The objective of this paper is to review the anticipated imaging and remote-sensing technology re... more The objective of this paper is to review the anticipated imaging and remote-sensing technology requirements for aerial vehicle survey missions to other planetary bodies in our Solar system that can support in-atmosphere flight. In the not too distant future such planetary aerial vehicle (a.k.a. aerial explorers) exploration missions will become feasible. Imaging and remote-sensing observations will be a key objective
Remote planetary exploration by autonomous vehicles in uncertain environments requires dynamic an... more Remote planetary exploration by autonomous vehicles in uncertain environments requires dynamic and highly adaptive decision making, behavior, and control mechanisms to maximize the chances of successful mission completion. We present in this paper an adaptive architecture for cognition, behavior and control of an autonomous unmanned aerial vehicle (UAV) Mars explorer called the Cognitive Emotion Layer (CEL) architecture that uses dynamical emotional response mechanisms to model explorer's response to continuous stimuli and provides adaptive decision making and control capabilities for the exploration platform
... ft (flight field restrictions) Engine Make/Model Zenoah G-38 Engine Type 2-Stroke Gas/Oil Eng... more ... ft (flight field restrictions) Engine Make/Model Zenoah G-38 Engine Type 2-Stroke Gas/Oil Engine Displacement 2.3 cu in (38 cc) Actuation/Servomotors Six (6) HiTec HS-5646MG DC Programmable Digital Ultra Torque Servos Primary CPU Diamond Athena 660MHz/128MB ...
The emergence of distributed technologies as a reliable infrastructure for real-time control is e... more The emergence of distributed technologies as a reliable infrastructure for real-time control is enabling a new generation of distributed plug-and-play control architectures and methodologies; increasingly common are control systems that pass real-time data across traditional system boundaries to utilize distributed remote sensing, processing, and actuation. The polymorphic control systems (PCS) project formalizes constructs that permits topological reconfiguration of control systems that span multiple heterogeneous systems and multiple communication mediums, towards the goal of control coordination and strategy optimization in a multi-system environment, increased resilience to failure and uncertainty, increased overall and individual performance, and better utilization of available resources. This paper presents the concepts behind PCS, and presents results from a flight test experiment involving distributed reconfiguration of an autonomous landing controller in a collaborative multi-vehicle environment. These flight test experiments demonstrate one of the goals of polymorphic reconfiguration: providing emergency assistance and collaborative coordination between multiple systems to achieve safely the mission critical objectives, where a system failure would have resulted in the loss of the aircraft.
The emergence of distributed technologies as a reliable infrastructure for real-time control is e... more The emergence of distributed technologies as a reliable infrastructure for real-time control is enabling a new generation of distributed plug-and-play control architectures and methodologies; increasingly common are control system formulations configured across ...
Page 1. American Institute of Aeronautics and Astronautics 1 Component-Based Plug-and-Play Method... more Page 1. American Institute of Aeronautics and Astronautics 1 Component-Based Plug-and-Play Methodologies for Rapid Embedded Technology Development Corey A Ippolito* and Greg Pisanich† QSS Group, Inc., NASA Ames Research Center, Moffett Field, CA 94035 ...
Usually, standard inertial navigation unit (INU) with global positioning system (GPS) provides re... more Usually, standard inertial navigation unit (INU) with global positioning system (GPS) provides relatively poor accuracy in altitude estimation, while autonomous landing of unmanned aerial vehicles (UAVs) requires accurate position estimation. In this paper, a UAV navigation system with aid from an external camera for landing is investigated. This paper presents: (i) a sensor fusion algorithm for passive monocular vision and INU based on the extended Kalman filter (EKF) considering measurement delay to improve the accuracy of position estimates, and (ii) a robust object-detection vision algorithm using optical flow. Pilot controlled landing experiments on a NASA UAV platform and the filter simulations validate the feasibility and performance of the proposed approach.
The objective of this paper is to review the anticipated imaging and remote-sensing technology re... more The objective of this paper is to review the anticipated imaging and remote-sensing technology requirements for aerial vehicle survey missions to other planetary bodies in our Solar system that can support in-atmosphere flight. In the not too distant future such planetary aerial vehicle (a.k.a. aerial explorers) exploration missions will become feasible. Imaging and remote-sensing observations will be a key objective
Remote planetary exploration by autonomous vehicles in uncertain environments requires dynamic an... more Remote planetary exploration by autonomous vehicles in uncertain environments requires dynamic and highly adaptive decision making, behavior, and control mechanisms to maximize the chances of successful mission completion. We present in this paper an adaptive architecture for cognition, behavior and control of an autonomous unmanned aerial vehicle (UAV) Mars explorer called the Cognitive Emotion Layer (CEL) architecture that uses dynamical emotional response mechanisms to model explorer's response to continuous stimuli and provides adaptive decision making and control capabilities for the exploration platform
... ft (flight field restrictions) Engine Make/Model Zenoah G-38 Engine Type 2-Stroke Gas/Oil Eng... more ... ft (flight field restrictions) Engine Make/Model Zenoah G-38 Engine Type 2-Stroke Gas/Oil Engine Displacement 2.3 cu in (38 cc) Actuation/Servomotors Six (6) HiTec HS-5646MG DC Programmable Digital Ultra Torque Servos Primary CPU Diamond Athena 660MHz/128MB ...
The emergence of distributed technologies as a reliable infrastructure for real-time control is e... more The emergence of distributed technologies as a reliable infrastructure for real-time control is enabling a new generation of distributed plug-and-play control architectures and methodologies; increasingly common are control systems that pass real-time data across traditional system boundaries to utilize distributed remote sensing, processing, and actuation. The polymorphic control systems (PCS) project formalizes constructs that permits topological reconfiguration of control systems that span multiple heterogeneous systems and multiple communication mediums, towards the goal of control coordination and strategy optimization in a multi-system environment, increased resilience to failure and uncertainty, increased overall and individual performance, and better utilization of available resources. This paper presents the concepts behind PCS, and presents results from a flight test experiment involving distributed reconfiguration of an autonomous landing controller in a collaborative multi-vehicle environment. These flight test experiments demonstrate one of the goals of polymorphic reconfiguration: providing emergency assistance and collaborative coordination between multiple systems to achieve safely the mission critical objectives, where a system failure would have resulted in the loss of the aircraft.
The objective of this paper is to review the anticipated imaging and remote-sensing technology re... more The objective of this paper is to review the anticipated imaging and remote-sensing technology requirements for aerial vehicle survey missions to other planetary bodies in our Solar system that can support in-atmosphere flight. In the not too distant future such planetary aerial vehicle (a.k.a. aerial explorers) exploration missions will become feasible. Imaging and remote-sensing observations will be a key objective
Remote planetary exploration by autonomous vehicles in uncertain environments requires dynamic an... more Remote planetary exploration by autonomous vehicles in uncertain environments requires dynamic and highly adaptive decision making, behavior, and control mechanisms to maximize the chances of successful mission completion. We present in this paper an adaptive architecture for cognition, behavior and control of an autonomous unmanned aerial vehicle (UAV) Mars explorer called the Cognitive Emotion Layer (CEL) architecture that uses dynamical emotional response mechanisms to model explorer's response to continuous stimuli and provides adaptive decision making and control capabilities for the exploration platform
... ft (flight field restrictions) Engine Make/Model Zenoah G-38 Engine Type 2-Stroke Gas/Oil Eng... more ... ft (flight field restrictions) Engine Make/Model Zenoah G-38 Engine Type 2-Stroke Gas/Oil Engine Displacement 2.3 cu in (38 cc) Actuation/Servomotors Six (6) HiTec HS-5646MG DC Programmable Digital Ultra Torque Servos Primary CPU Diamond Athena 660MHz/128MB ...
The emergence of distributed technologies as a reliable infrastructure for real-time control is e... more The emergence of distributed technologies as a reliable infrastructure for real-time control is enabling a new generation of distributed plug-and-play control architectures and methodologies; increasingly common are control systems that pass real-time data across traditional system boundaries to utilize distributed remote sensing, processing, and actuation. The polymorphic control systems (PCS) project formalizes constructs that permits topological reconfiguration of control systems that span multiple heterogeneous systems and multiple communication mediums, towards the goal of control coordination and strategy optimization in a multi-system environment, increased resilience to failure and uncertainty, increased overall and individual performance, and better utilization of available resources. This paper presents the concepts behind PCS, and presents results from a flight test experiment involving distributed reconfiguration of an autonomous landing controller in a collaborative multi-vehicle environment. These flight test experiments demonstrate one of the goals of polymorphic reconfiguration: providing emergency assistance and collaborative coordination between multiple systems to achieve safely the mission critical objectives, where a system failure would have resulted in the loss of the aircraft.
The emergence of distributed technologies as a reliable infrastructure for real-time control is e... more The emergence of distributed technologies as a reliable infrastructure for real-time control is enabling a new generation of distributed plug-and-play control architectures and methodologies; increasingly common are control system formulations configured across ...
Page 1. American Institute of Aeronautics and Astronautics 1 Component-Based Plug-and-Play Method... more Page 1. American Institute of Aeronautics and Astronautics 1 Component-Based Plug-and-Play Methodologies for Rapid Embedded Technology Development Corey A Ippolito* and Greg Pisanich† QSS Group, Inc., NASA Ames Research Center, Moffett Field, CA 94035 ...
Usually, standard inertial navigation unit (INU) with global positioning system (GPS) provides re... more Usually, standard inertial navigation unit (INU) with global positioning system (GPS) provides relatively poor accuracy in altitude estimation, while autonomous landing of unmanned aerial vehicles (UAVs) requires accurate position estimation. In this paper, a UAV navigation system with aid from an external camera for landing is investigated. This paper presents: (i) a sensor fusion algorithm for passive monocular vision and INU based on the extended Kalman filter (EKF) considering measurement delay to improve the accuracy of position estimates, and (ii) a robust object-detection vision algorithm using optical flow. Pilot controlled landing experiments on a NASA UAV platform and the filter simulations validate the feasibility and performance of the proposed approach.
The objective of this paper is to review the anticipated imaging and remote-sensing technology re... more The objective of this paper is to review the anticipated imaging and remote-sensing technology requirements for aerial vehicle survey missions to other planetary bodies in our Solar system that can support in-atmosphere flight. In the not too distant future such planetary aerial vehicle (a.k.a. aerial explorers) exploration missions will become feasible. Imaging and remote-sensing observations will be a key objective
Remote planetary exploration by autonomous vehicles in uncertain environments requires dynamic an... more Remote planetary exploration by autonomous vehicles in uncertain environments requires dynamic and highly adaptive decision making, behavior, and control mechanisms to maximize the chances of successful mission completion. We present in this paper an adaptive architecture for cognition, behavior and control of an autonomous unmanned aerial vehicle (UAV) Mars explorer called the Cognitive Emotion Layer (CEL) architecture that uses dynamical emotional response mechanisms to model explorer's response to continuous stimuli and provides adaptive decision making and control capabilities for the exploration platform
... ft (flight field restrictions) Engine Make/Model Zenoah G-38 Engine Type 2-Stroke Gas/Oil Eng... more ... ft (flight field restrictions) Engine Make/Model Zenoah G-38 Engine Type 2-Stroke Gas/Oil Engine Displacement 2.3 cu in (38 cc) Actuation/Servomotors Six (6) HiTec HS-5646MG DC Programmable Digital Ultra Torque Servos Primary CPU Diamond Athena 660MHz/128MB ...
The emergence of distributed technologies as a reliable infrastructure for real-time control is e... more The emergence of distributed technologies as a reliable infrastructure for real-time control is enabling a new generation of distributed plug-and-play control architectures and methodologies; increasingly common are control systems that pass real-time data across traditional system boundaries to utilize distributed remote sensing, processing, and actuation. The polymorphic control systems (PCS) project formalizes constructs that permits topological reconfiguration of control systems that span multiple heterogeneous systems and multiple communication mediums, towards the goal of control coordination and strategy optimization in a multi-system environment, increased resilience to failure and uncertainty, increased overall and individual performance, and better utilization of available resources. This paper presents the concepts behind PCS, and presents results from a flight test experiment involving distributed reconfiguration of an autonomous landing controller in a collaborative multi-vehicle environment. These flight test experiments demonstrate one of the goals of polymorphic reconfiguration: providing emergency assistance and collaborative coordination between multiple systems to achieve safely the mission critical objectives, where a system failure would have resulted in the loss of the aircraft.
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