An interior point linear programming approach to two-scan dataassociation

We present an efficient two-scan data association method (TSDA) based on an interior point linear programming (LP) approach. In this approach, the TSDA problem is first formulated as a 3-dimensional assignment problem, and then relaxed to a linear program; the latter is subsequently solved by the highly efficient homogeneous, self-dual interior point LP algorithm. When the LP algorithm generates a fractional optimal solution, we use a technique similar to the joint probabilistic data association method (JPDA) to compute a weighted average of the resulting fractional assignments, and use it to update the states of the existing tracks generated by Kalman filters. Unlike the traditional single scan JPDA method, our TSDA method provides an explicit mechanism for track initiation. Extensive computer simulations have demonstrated that the new TSDA method is not only far more efficient in terms of low computational complexity, but also considerably more accurate than the existing single-scan JPDA method     

A sample collector for robotic sample return missions III: Impact survivability studies

Laboratory impact tests have been performed on experimental versions of a proposed robotic sample collector for extraterrestrial samples. The collector consists of a retractable aluminum ring containing an impregnable silicone compound that is pressed into the surface of the body to be sampled. As part of a comprehensive program to evaluate this idea, we have performed tests to determine if the samples embedded in the collector medium can survive the impact forces experienced during direct reentry, such as that of the recent Genesis sample return mission. For the present study, samples of sand, rock, glass, and chalk were subjected to decelerations of 1440–2880 g using drop tests. We found that even the most fragile samples, chosen to be representative of a wide range of the types of materials found on the surface of asteroids that have currently been studied, can withstand impacts of the intensity experienced by a sample return capsule during direct reentry.     

Unmanned aircraft navigation for shipboard landing using infrared vision

This paper addresses the problem of determining the relative position and orientation of an unmanned air vehicle with respect to a ship using three visible points of known separation. The, images of the points are obtained from an onboard infrared camera. The paper develops a numerical solution to this problem. Both simulation and flight test results are presented.