST Action TU 1302 SaPPART on Satellite Positioning Performance for Road Transport. SaPPART brings together experts in GNSS, ITS and mobility to address the open issues and guarantee the success of the standardisation for underpinning certification initiatives.

Characterization of gait is largely used for research on locomotion or for clinical improvement and follow up. There exists two main technologies for measurement of the kinematics of walking: IMU systems and optical tracking. Inertial measurement units are getting more and more popular because of their integrability, cost and lack of spatial limitations. Despite these advantages, optical motion tracking solutions offer a higher precision which is for various applications such as kinetics analysis. In that s

In this abstract, we combine work from [Lagarde et al., 2010] and [Calinon et al., 2009] for learning and reproduction of, respectively, navigation tasks on a mobile robot and gestures with a robot arm. Both approaches build a sensory motor map under human guidance to learn the desired behavior. With several actions possible at the same time, the selec- tion of action becomes a real issue. Several solutions exist to this problem : hi- erarchical architecture, parallel modules including subsumption architect

This paper explores the usability requirements of a navigation system for older adults by identifying the key usability and ergonomic problems in existing navigation systems and proposing a set of new guidelines for designing such systems. We also discuss the design of a new Route Assisting and Communication system for Elderly (RACE) in which design guidelines are incorporated. Our results are primarily obtained from a series of usability evaluations undertaken with the elderly. This paper also identifies a

Positioning, tracking and communication (PTC) systems are the basic components of cooperative systems, and it is their development in recent years that has in turn made possible the idea of cooperative systems. The ongoing developments of GNSS (Global Navigation Satellite System), of new short range communication systems either between vehicles (V2V) or between the vehicles and the roadside (V2I), lead to new possibilities which have to be taken into account in traffic management. These technologies a prima

The goal of the project is to implement a waypoint navigation using GPS as the position input, for an outdoor MAV. A waypoint navigation allows an operator to set a number of places (waypoints) where he wants the plane to pass. The waypoint navigation implemented for this project allows the user to fix a desired heading at every waypoint.

The quality of the laser point cloud georeferencing in airborne laser scanning missions is largely related to the quality of the GPS solution. The latter is obtained by post- processing the differential carrier-phase measurements in order to reach the required accuracy. This implies that errors or unacceptable quality in the gathered data that cause problems for the ambiguity resolution in the post- processing step are detected much later. The objective of this thesis is to investigate new concepts of GPS d

Speech-based command interfaces are becoming more and more common in cars. Applications include automatic dialog systems for hands-free phone calls as well as more advanced features such as navigation systems. However, interferences, such as speech from the codriver, can significantly hamper the performance of the speech recognition component, which is crucial for those applications. This issue can be addressed with {\em adaptive} interference cancellation techniques such as the Generalized Sidelobe Cancell

In this paper, a GPS-independent mobile navigation and mapping system is introduced. This system employs the photogrammetric intersection to determine the coordinates of the surrounding objects and then it uses these newly known objects to compute its own position, when it moves, by the photogrammetric resection.

Navigation is usually associated with marine and aviation domains. Except for some lighthouses for orientation or landmarks near the coast, navigation instruments are essential because routes are virtual. Therefore, current position of ships and aircrafts must be drawn on the map. Land navigation is generally bound to the road infrastructure. Car navigation systems have been introduced to replace the use of road maps in order to assist the driver in the choise of the correct way...

When satellite signals are available, the localisation of a pedestrian is fairly straightforward. However, in cities or indoors, dead reckoning systems are necessary. Our current research focuses on the development of algorithms for pedestrian navigation in both post-processing and real-time modes.

This abstract presents a perform study on SOLERO, a new and innovative rover concept for regional mobility on planetary surfaces. A rover is the most suited element to bring scientific instrument to a specific site in order to examine geology, mineralogy or exobiology on extraterrestrial planets. In contrast with the Mars Pathfinder mission, the actual need increases in terms of range and duration. These aspects lead to redesign many aspect of the past rovers, in particular the development of most suitable

Supercapacitors are new and powerful components for energy storage. Compared with batteries, the amount of energy they can store is low. But, as power sources they have the property to be re-loadable in a few seconds [1][2][3]. In that case, the needed instantaneous power can reach very huge values, sometime not compatible with the power that a power network or an energy source can provide [4][5]. To solve those power constraints, some solutions have been proposed which consist of using an intermediary supe

NOVELTY - At least some of wireless terminals can communicate over wireless links (2) in one or several hops with at least some of the other wireless terminals. The distances (dij) to one-hop neighbors may be measured in a number of the wireless terminals (1), using the distances measured in at least two terminals (1) to compute the location (x,y) of at least one other wireless terminal. USE - For determining the relative position of wireless terminals in a network without using GPS. ADVANTAGE - Generates a

Mission Design and GNC for In-Orbit Demonstration of Active Debris Removal Technologies with CubeSats

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RACE: Towards Exploring the Design Dimensions of a Route Assisting and Communicating System for Elderly

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Multichannel Speech Enhancement in Cars: Explicit vs. Implicit Adaptation Control

Photogrammetry-derived Navigation Parameters for INS Kalman Filter Updates

Personal Navigation System for Indoor Applications

Digital Magnetic Compass and Gyroscope Integration for Pedestrian Navigation

SOLERO : Solar Powered Exploration Rover

Energy feeding with sequential storage : Properties of the fast energy transfer between supercapacitive tanks

System and method for generating and maintaining a relative positioning system without GPS