Decentralized formation pose estimation for spacecraft swarms

For spacecraft swarms, the multi-agent localization algorithm must scale well with the number of spacecraft and adapt to time-varying communication and relative sensing networks. In this paper, we present a decentralized, scalable algorithm for swarm localization, called the Decentralized Pose Estimation (DPE) algorithm. The DPE considers both communication and relative sensing graphs and defines an observable local formation. Each spacecraft jointly localizes its local subset of spacecraft using direct and communicated measurements. Since the algorithm is local, the algorithm complexity does not grow with the number of spacecraft in the swarm. As part of the DPE, we present the Swarm Reference Frame Estimation (SRFE) algorithm, a distributed consensus algorithm to co-estimate a common Local-Vertical, Local-Horizontal (LVLH) frame. The DPE combined with the SRFE provides a scalable, fully-decentralized navigation solution that can be used for swarm control and motion planning. Numerical simulations and experiments using Caltech’s robotic spacecraft simulators are presented to validate the effectiveness and scalability of the DPE algorithm.     

Orbital and angular motion construction for low thrust interplanetary flight

Low thrust interplanetary flight is considered. Firstly, the fuel-optimal control is found. Then the angular motion is synthesized. This motion provides the thruster tracking of the required by optimal control direction. And, finally, reaction wheel control law for tracking this angular motion is proposed and implemented. The numerical example is given and total operation time for thrusters is found. Disturbances from solar pressure, thrust eccentricity, inaccuracy of reaction wheels installation and errors of inertia tensor are taken into account.     

Direct comparison of transient radiation belt topology and dynamics in 1991 based on measurements onboard Mir space station and NOAA satellite.

In March 1991 the CRRES spacecraft measured a new transient radiation belt resulting from a solar proton event and subsequent geomagnetic disturbance. The presence of this belt was also noted by dosimeter-radiometers aboard the Mir space station (approx. 400 km, 51 degrees orbit) and by particle telescopes on the NOAA-10 spacecraft (850 km, 98 degrees). This event provides a unique opportunity to compare particle flux and dose measurements made by different instruments in different orbits under changing conditions. We present here a comparison of the measurements made by the different detectors. We discuss the topology and dynamics of the transient radiation belt over a period of more than one year.     

Allometry in vestibular responses of anurans

Frogs and toads turn either their heads or bodies opposite to angular accelerations applied around the yaw axis. Thresholds exist for the minimum angular acceleration that induces this vestibulomotor response in individual frogs. These thresholds were recorded for several anuran species that cover a broad range of sizes and life styles. Interspecific variation in the magnitude of the thresholds, which correlated with the ecology and behavior of the species, was documented. Also an allometric relationship was observed between this threshold and body size; the larger the frog, the lower the threshold. In many species, the threshold value for reflexive vestibulomotor responses to angular acceleration was proportional to the -0.4 (+/-0.2) power of body mass. Physical dimensions of the semicircular canals determine, in part, vestibular sensitivity to angular acceleration. Hence changes with growth in the semicircular canals are believed to contribute to the slope of -0.4. The biological significance of this allometry in vestibular responses is discussed and compared to trends in vestibular sensitivity and semicircular canal morphology of other vertebrate classes.     

What Are Special About Ground-Level Events?

Ground level events (GLEs) occupy the high-energy end of gradual solar energetic particle (SEP) events. They are associated with coronal mass ejections (CMEs) and solar flares, but we still do not clearly understand the special conditions that produce these rare events. During Solar Cycle 23, a total of 16 GLEs were registered, by ground-based neutron monitors. We first ask if these GLEs are clearly distinguishable from other SEP events observed from space. Setting aside possible difficulties in identifying all GLEs consistently, we then try to find observables which may unmistakably isolate these GLEs by studying the basic properties of the associated eruptions and the active regions (ARs) that produced them. It is found that neither the magnitudes of the CMEs and flares nor the complexities of the ARs give sufficient conditions for GLEs. It is possible to find CMEs, flares or ARs that are not associated with GLEs but that have more extreme properties than those associated with GLEs. We also try to evaluate the importance of magnetic field connection of the AR with Earth on the detection of GLEs and their onset times. Using the potential field source surface (PFSS) model, a half of the GLEs are found to be well-connected. However, the GLE onset time with respect to the onset of the associated flare and CME does not strongly depend on how well-connected the AR is. The GLE onset behavior may be largely determined by when and where the CME-driven shock develops. We could not relate the shocks responsible for the onsets of past GLEs with features in solar images, but the combined data from the Solar TErrestrial RElations Observatory (STEREO) and the Solar Dynamics Observatory (SDO) have the potential to change this for GLEs that may occur in the rising phase of Solar Cycle 24.     

Reanalysis of radiation belt electron phase space density using various boundary conditions and loss models

Data assimilation is becoming an increasingly important tool for understanding the near Earth hazardous radiation environments. Reanalysis of the radiation belts can be used to identify the electron acceleration mechanism and distinguish local acceleration from radial diffusion. However, for any practical applications we need to determine how reliable is reanalysis, and how significant is the dependence of the results on the assumptions of the code and choice of boundary conditions. We present the sensitivity of reanalysis of the radiation belt electron phase space density (PSD) to the assumed location of the outer boundary, using the VERB code and a Kalman filter. We analyze the sensitivity of reanalysis to changes in the electron-loss throughout the domain, and the sensitivity to the assumed boundary condition and its effect on the innovation vector. All the simulations presented in this study for all assumed loss models and boundary conditions, show that peaks in the phase space density of relativistic electrons build up between 4.5 and 6 R_E during relativistic electron flux enhancements in the outer radiation belt. This clearly shows that peaks build up in the heart of the electron radiation belt independent of the assumptions in the model, and that local acceleration is operating there. The work here is also an important step toward performing reanalysis using observations from current and future missions.     

A new vibrational genetic algorithm enhanced with a Voronoi diagram for path planning of autonomous UAV

A new optimization algorithm called multi-frequency vibrational genetic algorithm (mVGA) that can be used to solve the path planning problems of autonomous unmanned aerial vehicles (UAVs) is significantly improved. The algorithm emphasizes a new mutation application strategy and diversity variety such as the global random and the local random diversity. Clustering method and Voronoi diagram concepts are used within the initial population phase of mVGA process. The new algorithm and three additional GAs in the literature are applied to the path planning problem in two different three-dimensional (3D) environments such as sinusoidal and city type terrain models, and their results are compared. For both of the demonstration problems considered, remarkable reductions in the computational times have been accomplished.     

Radiation environment on the Mir orbital station during solar minimum.

The Mir station has been in a 51.65 degrees inclination orbit since March 1986. In March 1995, the first US astronaut flew on the Mir-18 mission and returned on the Space Shuttle in July 1995. Since then three additional US astronauts have stayed on orbit for up to 6 months. Since the return of the first US astronaut, both the Spektr and Priroda modules have docked with Mir station, altering the mass shielding distribution. Radiation measurements, including the direct comparison of US and Russian absorbed dose rates in the Base Block of the Mir station, were made during the Mir-18 and -19 missions. There is a significant variation of dose rates across the core module; the six locations sampled showed a variation of a factor of nearly two. A tissue equivalent proportional counter (TEPC) measured a total absorbed dose rate of 300 microGy/day, roughly equally divided between the rate due to trapped protons from the South Atlantic Anomaly (SAA) and galactic cosmic radiation (GCR). This dose rate is about a factor of two lower than the rate measured by the thinly shielded (0.5 g cm-2 of Al) operational ion chamber (R-16), and about 3/2 of the rate of the more heavily shielded (3.5 g cm-2 of Al) ion chamber. This is due to the differences in the mass shielding properties at the location of these detectors. A comparison of integral linear energy transfer (LET) spectra measured by TEPC and plastic nuclear track detectors (PNTDs) deployed side by side are in remarkable agreement in the LET region of 15-1000 keV/micrometer, where the PNTDs are fully efficient. The average quality factor, using the ICRP-26 definition, was 2.6, which is higher than normally used. There is excellent agreement between the measured GCR dose rate and model calculations, but this is not true for trapped protons. The measured Mir-18 crew skin dose equivalent rate was 1133 microSv/day. Using the skin dose rate and anatomical models, we have estimated the blood-forming organ (BFO) dose rate and the maximum stay time in orbit for International Space Station crew members.     

Modeling the pre-earthquake electrostatic effect on the F region ionosphere

This paper presents the results of modeling the ionospheric effect of the seismogenic electrostatic field (SEF) seen at the earth’s surface as a perturbation of the vertical atmospheric electrostatic field in the earthquake preparation zone. The SEF distribution at ionospheric altitudes is obtained as an analytical solution of the continuity equation for the electric current density. It is shown that at night, the horizontally large scale SEF can efficiently penetrate into the ionosphere and produce noticeable changes in the horizontal distribution of the F region electron density. The results suggest that the seismogenic electrostatic field could be a possible source for the ionospheric variations observed over Taiwan before the strong Chi Chi earthquake of September 21, 1999.