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.

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Keywords: Engineering, Aerospace

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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.

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

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Augmented Reality for Space Applications

Abstract On Project: The Future space exploration will inevitably require astronauts to have a higher degree of autonomy in decision-making and contingency identification and resolution. Space robotics will eventually become a major aspect of this new challenge, therefore the ability to access digital information will become crucial for mission success. In order to give suited astronauts the ability to operate robots and access all necessary information for nominal operations and contingencies, this thesis proposes the introduction of In-Field-Of-View Head Mounted Display Systems in current Extravehicular Activity Spacesuits. The system will be capable of feeding task specific information on request, and through Augmented Reality technology, recognize and overlay information on the real world for error checking and status purposes The system will increase the astronaut's overall situational awareness and nominal task accuracy, reducing execution time and human error risk.

The aim of this system is to relieve astronauts of trivial cognitive workload, by guiding and checking on them in their operations. Secondary objectives of the system will be the introduction of electronic checklists, and the ability to display the status of the suit and surrounding systems as well as interaction capabilities. Features which could be introduced are endless due the nature of the system, allowing extreme flexibility and future evolution without major design changes. This work will focus on the preliminary design of an experimental Head Mounted Display and its testing for initial evaluation and comparison with existing information feed methods. The system will also be integrated and tested in the University of Maryland Space Systems Laboratory MX-2 experimental spacesuit analogue.

Keywords: Engineering, Aerospace Engineering, Aerospace Augmented Reality; Virtual Reality; Head Mounted Display; Vision Sensing

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Aerospace Project On Composite Construction of an Unmanned Aerial Vehicle

This is a Aerospace Project Report on Composite Construction of an Unmanned Aerial Vehicle. The purpose of this thesis is to develop an understanding of composite construction while building a systematic manufacturing and assembly process for the construction of an all-composite Unmanned Aerial Vehicle. Use this thesis only for your reference and study.

This thesis in intended for both beginners and advanced composite builders and documents the entire construction of a molded composite aircraft from CAD to Runway. Several processes are discussed including CNC Plug Milling and Foam Cutting, Wet Lay-up, Tooling Manufacturing and Vacuum Assisted Resin Transfer Molding (VARTM - Infusion).

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This is a Aerospace Project On Bending Of Selectively Reinforced Beams is good project report and experiment for students which aims to investigate the flexural behavior of structural beam elements through experimentation and analysis. Additionally, the goal of the experiment is to assess the utility of composite materials as reinforcement components. In this 3 beams will be tested viz. an aluminum beam, an aluminum with aluminum caps, and an aluminum with graphite/epoxy caps.The beam with the thin aluminum top and bottom pieces will theoretically deflect more than the beam with the extra aluminum caps.

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