Search results for "Payload"
showing 10 items of 37 documents
Vision based attitude and altitude estimation for UAVs in dark environments
2011
This paper presents a system dedicated to the real-time estimation of attitude and altitude for unmanned aerial vehicles (UAV) under low light and dark environment. This system consists in a fisheye camera, which allows to cover a large field of view (FOV), and a laser circle projector mounted on a fixed baseline. The approach, close to structured light systems, uses the geometrical information obtained by the projection of the laser circle onto the ground plane and perceived by the camera. We present a theoretical study of the system in which the camera is modelled as a sphere and show that the estimation of a conic on this sphere allows to obtain the attitude and the altitude of the robot…
Dynamic Modeling of Planar Multi-Link Flexible Manipulators
2021
A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each link. The eigenvalue problem associated with the mass boundary conditions, which changes with the robot configuration and payload, is discussed. The time-domain simulation results and frequency-domain analysis of the dynamic model are presented to show the validity of the theoretical derivation.
Flexible integration of robotics, ultrasonics and metrology for the inspection of aerospace components
2016
The performance of modern robotic manipulators has allowed research in recent years, for the development of fast automated non-destructive testing (NDT) of complex geometries. Contemporary robots are well suited for their accuracy and flexibility when adapting to new tasks. Several robotic inspection prototype systems and a number of commercial products have been created around the world. This paper describes the latest progress of a new phase of the research applied to a composite aerospace component of size 1 by 3 metres. A multi robot flexible inspection cell was used to take the fundamental research and the feasibility studies to higher technology readiness levels, all set for future in…
A Geometrical Approach for Vision Based Attitude and Altitude Estimation for UAVs in Dark Environments
2012
International audience; This paper presents a single camera and laser system dedicated to the realtime estimation of attitude and altitude for unmanned aerial vehicles (UAV) under low illumination conditions to dark environments. The fisheye camera allows to cover a large field of view (FOV). The approach, close to structured light systems, uses the geometrical information obtained by the projection of a laser circle onto the ground plane and perceived by the camera. We propose some experiments based on simulated data and real sequences. The results show good agreement with the ground truth values from the commercial sensors in terms of its accuracy and correctness. The results also prove i…
A comprehensive review of energy sources for unmanned aerial vehicles, their shortfalls and opportunities for improvements
2020
Unmanned Aerial Vehicles were first introduced almost 40 years ago and their applications have increased and diversified substantially since then, in both commercial and private use. One of the UAVs main issues when it comes to mobility is that the power sources available are inadequate, this highlights an area for improvement as the interest in drones is on the increase. There exist many different types of power supplies applied to UAVs, however each has their own limitations and strengths that pertain to weight contributions, charging and discharging times, size, payload capabilities, energy density and power density. The aim of this paper is to review the main power sources available for…
Land surface temperature retrieval from thermal infrared data: An assessment in the context of the Surface Processes and Ecosystem Changes Through Re…
2005
[1] SPECTRA (Surface Processes and Ecosystem Changes Through Response Analysis) is one of the core candidate missions which is being proposed for implementation in the European Space Agency (ESA) Earth Explorer program of research oriented missions. The scientific objective of the SPECTRA mission is to describe, understand, and model the role of terrestrial vegetation in the global carbon cycle and its response to climate variability under the increasing pressure of human activity. The SPECTRA satellite will embark an optical hyperspectral payload covering the solar spectral range (0.4 to 2.4 μm) and thermal infrared region (10.3 to 12.3 μm). This paper is focused on the land surface temper…
MINISAT-01: Hybrid satellite for science and technology
2003
Abstract The MINISAT-01 is a good example of a small hybrid space mission for science and technology. The MINISAT-01 main goal was to prove the Spanish industrial capability to develop a space mission including flight hardware, ground segment support, launch and operations. MINISAT-01 science was addressed to perform astronomical observations and microgravity experiments. The Payload has also a hybrid character. It is a combination of a previously flown experiment on fluid mechanics in microgravity (CPLM), a fully developed astronomical far-ultraviolet spectroscope (EURD) and a demonstrator of technology for a gamma-ray imagers (LEGRI). A small experiment to deploy systems in space was also…
The scientific payload on-board the HERMES-TP and HERMES-SP CubeSat missions
2021
HERMES (High Energy Rapid Modular Ensemble of Satellites) Technological and Scientific pathfinder is a space borne mission based on a LEO constellation of nano-satellites. The 3U CubeSat buses host new miniaturized detectors to probe the temporal emission of bright high-energy transients such as Gamma-Ray Bursts (GRBs). Fast transient localization, in a field of view of several steradians and with arcmin-level accuracy, is gained by comparing time delays among the same event detection epochs occurred on at least 3 nano-satellites. With a launch date in 2022, HERMES transient monitoring represents a keystone capability to complement the next generation of gravitational wave experiments. In t…
Aalto-1, multi-payload CubeSat: Design, integration and launch
2021
The design, integration, testing, and launch of the first Finnish satellite Aalto-1 is briefly presented in this paper. Aalto-1, a three-unit CubeSat, launched into Sun-synchronous polar orbit at an altitude of approximately 500 km, is operational since June 2017. It carries three experimental payloads: Aalto Spectral Imager (AaSI), Radiation Monitor (RADMON), and Electrostatic Plasma Brake (EPB). AaSI is a hyperspectral imager in visible and near-infrared (NIR) wavelength bands, RADMON is an energetic particle detector and EPB is a de-orbiting technology demonstration payload. The platform was designed to accommodate multiple payloads while ensuring sufficient data, power, radio, mechanica…
Noise reduction in asteroid imaging using a miniaturized spectral imager
2021
In October 2024, European Space Agency’s Hera mission will be launched, targeting the binary asteroid Didymos. Hera will host the Juventas and Milani CubeSats, the first CubeSats to orbit close to a small celestial body performing scientific and technological operations. The primary scientific payload of the Milani CubeSat is the SWIR, NIR, and VIS imaging spectrometer ASPECT. The Milani mission objectives include mapping the global composition and the characterization of the binary asteroid surface. Onboard data processing and evaluation steps will be applied due to the limited data budget for the downlink to Earth and to perform the technological demonstration of a novel semi-autonomous h…