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New York City Research Initiative

Research Projects at Polytechnical University

Go to projects in: 2005 | 2004

Polytechnical University — 2005

Control Strategies for Multiple Spacecraft Formations
Team Members

Principle Investigator (PI):
Dr. Vikram Kapila

Researchers:
Nicole Berkovich, SHARP Apprentice
Ian O'Leary, SHARP Apprentice

Final Research Presentation
Summary

In particular, we are developing a distributed spacecraft formation initialization (DSFI) algorithm for multiple spacecraft formations. DSFI is concerned with a collective of spacecraft, initially located on a payload delivery vehicle (e.g., in a cargo rocket or in the cargo bay of a space shuttle), which are required to maneuver in order to acquire a specified formation pattern using minimal amount of fuel. We are addressing the DSFI problem by interpreting it as a distributed spacecraft formation reconfiguration problem. This is enabling us to apply a hybrid multi-agent optimization architecture for fuel optimal formation reconfiguration, developed in our prior research, to the DSFI problem. We are also developing an adaptive, nonlinear controller that allows a spacecraft to track desired trajectories in the vicinity of the L2 Lagrange point in the Sun-Earth system. We are studying different types of feasible orbits in the neighborhood of the L2 Lagrange point in the Sun-Earth system and validating, by simulation, the efficacy of our controller in tracking such orbits.

Polytechnical University — 2004

Precision Robot Navigation
Team Members

Principle Investigator (PI):
Dr. Vikram Kapila

Researchers:
Hong Wong, Graduate Student
Sang-Hoon Lee, Graduate Student
Anshuman Panda, Graduate Student
Joseph Wagh, Graduate Student
Calley Levine, SHARP Apprentice
Moussawi Ali, SHARP Apprentice

2005 Final Research Presentation
Summary

A PS/2 optical mouse is a device that can be utilized efficiently to measure the displacement of a mobile robot. The difficulty in this, however, is interfacing communication between the mouse and the BASIC Stamp 2 microcontroller. The hypothesis stated that emulating the integrated SHIFTIN and SHIFTOUT communication commands using basic instructions (i.e. PULSOUT) would allow these two devices to communicate. The program created to emulate these commands was unsuccessful. The results refuted the hypothesis. The PAK-VIa IC was used and was able to facilitate the communication. The displacement readings were used in an algorithm to restrict movement of the robot to an area inscribed by specified parameters.

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