Tracking a Non-Cooperative Target Using Real-Time Stereovision-Based Control: An Experimental Study.

Tracking a non-cooperative target is a challenge, because in unfamiliar environments most targets are unknown and unspecified. Stereovision is suited to deal with this issue, because it allows to passively scan large areas and estimate the relative position, velocity and shape of objects. This research is an experimental effort aimed at developing, implementing and evaluating a real-time non-cooperative target tracking methods using stereovision measurements only. A computer-vision feature detection and matching algorithm was developed in order to identify and locate the target in the captured images. Three different filters were designed for estimating the relative position and velocity, and their performance was compared. A line-of-sight control algorithm was used for the purpose of keeping the target within the field-of-view. Extensive analytical and numerical investigations were conducted on the multi-view stereo projection equations and their solutions, which were used to initialize the different filters. This research shows, using an experimental and numerical evaluation, the benefits of using the unscented Kalman filter and the total least squares technique in the stereovision-based tracking problem. These findings offer a general and more accurate method for solving the static and dynamic stereovision triangulation problems and the concomitant line-of-sight control.

On The Behavior of Subgradient Projections Methods for Convex Feasibility Problems in Euclidean Spaces.

We study some methods of subgradient projections for solving a convex feasibility problem with general (not necessarily hyperplanes or half-spaces) convex sets in the inconsistent case and propose a strategy that controls the relaxation parameters in a specific self-adapting manner. This strategy leaves enough user-flexibility but gives a mathematical guarantee for the algorithm's behavior in the inconsistent case. We present numerical results of computational experiments that illustrate the computational advantage of the new method.

Gauge theory for finite-dimensional dynamical systems.

Gauge theory is a well-established concept in quantum physics, electrodynamics, and cosmology. This concept has recently proliferated into new areas, such as mechanics and astrodynamics. In this paper, we discuss a few applications of gauge theory in finite-dimensional dynamical systems. We focus on the concept of rescriptive gauge symmetry, which is, in essence, rescaling of an independent variable. We show that a simple gauge transformation of multiple harmonic oscillators driven by chaotic processes can render an apparently "disordered" flow into a regular dynamical process, and that there exists a strong connection between gauge transformations and reduction theory of ordinary differential equations. Throughout the discussion, we demonstrate the main ideas by considering examples from diverse fields, including quantum mechanics, chemistry, rigid-body dynamics, and information theory.

Hamilton-Jacobi modelling of relative motion for formation flying.

A precise analytic model for the relative motion of a group of satellites in slightly elliptic orbits is introduced. With this aim, we describe the relative motion of an object relative to a circular or slightly elliptic reference orbit in the rotating Hill frame via a low-order Hamiltonian, and solve the Hamilton-Jacobi equation. This results in a first-order solution to the relative motion identical to the Clohessy-Wiltshire approach; here, however, rather than using initial conditions as our constants of the motion, we utilize the canonical momenta and coordinates. This allows us to treat perturbations in an identical manner, as in the classical Delaunay formulation of the two-body problem. A precise analytical model for the base orbit is chosen with the included effect of zonal harmonics (J(2), J(3), J(4)). A Hamiltonian describing the real relative motion is formed and by differing this from the nominal Hamiltonian, the perturbing Hamiltonian is obtained. Using the Hamilton equations, the variational equations for the new constants are found. In a manner analogous to the center manifold reduction procedure, the non-periodic part of the motion is canceled through a magnitude analysis leading to simple boundedness conditions that cancel the drift terms due to the higher order perturbations. Using this condition, the variational equations are integrated to give periodic solutions that closely approximate the results from numerical integration (1 mm/per orbit for higher order and eccentricity perturbations and 30 cm/per orbit for zonal perturbations). This procedure provides a compact and insightful analytic description of the resulting relative motion.

Hamiltonian modelling of relative motion.

This paper presents a Hamiltonian approach to modelling relative spacecraft motion based on derivation of canonical coordinates for the relative state-space dynamics. The Hamiltonian formulation facilitates the modelling of high-order terms and orbital perturbations while allowing us to obtain closed-form solutions to the relative motion problem. First, the Hamiltonian is partitioned into a linear term and a high-order term. The Hamilton-Jacobi equations are solved for the linear part by separation, and new constants for the relative motions are obtained, they are called epicyclic elements. The influence of higher order terms and perturbations, such as the oblateness of the Earth, are incorporated into the analysis by a variation of parameters procedure. Closed-form solutions for J(2-) and J(4-)invariant orbits and for periodic high-order unperturbed relative motion, in terms of the relative motion elements only, are obtained.

Accessibility, stabilizability, and feedback control of continuous orbital transfer.

This paper investigates the problem of low-thrust orbital transfer using orbital element feedback from a control-theoretic standpoint, concepts of controllability, feedback stabilizability, and their interaction. The Gauss variational equations (GVEs) are used to model the state-space dynamics. First, the notion of accessibility, a weaker form of controllability, is presented. It is then shown that the GVEs are globally accessible. Based on the accessibility result, a nonlinear feedback controller is derived that asymptotically steers a vehicle from an initial elliptic Keplerian orbit to any given elliptic Keplerian orbit. The performance of the new controller is illustrated by simulating an orbital transfer between two geosynchronous Earth orbits. It is shown that the low-thrust controller requires less fuel than an impulsive maneuver for the same transfer time. Closed-form, analytic expressions for the new orbital transfer controller are given. Finally, it is proved, based on a topological nonlinear stabilizability test, that there does not exist a continuous closed-loop controller that can transfer a spacecraft to a parabolic escape trajectory.