• Cubesatellite Robotics (CuBot)

◦ Investigate research topics to add robotic manipulators to small satellites.

▪ Generate simulations to model the manipulators and the attitude control system for maintaining the manipulator in place.

◦ Research potential emerging technologies used for sensing human gestures.

▪ Human body provides multiple motions that can be tracked to tell a robotic system to move or translate.

▪ The method provides the advantage to robotic manipulators in environments that are harsh for humans.

◦ Lead the development of sensor fusion (hand motion sensor) and the robotic arm actuators for controlling three degrees of freedom robotic arm.

▪ An algorithm was developed to control the robot actuators while another algorithm was written to send the commands due to the hand gesture motion.

▪ The software was developed to transmit the commands through a wireless system.

◦ Develop the project requirements and concept of operations (ConOps) for the robotic and satellite interaction.

▪ The mission plan provide the process by which the satellite will deploy the arm as well as the use cases for its use.

• Small Project Rapid Integration and Testing Environment (SPRITE) Laboratory

◦ Work in the development of a hardware in-the-loop (HIL) system for testing the flight software in an simulated environment for small satellites.

▪ The system is planned to ensure that any flight computer can be interfaced to a simulator replicating the hardware interfaces used by the flight computer.

▪ The control commands are obtained through another hardware interface so that the simulator emulates the small satellite motion.

▪ The data generated in the simulated is refactored to the sensors used by the computer.

▪ This method aids in characterizing the system performance prior launch.

◦ Develop MATLAB models about the satellite motion, attitude determination and control systems (ADCS), environments and sensors to test the flight computer of small satellites.

▪ These models are autocode to facilitate and to reduce the time for software integration in the hardware computer.

◦ Bring intern students to the laboratory for training into the methods for testing computer systems in a simulated environment..

▪ As part of the training process, the students learn how to program different microcontrollers used in small satellites (such as cubesats)

◦ Communicate and develop relationships between NASA, universities, private industry, and other government agencies to use the laboratory as a testing facility.

▪ This external outreach allows different entities access to use of the laboratory as a primary testing environment for small satellites for any government facilities, education institutions and private contractors.

• Demonstration of Formation Flying (DOFF) Mission Planning

◦ Develop the concept design for the formation flying satellite mission in LEO orbits.

▪ Analyze and Develop the attitude dynamic and control simulation for the DOFF project.

◦ Develop the flight software for the DOFF satellite.

▪ The flight software is designed so that it can maintain the satellite separation between satellites.

▪ A model-based design in MATALB/Simulink is developed to model and analyze the motion of multiple satellites ejecting from a main body.

◦ Support the mission planning with the data analysis to support the effort.