Related papers: A Raspberry Pi-Based Attitude Sensor
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
This manuscript contains a description and basic principles for observing inaccessible areas using low cost, easily deployed equipment. The basic premise is to suspend a tiny video camera at an altitude of 10 - 200 meters over the area to…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…
A model of carrier phase measurement (as carried out by a satellite navigation receiver) is formulated based on electromagnetic theory. The model shows that the phase of the open-circuit voltage induced in the receiver antenna with respect…
Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…
The hand-eye measurements have recently been proven to be very efficient for spacecraft attitude determination relative to an ellipsoidal asteroid. However, recent method does not guarantee full attitude observability for all conditions.…
Exploring planetary bodies with lower gravity, such as the moon and Mars, allows legged robots to utilize jumping as an efficient form of locomotion thus giving them a valuable advantage over traditional rovers for exploration. Motivated by…
Hardware and software architecture of a novel spacecraft Attitude Determination and Control System (ADCS) based on smartphones using Variable Speed Control Moment Gyroscope (VSCMG) as actuator is proposed here. A spacecraft ground simulator…
This paper presents the design and control of a ballbot drivetrain that aims to achieve high agility, minimal footprint, and high payload capacity while maintaining dynamic stability. Two hardware platforms and analytical models were…
An active device for radon detection in the air was developed. The monitor operates in pulse counting mode for real-time continuous measurements. The presented prototype has a relatively simple design made of low-price and easy to acquire…
Stratospheric balloons have emerged as an affordable and flexible alternative to traditional spacecrafts as they are implemented using commercial off-the-shelf (COTS) equipment without following strict methodologies. HERCCULES is a…
Recent spacecraft mission concepts propose larger payloads that have lighter, less rigid structures. For large lightweight structures, the natural frequencies of their vibration modes may fall within the attitude controller bandwidth,…
In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures.…
This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are…
In order to obtain the damping and resistance coefficients of a pendulum, we constructed an optical system containing a photogate for measuring the speed of the pendulum at the lowest point of motion. The photogate consisted of a…
Event cameras are a promising candidate to enable high speed vision-based control due to their low sensor latency and high temporal resolution. However, purely event-based feedback has yet to be used in the control of drones. In this work,…
Standing water in agricultural fields threatens vehicle mobility and crop health. This paper presents a deployed edge architecture for standing-water detection using Raspberry-Pi-class devices with optional Jetson acceleration. Camera input…
This paper presents a detailed system design and component selection for the Transforming Proximity Operations and Docking Service (TPODS) module, designed to gain custody of uncontrolled resident space objects (RSOs) via rendezvous and…