The Orbital Cygnus vehicle is being developed to perform autonomous rendezvous with International Space Station (ISS) and to provide cargo services to the faculty. Safety through fault management has been a primary consideration in the design of the trajectories, GN&C algorithms, and software. This paper describes the approach used to design and validate a fault management system required to me...

We present an application of a microelectromechanical systems (MEMS)-based inertial measurement unit (IMU) to thigh angle estimation for the control of a semi-active knee prosthesis. By using inertial based measurement devices, we can move all of our sensors to one location inside the prosthetic leg. These sensors are challenging to use, however, because error in their measurements will accumul...

This report presents integrity monitoring and integration methods for an Inertial Measurement Unit (imu) and a gps receiver. The methods are applied to data from a Maxus sounding rocket used for microgravity research. It is crucial to determine the rocket position during launch to ensure a safe landing location. Today, the navigation relies on imu integration only. Involving a gps receiver enha...

This paper is concerned with beamlike space frames that include a large number of bistable elements, and exploit the bistability of the elements to obtain structures with multiple stable configurations. By increasing the number of bistable elements, structures with a large number of different configurations can be designed. A particular attraction of this approach is that it produces structures...

In the stable 0-1 sorting problem the task is to sort an array of n elements with two distinct values such that equal elements retain their relative input order. Recently, Munro, Raman and Salowe [BIT 1990] gave an algorithm which solves this problem in O(nlog*n)3 time and constant extra space. We show that by a modification of their method the stable 0-1 sorting is possible in O(n) time and O(...

A moduli space of stable quotients of the rank n trivial sheaf on stable curves is introduced. Over nonsingular curves, the moduli space is Grothendieck’s Quot scheme. Over nodal curves, a relative construction is made to keep the torsion of the quotient away from the singularities. New compactifications of classical spaces arise naturally: a nonsingular and irreducible compactification of the ...

This paper mainly discusses the stable gesture classification criteria, which can identify several human motions from a sequence of images with the eigen space method. We have already proposed the gesture classification technique with the silhouette images and the PCA method, which includes the difficulty in the correspondence between two sets of eigen points, i.e. dictionary and input sequence...