Results for "Jekan Thangavelautham"

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Multirobot Cliff Climbing on Low-Gravity EnvironmentsMay 29 2017Jun 13 2017Exploration of extreme environments, including caves, canyons and cliffs on low-gravity surfaces such as the Moon, Mars and asteroids can provide insight into the geological history of the solar system, origins of water, life and prospect for future habitation ... More
Combined Thermal Control and GNC: An Enabling Technology for CubeSat Surface Probes and Small RobotsJan 26 2017Advances in GNC, particularly from miniaturized control electronics, reaction-wheels and attitude determination sensors make it possible to design surface probes and small robots to perform surface exploration and science on low-gravity environments. ... More
Motion Planning on an Asteroid Surface with Irregular Gravity FieldsFeb 06 2019There are thousands of asteroids in near-Earth space and millions in the Main Belt. They are diverse in physical properties and composition and are time capsules of the early solar system. This makes them strategic locations for planetary science, resource ... More
Spacecraft Swarm Attitude Control for Small Body Surface ObservationFeb 06 2019Understanding the physics of small bodies such as asteroids, comets, and planetary moons will help us understand the formation of the solar system, and also provide us with resources for a future space economy. Due to these reasons, missions to small ... More
Novel Use of Photovoltaics for Backup Spacecraft Laser Communication SystemFeb 03 2017Communication with a spacecraft is typically performed using Radio Frequency (RF). RF is a well-established and well-regulated technology that enables communication over long distances as proven by the Voyager 1 & II missions. However, RF requires licensing ... More
An Information Theoretic Approach to Sample Acquisition and Perception in Planetary RoboticsSep 14 2017An important and emerging component of planetary exploration is sample retrieval and return to Earth. Obtaining and analyzing rock samples can provide unprecedented insight into the geology, geo-history and prospects for finding past life and water. Current ... More
Modular Inflatable Composites for Space TelescopesDec 31 2018There is an every-growing need to construct large space telescopes and structures for observation of exo-planets, main-belt asteroids and NEOs. Space observation capabilities can significant enhanced by large-aperture structures. Structures extending ... More
FPGA Architecture for Deep Learning and its application to Planetary RoboticsJan 26 2017Autonomous control systems onboard planetary rovers and spacecraft benefit from having cognitive capabilities like learning so that they can adapt to unexpected situations in-situ. Q-learning is a form of reinforcement learning and it has been efficient ... More
Automated Design of CubeSats and Small SpacecraftsJan 06 2017The miniaturization of electronics, sensors and actuators has enabled the growing use of CubeSats and sub-20 kg spacecraft. Their reduced mass and volume has the potential to translate into significant reductions in required propellant and launch mass ... More
De-orbiting Small Satellites Using InflatablesSep 11 2018Small-satellites and CubeSats offer a low-cost pathway to access Low Earth Orbit at altitudes of 450 km and lower thanks to miniaturization and advancement in reliability of commercial electronics. However, at these low altitudes, atmospheric drag has ... More
Propelling Interplanetary Spacecraft Utilizing Water-SteamFeb 10 2019Water has been identified as a critical resource both to sustain human-life but also for use in propulsion, attitude-control, power, thermal and radiation pro-tection systems. Water may be obtained off-world through In-Situ Resource Utilization (ISRU) ... More
Precise Pointing of Cubesat Telescopes: Comparison Between Heat and Light Induced Attitude Control MethodsJan 26 2017CubeSats are emerging as low-cost tools to perform astronomy, exoplanet searches and earth observation. These satellites can target an object for science observation for weeks on end. This is typically not possible on larger missions where usage time ... More
Precision Pointing of Antennas in Space Using Arrays of Shape Memory Alloy Based Linear ActuatorsJan 26 2017Space systems such as communication satellites, earth observation satellites and space telescopes require precise pointing to observe fixed targets over prolonged time. These systems typically use reaction-wheels to slew the spacecraft and gimballing ... More
Attitude Control of Spacecraft Swarms for Visual Mapping of Planetary BodiesJan 13 2019Planetary bodies such as asteroids, comets, and planetary moons are high-value science targets as they hold important information about the formation and evolution of our solar system. However, due to their low-gravity, variable sizes and shapes, dedicated ... More
Satellite Capture and Servicing Using Networks of Tethered Robots Supported by Ground SurveillanceSep 06 2018There is ever growing demand for satellite constellations that perform global positioning, remote sensing, earth-imaging and relay communication. In these highly prized orbits, there are many obsolete and abandoned satellites and components strewn posing ... More
Coordination and Control of Multiple Climbing Robots in Transport of Heavy Loads through Extreme TerrainDec 30 2018The discovery of ice deposits in the permanently shadowed craters of the lunar North and South Pole Moon presents an important opportunity for In-Situ Resource Utilization. These ice deposits maybe the source for sustaining a lunar base or for enabling ... More
Evaluation of Mother-Daughter Architectures for Asteroid Belt ExplorationDec 28 2018This paper examines the effectiveness of an asteroid exploration architecture comprised of multiple nanosatellite sized spacecraft deployed from a single mother ship into a heliocentric orbit in the main asteroid belt where the mothership is ideally located ... More
Planning and Navigation of Climbing Robots in Low-Gravity EnvironmentsMar 15 2018Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots are unable to access rugged environments such as cliffs, canyons and crater ... More
Path Planning and Navigation Inside Off-World Lava Tubes and CavesMar 07 2018Detailed surface images of the Moon and Mars reveal hundreds of cave-like openings. These cave-like openings are theorized to be remnants of lava-tubes and their interior maybe in pristine conditions. These locations may have well preserved geological ... More
An Autonomous Passive Navigation Method for Nanosatellite Exploration of the Asteroid BeltFeb 08 2019There are more than 750,000 asteroids identified in the main belt. These asteroids are diverse in composition and size. Some of these asteroids can be traced back to the early solar system and can provide insight into the origins of the so-lar system, ... More
Control of a Bucket-Wheel for Surface Mining of Asteroids and Small-BodiesFeb 01 2017Feb 21 2017Near Earth Asteroids (NEAs) are thought to contain a wealth of resources, including water, iron, titanium, nickel, platinum and silicates. Future space missions that can exploit these resources by performing In-Situ Resource Utilization (ISRU) gain substantial ... More
Radiometric Actuators for Spacecraft Attitude ControlJan 26 2017CubeSats and small satellites are emerging as low-cost tools to perform astronomy, exoplanet searches and earth observation. These satellites can be dedicated to pointing at targets for weeks or months at a time. This is typically not possible on larger ... More
A Milli-Newton Propulsion System for the Asteroid Mobile Imager and Geologic Observer (AMIGO)Dec 31 2018Exploration of small bodies, namely comets and asteroids remain a challenging endeavor due to their low gravity. The risk is so high that missions such as Hayabusa II and OSIRIS-REx will be performing touch and go missions to obtain samples. The next ... More
Spherical Planetary Robot for Rugged Terrain TraversalJan 26 2017Feb 09 2017Wheeled planetary rovers such as the Mars Exploration Rovers (MERs) and Mars Science Laboratory (MSL) have provided unprecedented, detailed images of the Mars surface. However, these rovers are large and are of high-cost as they need to carry sophisticated ... More
The Design of Long-Life, High-Efficiency PEM Fuel Cell Power Supplies for Low Power Sensor NetworksMay 30 2017Oct 09 2017Field sensor networks have important applications in environmental monitoring, particularly climate change, air, water and soil quality, in disaster monitoring and in border security. The reduced cost of electronics, sensors and actuators make it possible ... More
Advanced Inflatable De-Orbit Solutions for Derelict Satellites and Orbital DebrisJan 25 2019The exponential rise in small-satellites and CubeSats in Low Earth Orbit (LEO) poses important challenges for future space traffic management. At altitudes of 600 km and lower, aerodynamic drag accelerates de-orbiting of satellites. However, placement ... More
An On-Orbit CubeSat Centrifuge for Asteroid Science and ExplorationDec 31 2018There are thousands of asteroids in near-Earth space and millions expected in the Main Belt. They are diverse in their physical properties and compositions. They are also time capsules of the early Solar System making them valuable for planetary science, ... More
A Spring Propelled Extreme Environment Robot for Off-World Cave ExplorationMar 19 2019Pits on the Moon and Mars are intriguing geological formations that have yet to be explored. These geological formations can provide protection from harsh diurnal temperature variations, ionizing radiation, and meteorite impacts. Some have proposed that ... More
Attitude Control of an Inflatable Sailplane for Mars ExplorationFeb 06 2019Feb 15 2019Exploration of Mars has been made possible using a series of landers, rovers and orbiters. The HiRise camera on the Mars Reconnaissance Orbiter (MRO) has captured high-resolution images covering large tracts of the surface. However, orbital images lack ... More
Attitude Control of the Asteroid Origins Satellite 1 (AOSAT 1)Jan 26 2017Exploration of asteroids and small-bodies can provide valuable insight into the origins of the solar system, into the origins of Earth and the origins of the building blocks of life. However, the low-gravity and unknown surface conditions of asteroids ... More
GNC of the SphereX Robot for Extreme Environment Exploration on MarsJan 26 2017Jan 31 2017Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that can utilize unconventional mobility through hopping, flying or rolling can overcome these limitations. Mul-tiple robots operating ... More
Guidance, Navigation and Control of Multirobot Systems in Cooperative Cliff ClimbingJan 26 2017Feb 21 2017The application of GNC devices on small robots is a game-changer that enables these robots to be mobile on low-gravity planetary surfaces and small bodies. Use of reaction wheels enables these robots to roll, hop, summersault and rest on precarious/sloped ... More
End to End Satellite Servicing and Space Debris ManagementJan 25 2019Feb 18 2019There is growing demand for satellite swarms and constellations for global positioning, remote sensing and relay communication in higher LEO orbits. This will result in many obsolete, damaged and abandoned satellites that will remain on-orbit beyond 25 ... More
End to End Satellite Servicing and Space Debris ManagementJan 25 2019There is growing demand for satellite swarms and constellations for global positioning, remote sensing and relay communication in higher LEO orbits. This will result in many obsolete, damaged and abandoned satellites that will remain on-orbit beyond 25 ... More
Attitude Control of an Inflatable Sailplane for Mars ExplorationFeb 06 2019Feb 07 2019Exploration of Mars has been made possible using a series of landers, rovers and orbiters. The HiRise camera on the Mars Reconnaissance Orbiter (MRO) has captured high-resolution images covering large tracts of the surface. However, orbital images lack ... More
Hybrid Fuel Cells Power for Long Duration Robot Missions in Field EnvironmentsFeb 01 2017Mobile robots are often needed for long duration missions. These include search and rescue, sentry, repair, surveillance and entertainment. Current power supply technology limit walking and climbing robots from many such missions. Internal combustion ... More
Laser Communication and Coordination Control of Spacecraft SwarmsJan 25 2019Swarms of small spacecraft offer whole new capabilities in Earth observation, global positioning and communications compared to a large monolithic spacecraft. These small spacecrafts can provide bigger apertures that increase gain in communication antennas, ... More
Optical Navigation for Interplanetary CubeSatsJan 26 2017CubeSats and small satellites are emerging as low-cost tools for performing science and exploration in deep space. These new classes of satellite exploit the latest advancement in miniaturization of electronics, power systems, and communication technologies ... More
An Experimental Platform for Multi-spacecraft Phase-Array CommunicationsMay 24 2017The emergence of small satellites and CubeSats for interplanetary exploration will mean hundreds if not thousands of spacecraft exploring every corner of the solar-system. Current methods for communication and tracking of deep space probes use ground ... More
Guidance, Navigation and Control of Asteroid Mobile Imager and Geologic Observer (AMIGO)Feb 06 2019The science and origins of asteroids is deemed high priority in the Planetary Science Decadal Survey. Major scientific goals for the study of planetesimals are to decipher geological processes in SSSBs not determinable from investigation via in-situ experimentation, ... More
A Cubesat Centrifuge for Long Duration Milligravity ResearchMay 22 2017May 23 2017We advocate a low-cost strategy for long-duration research into the 'milligravity' environment of asteroids, comets and small moons, where surface gravity is a vector field typically less than 1/1000 the gravity of Earth. Unlike the microgravity environment ... More
On-Orbit Smart Camera System to Observe Illuminated and Unilluminated Space ObjectsSep 06 2018The wide availability of Commercial Off-The-Shelf (COTS) electronics that can withstand Low Earth Orbit conditions has opened avenue for wide deployment of CubeSats and small-satellites. CubeSats thanks to their low developmental and launch costs offer ... More
GNC Challenges and Opportunities of CubeSat Science Missions Deployed from the Lunar GatewayMar 31 2019The Lunar Gateway is expected to be positioned on-orbit around the Moon or in a Halo orbit at the L2 Lagrange point. The proposed Lunar Gateway is a game-changer for enabling new, high-priority lunar science utilizing Cu-beSats and presents a refreshing ... More
Mobility and Science operations On An Asteroid Using a Hopping Small Spacecraft on StiltsJan 29 2018There are thousands of asteroids in near-Earth space and millions in the Main Belt. They are diverse in physical properties and composition and are time capsules of the early solar system. This makes them strategic locations for planetary science, resource ... More
Network of Nano-Landers for In-Situ Characterization of Asteroid Impact StudiesSep 09 2017Exploration of asteroids and comets can give insight into the origins of the solar system and can be instrumental in planetary defence and in-situ resource utilization (ISRU). Asteroids, due to their low gravity are a challenging target for surface exploration. ... More
Flying, Hopping Pit-Bots for Cave and Lava Tube Exploration on the Moon and MarsJan 26 2017Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that utilize unconventional mobility through hopping, flying and rolling can overcome many roughness limitations and thus extend ... More
Optimized Bucket Wheel Design for Asteroid ExcavationJan 26 2017Current spacecraft need to launch with all of their required fuel for travel. This limits the system performance, payload capacity, and mission flexibility. One compelling alternative is to perform In-Situ Resource Utilization (ISRU) by extracting fuel ... More
Autonomous Multirobot Excavation for Lunar ApplicationsJan 06 2017In this paper, a control approach called Artificial Neural Tissue (ANT) is applied to multirobot excavation for lunar base preparation tasks including clearing landing pads and burying of habitat modules. We show for the first time, a team of autonomous ... More