Autonomous Target Recognition and Localization for Manipulator Sampling Tasks

This is a Aeronautical Engineering Theses

Abstract on Project: Future exploration missions will require autonomous robotic operations to minimize overhead on human operators. Autonomous manipulation in unknown environments requires target identification and tracking from initial discovery through grasp and stow sequences. Even with a supervisor in the loop, automating target identification and localization processes significantly lowers operator workload and data throughput requirements. This thesis introduces the Autonomous Vision Application for Target Acquisition and Ranging (AVATAR), a software system capable of recognizing appropriate targets and determining their locations for manipulator retrieval tasks.

AVATAR utilizes an RGB color filter to segment possible sampling or tracking targets, applies geometric-based matching constraints, and performs stereo triangulation to determine absolute 3-D target position. Neutral buoyancy and 1-G tests verify AVATAR capabilities over a diverse matrix of targets and visual environments as well as camera and manipulator configurations. AVATAR repeatably and reliably recognizes targets and provides real-time position data sufficiently accurate for autonomous sampling.

You can also Subscribe to AeronauticalProjects by Email for more such Projects and Seminar.

Keywords: Engineering, Aerospace

Download File

Axisymmetric Inlet Design for Combined Cycle Engines

Abstract of Project: This project Report is all about the Performance considerations for a turbine-based combined-cycle engine inlet are presented using the inlet of the Lockheed SR-71 as a baseline. A numerical model is developed using the axisymmetric method of characteristics to perform full inviscid flow analysis, including any internal shock reflections. Self-starting characteristics are quantified based upon the Kantrowitz limit. The original SR-71 inlet is analyzed throughout the designed self-starting regime, beginning at Mach 1.7 and ending with the shock-on-lip condition at Mach 3.2.

The characteristics model is validated using computational fluid dynamics. A series of modifications are then considered for their ability to extend the range of the inlet into the hypersonic flight regime. Self-starting characteristics of these new designs are also characterized; results indicate that two new designs can maintain self-starting capability into the Mach 6-7 range. Full external and internal flow properties of the new designs are determined using the characteristics model. Mach number, total pressure ratio, temperature, pressure and mass flow properties (and their levels of distortion) are quantified at the inlet exit plane for all cases considered.

You can also Subscribe to AeronauticalProjects by Email for more such Projects and Seminar.

Keywords: Engineering, Aerospace inlet; combined cycle; propulsion; aerodynamics;

Download