Due to its propellantless nature, a solar sail can provide the primary propulsion system for high energy mission, such as that of multiple asteroid rendezvous. Upon arrival at an asteroid, it is often desirable interact with surface body, sample extraction. The deployment lander from carries difficulty instantaneous, and sometimes considerable, change dynamics point separation. This paper inves...

This paper presents the station keeping challenge of subsea shuttle tanker (SST) design during underwater loading and offloading at a well under an extreme current environment. The investigates movement SST with speeds, i.e. above 1.6 m/s, in surge, heave pitch motions, respectively. A linear quadratic regulator (LQR) is used for motion control. LQR’s primary focus to achieve target process. Th...

We formally verify a hybrid control law designed to perform a station keeping maneuver for a planar vehicle. Such maneuver requires that the vehicle reaches a neighborhood of its station in finite time and remains in it while waiting for further instructions. We model the dynamics as well as the control law as a hybrid program and formally verify both the reachability and safety properties invo...

This paper has proposed a method of grasping a model-known object autonomously for an Underwater Vehicle-Manipulator System (UVMS) using monocular vision. The distance between the vehicle and the object is estimated by extracting the pixel radius of the ball-like object, and the vehicle’s depth and orientation angle are used to keep the vehicle’s station while the manipulator is performing the ...