Autonomous Robots for Space: Trajectory Learning and Adaptation Using Imitation

This paper adds on to the on-going efforts to provide more autonomy to space robots and introduces the concept of programming by demonstration or imitation learning for trajectory planning of manipulators on free-floating spacecraft. A redundant 7-DoF robotic arm is mounted on small spacecraft dedicated for debris removal, on-orbit servicing and assembly, autonomous and rendezvous docking. The motion of robot (or manipulator) arm induces reaction forces on the spacecraft and hence its attitude changes prompting the Attitude Determination and Control System (ADCS) to take large corrective action. The method introduced here is capable of finding the trajectory that minimizes the attitudinal changes thereby reducing the load on ADCS. One of the critical elements in spacecraft trajectory planning and control is the power consumption. The approach introduced in this work carry out trajectory learning offline by collecting data from demonstrations and encoding it as a probabilistic distribution of trajectories. The learned trajectory distribution can be used for planning in previously unseen situations by conditioning the probabilistic distribution. Hence almost no power is required for computations after deployment. Sampling from a conditioned distribution provides several possible trajectories from the same start to goal state. To determine the trajectory that minimizes attitudinal changes, a cost term is defined and the trajectory which minimizes this cost is considered the optimal one.

Analysis of radio occultation data to determine atmospheric profiles and associated uncertainties

<div> <p><span>The analysis of atmospheric radio occultations enables an in-depth investigation of planetary ionosphere and neutral atmospheres, by measuring the radio frequency shift that affects a signal propagating through the medium. A precise characterization of the atmospheric layers requires a thorough processing of the radio tracking data to estimate the thermodynamic properties of the atmosphere and their related uncertainties. </span></p> </div><div> <p><span>A standard procedure to process radio occultation data requires a preliminary knowledge of the spacecraft trajectory. In this work, we present a technique to retrieve refractivity, density, pressure, and temperature profiles with their associated uncertainties through the analysis of raw radio tracking data occulted by the atmosphere. By integrating the algorithm for radio occultation processing with a Precise Orbit Determination (POD) software, an enhanced reconstruction of the spacecraft trajectory is obtained to recover the frequency shift due to the medium refraction. The resulting radio signal is then processed to yield information regarding atmospheric properties. A Monte Carlo simulation algorithm is also included to provide the formal uncertainties of the estimated parameters.</span></p> </div><div> <p><span>We applied this technique to radio occultation profiles of the NASA mission Mars Reconnaissance Orbiter (MRO). To validate the method, our estimated atmospheric profiles are compared to the numerical predictions of the Mars Global Reference Atmospheric Model (GRAM) and the Mars Climate Database (MCD). </span></p> </div>

Interplanetary dust observations with the Solar Orbiter RPW instrument: a first year of data.

<p>Impacts of dust grains on spacecraft are known to produce typical impulsive signals in the voltage waveform recorded at the terminals of electric antennas. Such signals are, as could be expected, routinely detected by the radio and plasma waves (RPW) instrument aboard Solar Orbiter, therefore providing in-situ measurements of the interplanetary dust density along the spacecraft trajectory.<br><br>We present a statistical analysis of the first year and half of dust impact data recorded by Solar Orbiter RPW between 1 AU and 0.5 AU. We discuss the results in terms of constraints that can be put on beta-meteoroids and interstellar dust fluxes, and compare them to results obtained by STEREO at 1 AU and more recently by Parker Solar Probe at 0.5 AU.</p>

Calibration Techniques for Studying Venus and Mars Atmospheres

The European Space Agency Venus Express mission (VEX) was sent to Venus in 2005 to unveil the unsolved mysteries regarding its atmosphere, the plasma environment and its temperatures. Radio occultation experiments performed by VeRa radio science instrument probed the planet’s atmosphere by studying the frequency shift on the radio signal sent by the spacecraft to Earth-based ground stations. This study carries out the calibration of the radio frequencies within a radio occultation experiment in order to correct the main sources of error as: thermal noise, spacecraft clock, spacecraft trajectory, and plasma noise. Any uncalibrated effects will bias the retrieval of atmospheric properties. A comparison of the occultation experiments between Venus and Mars is presented, both from the engineering and scientific point of view, through the analysis of Venus Express and Mars Global Surveyor (MGS) occultations data, highlighting stronger calibrations required for VEX, the extreme, hostile, thick Venus’ atmosphere, and a friendly, thin Mars’ atmosphere. This investigation analyzes Venus Express data recorded by the NASA Deep Space Network in 2014, and the results are compatible to previous studies of Venus atmosphere with VEX between 2006 and 2009.