Navigation, Guidance, Control and Dynamics Commons^™

Gnss Software Defined Radio: History, Current Developments, And Standardization Efforts, Thomas Pany, Dennis Akos, Javier Arribas, M. Zahidul H. Bhuiyan, Pau Closas, Fabio Dovis, Ignacio Fernandez-Hernandez, Carles Fernandez-Prades, Sanjeev Gunawardena, Todd Humphreys, Zaher M. Kassas, Jose A. Lopez Salcedo, Mario Nicola, Mario L. Psiaki, Alexander Rugamer, Yong-Jin Song, Jong-Hoon Won

Faculty Publications

Taking the work conducted by the global navigation satellite system (GNSS) software-defined radio (SDR) working group during the last decade as a seed, this contribution summarizes, for the first time, the history of GNSS SDR development. This report highlights selected SDR implementations and achievements that are available to the public or that influenced the general development of SDR. Aspects related to the standardization process of intermediate-frequency sample data and metadata are discussed, and an update of the Institute of Navigation SDR Standard is proposed. This work focuses on GNSS SDR implementations in general-purpose processors and leaves aside developments conducted on …

Safe Navigation Of Quadruped Robots Using Density Functions, Andrew Zheng

All Theses

Safe navigation of mission-critical systems is of utmost importance in many modern autonomous applications. Over the past decades, the approach to the problem has consisted of using probabilistic methods, such as sample-based planners, to generate feasible, safe solutions to the navigation problem. However, these methods use iterative safety checks to guarantee the safety of the system, which can become quite complex. The navigation problem can also be solved in feedback form using potential field methods. Navigation function, a class of potential field methods, is an analytical control design to give almost everywhere convergence properties, but under certain topological constraints and …

Controlled Manipulation And Transport By Microswimmers In Stokes Flows, Jake Buzhardt

All Dissertations

Remotely actuated microscale swimming robots have the potential to revolutionize many aspects of biomedicine. However, for the longterm goals of this field of research to be achievable, it is necessary to develop modelling, simulation, and control strategies which effectively and efficiently account for not only the motion of individual swimmers, but also the complex interactions of such swimmers with their environment including other nearby swimmers, boundaries, other cargo and passive particles, and the fluid medium itself. The aim of this thesis is to study these problems in simulation from the perspective of controls and dynamical systems, with a particular focus …

Kwad - Ksu All Weather Autonomous Drone, Nick Farinacci, Sebastian Gomez, Stewart Baker, Ed Sheridan

Symposium of Student Scholars

"KWAD" or "KSU all-Weather Autonomous Drone" project was sponsored by Ultool, LLC to the KSU Research and Service Foundation to create a lightweight drone capable of capturing HD video during all-weather operations. The conditions of all-weather operation include rainfall of one inch per hour and wind speeds of up to twenty miles per hour. In addition, a global minimum structural safety factor of two is required to ensure the system's integrity in extreme weather conditions. Potential mission profiles include autonomous aerial delivery, topological mapping in high moisture areas, security surveillance, search and rescue operations, emergency transportation of medical supplies, and …

Hardware-In-The-Loop Reaction Wheel Testbed With Camera Vision, Abigail Romero, Harvey Perkins, Stephen Kwok-Choon

College of Engineering Summer Undergraduate Research Program

Reaction wheels are widely used in aerospace systems as a method of attitude control. This research was focused on the design, development, and testing of a hardware-in-the-loop reaction wheel testbed that can be used for research and teaching applications related to satellite navigation and control. This project successfully utilized commercial off-the-shelf components to develop a reaction wheel capable of controlling the orientation of a freely rotating platform, as well as tracking objects using computer vision.

Crazyflie 2.1 Quadcopter Nonlinear System Identification, Nhat V. Nguyen, Hope Storro, John Plimpton

2023 Symposium

Quadcopters (quad) are used widely in many industries with crucial applications such as infrastructure inspection or package delivery. The Crazyflie 2.1 quad from Bitcraze provides an excellent platform for research and development. In this project, our goal is to perform system identification on the Crazyflie to propose a complete model. A gray box method is explored, which includes leveraging the parameters that are already known, to develop a set of equations. Through theory, simulations, and measurements, a complete quadcopter model is developed.

Instrumented Control Column For Optionally Piloted Aircraft, Andrew J. Klein

Electrical Engineering

Natilus, an aerospace company that is rapid-prototyping optionally piloted aircraft (OPA) for the shipping industry, needs a system that retrieves control column position data in order to manipulate flight simulator parameters in software. At present, a universally compatible system for all aircraft does not exist. Typically, established aerospace companies will sink significant time and money into developing proprietary systems for control column data retrieval as every aircraft is unique in its layout and linkage design. However, as a startup developing their first aircraft, Natilus does not have the privilege of modifying an existing sensor system to work with their HIL …

Assessing The Performance Of A Particle Swarm Optimization Mobility Algorithm In A Hybrid Wi-Fi/Lora Flying Ad Hoc Network, William David Paredes

UNF Graduate Theses and Dissertations

Research on Flying Ad-Hoc Networks (FANETs) has increased due to the availability of Unmanned Aerial Vehicles (UAVs) and the electronic components that control and connect them. Many applications, such as 3D mapping, construction inspection, or emergency response operations could benefit from an application and adaptation of swarm intelligence-based deployments of multiple UAVs. Such groups of cooperating UAVs, through the use of local rules, could be seen as network nodes establishing an ad-hoc network for communication purposes.

One FANET application is to provide communication coverage over an area where communication infrastructure is unavailable. A crucial part of a FANET implementation is …

On-Board Artificial Intelligence For Failure Detection And Safe Trajectory Generation, Eduardo Morillo

Doctoral Dissertations and Master's Theses

The use of autonomous flight vehicles has recently increased due to their versatility and capability of carrying out different type of missions in a wide range of flight conditions. Adequate commanded trajectory generation and modification, as well as high-performance trajectory tracking control laws have been an essential focus of researchers given that integration into the National Air Space (NAS) is becoming a primary need. However, the operational safety of these systems can be easily affected if abnormal flight conditions are present, thereby compromising the nominal bounds of design of the system's flight envelop and trajectory following. This thesis focuses on …

Dynamic Perimeter Movement Using Uavs And Robotic Systems, Nayeli Barrett, John Lawson, Billy Kihei

Symposium of Student Scholars

For this study, we propose a Dynamic Perimeter Movement system that has a user-operated UAV to identify GPS coordinate points using land markers such as April Tags. These markers would be used to identify the perimeter of a road work zone. Once the work zone is determined, autonomous robotic traffic cones would disperse to position themselves around the perimeter determined by coordinate points. As the work zone progresses the UAV would periodically update the perimeter to reposition robotic traffic cones. These traffic cones will operate using a Pure Pursuit system as a means to navigate.

Uav Positioning Data Determined Via Aruco Tags For Aircraft Surface Inspection, Caleb B. Schmidt

Theses and Dissertations

Aircraft are frequently inspected to ensure that military and civilian safety standards are adhered to. These inspections are performed pre- and post-flight and are currently performed by trained maintenance personnel. This work furthers the automation of aircraft surface inspection by using ArUco tags to determine the position of the UAV during aerial inspections. The ArUco tag based position data was then compared to a highly accurate infrared motion capture system to determine the viability of this for accurate positioning of the vehicle. This work includes flight experiments with two different UAVs to perform a system viability comparison.

Magnetic Anomaly Absolute Positioning For Hypersonic Aircraft, Alexander J. Mcneil

Theses and Dissertations

GPS has proven to be an extremely valuable asset for navigation, and timing. GPS has become the standard navigation system for all applications, but GPS has limitations. GPS is susceptible to jamming, spoofing, and in the case of hypersonic aircraft, is likely unavailable. When an aircraft is traveling at hypersonic speeds, there is a plasma sheath that surrounds the aircraft. This plasma sheath blocks electromagnetic waves, and is therefore responsible for a GPS blackout. GPS unavailability for hypersonic aircraft has prompted the research into the viability of alternate navigation systems for these aircraft. This paper seeks to explore the viability …

Issue 18: Contributors, Don Flournoy

Online Journal of Space Communication

List of Issue 18 Contributors

Sunsat Design Competition 2015-2016 First Place Winner – Team Space Transport: Power Satellites Beamed Energy Bootstrapping, Keith Henson, Anna Nesterova

Online Journal of Space Communication

This International SunSat Design Competition first-place winner for 2016 describes a beamed energy transport system that will operate in Space above low earth orbit (LEO) as a way to move power satellite parts into high orbits.

This design, entitled “Beamed Energy Bootstrapping,” makes use of small propulsion power satellites to provide the energy for space-based vehicles using electric arcjets. The proposal lays out a scheme to get the first propulsion power satellite in place without damage as it passes through the orbiting space junk below 2000 km.

Click here to see the video: Space Transport for Power Satellites Beamed Energy …

Sunsat Design Competition 2015-2016 Second Place Winner – Team Pathway To Power : Wireless Power Transfer, Javier Tandazo, Ethan Wong, Curtis Waggoner, John Guggenheim, Alexander Carter

Online Journal of Space Communication

Solar Power Satellites (SPS) using Wireless Power Transfer (WPT) to beam renewable energy to consumers on earth face three grand challenges: moving parts, heat dissipation, and radio interference. Solutions to each of these “show stoppers” are presented here. Further, a progressively more-complex pathway is described which starts where we are now and leads step-wise to implementation of large-scale Space Solar Power (SSP).

The first two grand challenges are addressed by a novel SPS design based on a thin-walled cylinder configuration of solar panels. The remaining challenge is tackled through a newly-discovered antenna configuration which allows dramatic reduction in radio/telecom interference …

Sunsat Design Competition 2014-2015 Third Place Winner – Team Martian: Space Solar Power Test Bed, Jeremy Straub, Tristan Plante, Benjamin Kading, Alex Holland, Landon Klein, Jordan Forbord

Online Journal of Space Communication

We propose a four-stage plan to demonstrate the effectiveness and safety of Space Solar Power (SSP) for use on Earth. Our project goal is to achieve Technology Readiness Level (TRL) by means of: 1) a test mission in low Earth orbit using a small spacecraft; 2) that will support a manned mission to Mars; 3) that includes a bent pipe experiment (power supplied from Earth, to a spacecraft and back to Earth), and 4) to complete system deployment.

The primary impediment to SSP implementation is thought to be the acceptance of the system by those on Earth who may be …

Sunsat Design Competition 2014-2015 First Place Winner – Team Cast: Multi-Rotary Joints Sps, Xinbin Hou, Meng Li, Lili Niu, Lu Zhou, Ying Chen, Zhengai Cheng, Haipeng Ji

Online Journal of Space Communication

Space Power Satellite (SPS) is a huge spacecraft designed to collect solar energy in space for supplying electric power to the electric grid on the ground. The SPS concept was first proposed by Dr. Peter Glaser in 1968.

Various studies on SPS in various countries have been produced over the past forty years. Today, there are multiple variations on this early concept, both in innovation and in optimization. Because of the huge size, immense mass and high power of these SPS installations, there are many technological difficulties.

Here, a new Multi-Rotary Joints SPS (MR-SPS) concept is proposed. The large solar …

Sunsat Design Competition 2014-2015 Second Place Winner – Team Sunflower: Thermal Power Satellite, Keith Henson, Steve Nixon, Kris Holland, Anna Nesterova

Online Journal of Space Communication

Space-based Solar Power has failed to be competitive on cost in spite of decades of study. A new approach appears to resolve the cost issue, undercutting coal and opening huge markets for low cost solar power from space. There are two parts to the problem. First is the cost of lifting parts to Geosynchronous Earth Orbit (GEO; second is the mass of parts that make up a power satellite.

Our team is proposing a combination that makes use of Skylon to Low Earth Orbit (LEO), and a 15,000 ton payload ground powered electric propulsion from LEO to GEO. This strategy …

Sunsat Design Competition 2013-2014 Third Place Winner – Team University Of North Dakota: Nano Ssp Satellite, Corey Bergsrud, Robert Bernaciak, Ben Kading, John Mcclure, Jeremy Straub, Subin Shahukhal, Karl Williams

Online Journal of Space Communication

This work presents the conceptualization of a Space-to-Space Microwave Wireless Power Transmission (S2S-MWPT) experimental demonstration mission using small spacecraft. Literature reviews [1, 2] suggest a stepwise procedure for technology demonstrations in support of advancing space solar power satellite (SSPS) systems. These technologies should be verified first on Earth and then in-space using small satellites. This project built its S2S-MWPT demonstration concept within the University NanoSat program restrictions (dimensions of 50cm x 50cm x 60cm and mass of 50kg). The idea is to use these upper limit restrictions to develop the MWPT spacecraft (MicroSat). Contained inside the MicroSat …

Sunsat Design Competition 2013-2014 Second Place Winner – Team Solar Maximum Llc: Sun-Synchronous Orbits, Danny R. Jones, Anna Nesterova

Online Journal of Space Communication

The orbital location of PowerSats plays a critical role in determining the mass of the solar power satellite (PowerSat) transmitter and the size of the rectenna on the Earth’s surface. These in turn play an important role in the cost of deploying the PowerSat, especially the cost of launching the PowerSat into orbit as the transmitter makes up a large part of the PowerSats mass. We will consider a new approach to PowerSat orbital positioning by considering a circular sun-synchronous orbit at 5,185.3 kilometers with an inclination of 142.1 degrees. Locating the PowerSat at this location offers several benefits and …

Sunsat Design Competition 2013-2014 First Place Winner – Team Rajiv Gandhi University: Helioastra, Akhil Raj Kumar Kalapala, Krishna Bhavana Sivaraju

Online Journal of Space Communication

HelioAstra is a creative design and visualization of an advanced Space Solar Power system. Its concept is validated by a credible science and engineering approach and an innovative business plan.

The space and ground receiving segments are made up of high efficiency Fresnel lens concentrator quantum dot solar cells. The solar array in space is sized at 933 m2. It delivers 1 MW (1000 kW) of perennial, clean and eco-friendly solar electric power at the bus-bars on the ground.

A solid state laser system containing Neodymium doped Yttrium Aluminium garnet (Nd: Y3Al5O12) will accurately and efficiently transmit power. A ground …

Issue 17: Contributors, Don Flournoy

Online Journal of Space Communication

List of Issue 17 Contributors

A Us-India Power Exchange Towards A Space Power Grid, Brendan Dessanti, Nicholas Picon, Carlos Rios, Shaan Shah, Narayanan Komerath

Online Journal of Space Communication

The Space Power Grid (SPG) architecture
described in papers from our group since 2006, is an
evolutionary approach to realizing the global dream of
Space Solar Power (SSP). SPG first concentrates on helping
terrestrial power plants become viable, aligning with public
policy priorities. It enables a real -time power exchange
through Space to help locate new plants at ideal but remote
sites, smooth supply fluctuations, reach high-valued
markets, and achieve baseload status. With retail cost kept
to moderate levels, a constellation grows in 17 years to 100
power relay satellites at 2000 km sun-synchronous and
equatorial orbits and 250 terrestrial …

From Uranium Enrichment To Renewable Energy: Conversion Of The Us-Doe’S Former Portsmouth Gaseous Diffusion Plant (Ports) In Piketon, Ohio, Into A Clean Energy Production Facility Within A Decade, Don Flournoy, Shmuel Roth, Mohammad Ala-Uddin

Online Journal of Space Communication

The large-scale energy production projects described here, of which the
Portsmouth Solar Power Production site at Piketon Ohio is the illustrative
example, are chosen to describe how multi-megawatt quantities of “baseload”
renewable electrical power can be reliably generated from terrestrial solar farms.
Also to be shown are the steps to be taken in making these energy resources
simultaneously available to local and global power grids, 24-hours-a-day 12-
months-a-year.
This paper focuses attention on The U.S. Department Of Energy’s former
Portsmouth Gaseous Diffusion Plant (PORTS), a Cold War-era uranium
enrichment plant located on a secure 3,700+ acres in a rural area …

Space Solar Power Aids Space Settlement, Gaurav Kumar, Deepak Talwar, Harmanjot Singh Walia, Mahiyal B. Singh, Kaenat Seth, Ishaan Mehta, Navdeep Singh Makkar

Online Journal of Space Communication

The Grand Prize for the 2011 NASA Ames Space Settlement Contest went to a team of 7 students (11-12 grades) from Punjab, India for creating the Hyperion Space Settlement. This year the contest received 355 submissions from 1078 students sponsored by 114 teachers. Entries came from 14 countries: Australia, Bulgaria, Canada, China, India, Ireland, Japan, Pakistan, Romania, Singapore, Turkey, Ukraine, United Arab Emirates, and the United States. The prize was conferred on the students during the International Space Development Conference 2011 (ISDC 2011) held in Huntsville, Alabama, USA.

Advisors: The teachers of Spring Dale Senior School in Amritsar, India. Stephen …

Space Solar Rectifying Antenna On Earth, Corey Bergsrud, Timothy Dito, Matthew Anderson, Matthew Clausing, Chase Freidig

Online Journal of Space Communication

The realization of solar power from space is becoming increasingly closer as a solution to solving the continued growth in energy demand. Space based solar power is also being perceived as an alternative solution for non-renewable energy resources. Future solar power satellites will be positioned in orbit around the Earth where they will collect solar radiation. That radiation will be transformed into a microwave energy beam that is targeted to a receiving rectifying antenna or “rectenna” located on Earth’s surface. The received microwave energy will be converted into direct current electricity.

This presentation focuses on the microwave patch antennas used …

From Uranium Enrichment To Renewable Energy, Harold Bon, Solomon Brown, Michael Cisneros, Kent Engel, Tyler Goldberg, Matt Kissel, Alexa Krivoniak, Brandon Lutz, Zach Reese, Amanda Roberts, Colin Stonerook, Zoe Zeszut, Anthony Zoccola

Online Journal of Space Communication

The goal of this Science/Engineering visualization is to show how gigawatt quantities of renewable energy can be generated at former nuclear processing sites as they are repurposed into industrial scale electrical power generation stations. The breakthrough product of this research is the design of an integrated terrestrial solar/space energy receiving station that will produce “baseload” electricity 24 hours a day.

This research focuses attention on a Cold War-era uranium enrichment facility located on 3,700 acres of land in a rural area of SE Ohio. This site is judged to be suitable for research leading to the first-ever combination ground-based and …

Space Solar Power With Sunsynchronous Orbits, Michael Blohm, Alan Guy, Kyle Perkins, Adam Roades, Samantha Williams

Online Journal of Space Communication

The basic problem being addressed here is the high initial cost of solar power satellite (SPS) systems. The cost is higher for GEO orbits because of the large solar array and transmitter sizes required from that distance, and the expense of lifting such a mass into the higher orbits. Aperture size is proportional to the distance the power is beamed; thus transmitter apertures can be smaller when nearer to Earth.

Decreasing the distance energy must be beamed through space means that the powersat need not be so large, or as expensive. Implementation of sunsynchronous sunsats will likely be a more …

Solar Sails: Towards An Early Profitable Powersat, Jake Coggiano, John Dees, Ryan Heitkemper, Lauren Valko

Online Journal of Space Communication

Successful development of space solar power would provide vast quantities of clean electrical energy for the next few billion years. Such a prize is worth considerable effort and risk. However, the technical difficulties and the huge scale of proposed systems, requiring enormous up front costs and long development times, have prevented SSP from making much progress.

If a way could be found to field a small SSP system profitably, even if limited to niche markets, operational progress could be made with relatively small investments over short time scales. This visualization explores the concept of a “thin-film heliogyro” – a solar …

Space Solar Power For Agriculture, Max Alvarez, Alex Wiseman, Alex Welsh, Rashmi Sharma, Adedayo Ogundimu, Brian Woods

Online Journal of Space Communication

As the global population increases, it's becoming more important for nations to be able to feed themselves. Unfortunately, while some developing nations may be able to produce large amounts of fruits and vegetables, they may lack access to facilities for food preservation. This problem is at the heart of food security issues across Asia and Africa. Working in consultation with Peter Garretson, an International Affairs Fellow in India, our Ohio University student team has designed a space-based solar power solution that addresses this need, with the potential to provide many secondary benefits. While our project targets the Indian subcontinent and …