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October 29, 2018 00:39
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<!DOCTYPE html> | |
<html> | |
<head> | |
<meta charset="UFT-8"/> | |
<meta content="viewport" content="width=device-width, initial-scale=1.0"/> | |
<title>Projeto NASA</title> | |
<link rel="stylesheet" href="estilos/estilos_2.css" media="all"/> | |
<link rel="stylesheet" href="estilos/reset.css" media="all" /> | |
<link rel="stylesheet" href="estilos/responsive_4.css"> | |
</head> | |
<body> | |
<body class="body"> | |
<header class="header"> | |
<img src="fotos/Logov4.png" width="400" height="100"/> | |
<nav> | |
<ul> | |
<a class="a1" href="index.html"><li><div class="home"><div class="home2"></div></div></li></a> | |
<a class="a2" href="Projectparte1.html"><li><div class="project"><div class="project2"></div></div></li></a> | |
</ul> | |
</nav> | |
</header> | |
<div class="menu2"> | |
<nav> | |
<ul> | |
<li><a class="a3" href="Projectparte1.html">Mechanic Project</a></li> | |
<li><a class="a5" href="Projectparte3.html">Sensing</a></li> | |
<li><a class="a6" href="Projectparte4.html">Flowchart Design</a></li> | |
</ul> | |
</nav> | |
</div> | |
<div id="container1"> | |
<div class="col1"> | |
<article class="texto1"> | |
<h1 class="h1"> Optical Measurement System based on Stereo Photogrammetry </h1> | |
  | |
<p>By using a dual camera system, we can simulate the depth-of-sight we’re familiarized with from | |
our eyes. This technology, known as stereo photogrammetry, allows us to create variety of | |
perspectives we can create a 3D point cloud array. This technology is already in use in many | |
factors around the world, measuring parts in production lines for statistic control. This point | |
cloud array can later be converted to a 3D model of the analyzed ship.</p> | |
<img src="fotos/Cameratwo.png" width="400" height="400"/> | |
<p>Our project also integrates a high-resolution “ordinary” photographic camera sensor to take | |
frames from the spacecraft to help the analysis and search for anomalies. Additionally, for the | |
deep parts of the structure, a laser line measurement device makes measurement, creating a | |
lower resolution 3D model of the parts not covered by the higher-resolution stereo cameras.</p> | |
<img src="fotos/ZoomLaser.png" width="400" height="400"/> | |
<p>For estimate purposes, we assumed a 28 mm. focal length coupled to a 35 mm. full frame, 50 | |
MP CMOS sensor, creating a horizontal field view of 65.5º. For safety reasons, we assumed that | |
the robot shall remain at a minimum of 1 m. This yields a theorical resolution of up to 0.01 mm./pixel | |
, suitable for deep-learning post-processing. At this distance, 6 pictures should be | |
taken for a complete revolution of the Orion. For the 41 m. length, a total of 522 photos must | |
be taken (with a safety region of 10% on each photo). Assuming they are high quality RAW files, | |
each weighting 65 MB, a total of about 34 GB of onboard storage must be installed.</p> | |
<p>Due to the high volume of data, we choose to retain the photos onboard the robot and only | |
process them after the scanning mission ends (with the powerful computers abroad Orion). | |
Although inconvenient, this small delay in the processing does not interfere with the urgency of | |
operation. The total time for a complete scan should be around 1 hour, observing the | |
parameters mentioned before.</p> | |
<p>Because in space there is a great presence of sunlight (which emits many wavelengths at very | |
high intensities), and the absence of sunlight on the opposite side of the spacecraft, we created | |
a theoretical analysis logic so that the robot can analyze the structure of the spacecraft without | |
restrictions. On the dark side of the spacecraft, the analysis would be from the excess reflection | |
caused by a micro-meteoroid hole when exposed to a powerful light bean from our robot and | |
thus, when processed, the image would have the location of the damage. On the bright side of | |
the spacecraft, the analysis shall be done from the lack of reflection because theoretically the | |
hole will cause a shadow when the white light of the sun is thrown directly into the profile.</p> | |
<p>However, space-related devices generally use foil for thermal management, making harder to | |
compare sensor data to a theorical, ideal model. For these parts, a high-resolution CMOS | |
sensor captures images and, through deep-learning technics, analysis and process it, deciding | |
when there is a damage in the foil/blanket.</p> | |
<img src="fotos/GeralFrontal.png" width="200" height="250"/> | |
</article> | |
</div> | |
</div> | |
<script src="script/troca_imagem.js"></script> | |
<footer class="footer"><p>© developed by Miguel de Souza Alves</p></footer> | |
</body> | |
</html> |
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<!DOCTYPE html> | |
<html> | |
<head> | |
<meta charset="UFT-8"/> | |
<meta content="viewport" content="width=device-width, initial-scale=1.0"/> | |
<title>Projeto NASA</title> | |
<link rel="stylesheet" href="estilos/estilos_2.css" media="all"/> | |
<link rel="stylesheet" href="estilos/reset.css" media="all" /> | |
<link rel="stylesheet" href="estilos/responsive_5.css"> | |
</head> | |
<body> | |
<body class="body"> | |
<header class="header"> | |
<img src="fotos/Logov4.png" width="400" height="100"/> | |
<nav> | |
<ul> | |
<a class="a1" href="index.html"><li><div class="home"><div class="home2"></div></div></li></a> | |
<a class="a2" href="Projectparte1.html"><li><div class="project"><div class="project2"></div></div></li></a> | |
</ul> | |
</nav> | |
</header> | |
<div class="menu2"> | |
<nav> | |
<ul> | |
<li><a class="a3" href="Projectparte1.html">Mechanic Project</a></li> | |
<li><a class="a5" href="Projectparte3.html">Sensing</a></li> | |
<li><a class="a6" href="Projectparte4.html">Flowchart Design</a></li> | |
</ul> | |
</nav> | |
</div> | |
<div id="container1"> | |
<div class="col2"> | |
<img class="img6" src="fotos/fluxo.jpeg" width="400" height="400"/> | |
</div> | |
<div class="col4"> | |
<img class="img7" src="fotos/fluxo2.jpeg" width="400" height="400"/> | |
</div> | |
</div> | |
<script src="script/troca_imagem.js"></script> | |
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<article class="texto1"> | |
<h1> Galacticus </h1> | |
  | |
<p>This project uses state-of-the-art technology for scanning and analyzing micro-meteoroid and space debris impacts.</p> | |
</article> | |
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<article class="texto2"> | |
<h1> HACKATHON </h1> | |
  | |
<p>“Hackathon is an event that brings together programmers, designers and other professionals | |
connected to software development for a marathon programming, whose goal is to develop | |
software that meets specific purpose or free projects that are innovative and usable.”</p> | |
<p>NASA, together with FATEC-OSASCO, have promoted a hackathon in São Paulo, Brazil, to | |
develop solutions to real problems encountered by NASA today. We, Asgardians decided to | |
participate to test our knowledge, not only in software development, but mainly in the | |
development of the robotic and optical designs that the challenge “Design by Nature” | |
proposes; while still meeting with new people from all over our country.</p> | |
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<article class="texto3"> | |
<h1> Problem Description </h1> | |
  | |
<p>The “Design by Nature” contest by NASA challenges us to solve the problem of | |
micro-meteoroid and orbital debris (MMOD) using nature’s solutions and as an inspiration source to | |
create a robotic project capable of following an inspection routine with precision in space.</p> | |
<p>Expeditions like Apollo 13 or STS-107 were lost due to the lack of identification of external | |
damages in the spacecraft. With the intention of going further and further into space, | |
eventually arriving on Mars, the need to monitor what happens outside the structure that keeps | |
humans alive is very important.</p> | |
<p>The goal of this challenge is to create a reliable and autonomous monitoring system for | |
detecting micrometeoroids impacts on spaceships.</p> | |
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<h1> The Project </h1> | |
  | |
<p>The project consists of developing a free-flyer style, autonomously operated robot with a | |
camera system. Our main purpose is to scan the entire spacecraft profile and create a 3D model | |
of its structure for comparison with the existing CAD model. Overlapping both data sets allows | |
us to identify where micro-meteoroid impacts occurred. </p> | |
<p>Taking inspiration from the marine environment, we analyzed the relationship that a cleaning | |
fish (clownfish) has with the reef. According to an article from Unicamp[1] the existence of a reef | |
depends directly on the cleaning that the clownfish realizes. This is a concept of symbiosis | |
known as mutualism, where two different species need each other in order to survive. Another | |
concept of symbiosis is commensalism, where one species is a beneficiary and the other has no | |
benefits, but also has no losses. Our solution is a system inspired by commensalism, in which | |
the main spacecraft is completely benefited by the sweep of our robot, and at the same time | |
possess no detriment to our robot. </p> | |
<p>For scanning the structure, we used optical metrology, inspired by the type of hunting done by | |
eagles – with an outstanding quality of vision that, with a determined search pattern, has great | |
hunting capacity to small and large species – both that can be compared to the goal of this project.</p> | |
<p>For estimates, we assumed that the inspected ship would be NASA’s upcoming Orion capsule, | |
fullfed with additional modules for long-range trips. We assumed a 5.0 meter diameter ship | |
with 41.0 m. length.</p> | |
<img class="img1" src="fotos/GeralFrontal.png" width="400" height="400"/> | |
<img class="img2" src="fotos/GeralSuperior.png" width="400" height="400"/> | |
<img class="img3" src="fotos/GeralInferior.png" width="400" height="400"/> | |
  | |
<p class="reference">[1] JORNAL DA UNICAMP. Mais que ornamentais, 'faxineiros' do mar. Available in: | |
(www.unicamp.com.br/unicamp/<wbr/>unicamp_hoje/ju/outubro2002/<wbr/>unihoje_ju195pag12.html)</p> | |
<p>Access in: 20 out. 2018.</p> | |
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<h1> Propulsion and Attitude Control </h1> | |
  | |
<p> Given the need to follow the spacecraft under analysis for long periods, a positioning and | |
locomotion system with high accuracy, repeatability and low supplies needs (fuel) was required. | |
To achieve these goals, our robot uses two technologies: micro-nozzles driven by compressed | |
air and a set of reaction wheels. </p> | |
<p>The four reaction wheels used in our design ensure agile turns and extra redundancy for | |
malfunctions. They work by storing angular momentum by rotating a steel disk at high speed | |
and, as necessary, decreasing or increasing its speed. Each disk is kept in motion by a brushless | |
DC motor, ensuring high energy efficiency and service life.</p> | |
<p>Micro-nozzles are used with a gaseous mixture maintained under high pressure (approximately | |
4 to 6 atm. was stipulated), which can be breathable air from the spacecraft or methane – one | |
of the by-products of the air treatment process (currently without use). They are controlled by | |
solenoid valves and can generate up to 1 N. of thrust. Our design has eight micro-nozzles that | |
along with the reaction wheels, can move and rotate the robot in any direction..</p> | |
<img src="fotos/Valvula.png" width="300" height="300"/> | |
<img src="fotos/propulsor.png" width="300" height="300"/> | |
<img src="fotos/RodadeReaçãoone.png" width="300" height="300"/> | |
<p>The use of such technologies is only possible due to the microgravity and high vacuum | |
environment where the robot must operate, where there are no friction losses and where there | |
is no need to fight the force of gravity.</p> | |
<p>The robot’s pressurized gas tank can be easily refilled by the crew once inside the main | |
spacecraft, and its simple design (no hypergolic fuels or multiple moving parts) ensures a long | |
life and the confidence needed to be used near manned spacecraft.</p> | |
<img src="fotos/CilindrodeAR.png" width="400" height="400"/> | |
<p>The robot’s on-board computer is calibrated during launch, and after that maintains its current | |
position using accelerometers and gyroscopes. Eventually, in longer duration operations, its | |
position can be upgraded via radio from the spacecraft..</p> | |
<p>Expected maximum speed shall be equal to or less than 1.0 meter per second for safety | |
reasons. In the event of a collision with the main spaceship, the robot should be with sufficiently | |
low speed in order to not damage it.</p> | |
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<h1 class="h1"> Optical Measurement System based on Stereo Photogrammetry </h1> | |
  | |
<p>By using a dual camera system, we can simulate the depth-of-sight we’re familiarized with from | |
our eyes. This technology, known as stereo photogrammetry, allows us to create variety of | |
perspectives we can create a 3D point cloud array. This technology is already in use in many | |
factors around the world, measuring parts in production lines for statistic control. This point | |
cloud array can later be converted to a 3D model of the analyzed ship.</p> | |
<img src="fotos/Cameratwo.png" width="400" height="400"/> | |
<p>Our project also integrates a high-resolution “ordinary” photographic camera sensor to take | |
frames from the spacecraft to help the analysis and search for anomalies. Additionally, for the | |
deep parts of the structure, a laser line measurement device makes measurement, creating a | |
lower resolution 3D model of the parts not covered by the higher-resolution stereo cameras.</p> | |
<img src="fotos/ZoomLaser.png" width="400" height="400"/> | |
<p>For estimate purposes, we assumed a 28 mm. focal length coupled to a 35 mm. full frame, 50 | |
MP CMOS sensor, creating a horizontal field view of 65.5º. For safety reasons, we assumed that | |
the robot shall remain at a minimum of 1 m. This yields a theorical resolution of up to 0.01 mm./pixel | |
, suitable for deep-learning post-processing. At this distance, 6 pictures should be | |
taken for a complete revolution of the Orion. For the 41 m. length, a total of 522 photos must | |
be taken (with a safety region of 10% on each photo). Assuming they are high quality RAW files, | |
each weighting 65 MB, a total of about 34 GB of onboard storage must be installed.</p> | |
<p>Due to the high volume of data, we choose to retain the photos onboard the robot and only | |
process them after the scanning mission ends (with the powerful computers abroad Orion). | |
Although inconvenient, this small delay in the processing does not interfere with the urgency of | |
operation. The total time for a complete scan should be around 1 hour, observing the | |
parameters mentioned before.</p> | |
<p>Because in space there is a great presence of sunlight (which emits many wavelengths at very | |
high intensities), and the absence of sunlight on the opposite side of the spacecraft, we created | |
a theoretical analysis logic so that the robot can analyze the structure of the spacecraft without | |
restrictions. On the dark side of the spacecraft, the analysis would be from the excess reflection | |
caused by a micro-meteoroid hole when exposed to a powerful light bean from our robot and | |
thus, when processed, the image would have the location of the damage. On the bright side of | |
the spacecraft, the analysis shall be done from the lack of reflection because theoretically the | |
hole will cause a shadow when the white light of the sun is thrown directly into the profile.</p> | |
<p>However, space-related devices generally use foil for thermal management, making harder to | |
compare sensor data to a theorical, ideal model. For these parts, a high-resolution CMOS | |
sensor captures images and, through deep-learning technics, analysis and process it, deciding | |
when there is a damage in the foil/blanket.</p> | |
<img src="fotos/GeralFrontal.png" width="200" height="250"/> | |
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