Protective apparatus for electronic unit on unmanned space exploration vehicle

• US 8,532,861 B1
• Filed: 06/02/2012
• Issued: 09/10/2013
• Est. Priority Date: 06/02/2012
• Status: Expired due to Fees

• Current Assignee: Fukashi Andoh
• Original Assignee: Fukashi Andoh
• Inventors: Andoh, Fukashi
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): WAGNER, REBECCA A
• Application Number:
  US13/487,169
• Time in Patent Office: 465 Days
• Field of Search: None
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00

Abstract

A protective device for an electronic unit on a space exploration vehicle. A Laplace transform calculation unit generates a Laplace transform of an electronic unit state. A system parameter identification unit identifies system parameters based on the Laplace transform of electronic unit states. A Fourier transform calculation unit generates a ratio of the ground contacting mechanism state to a highest dominant frequency of the measured electronic unit state. A critical travel speed calculation unit generates a critical travel speed based on the identified system parameters. A calculation unit for threshold of travel speed generates a threshold of a travel speed based on the critical travel speed. An autonomous motion controller generates a control signal that drives the space exploration vehicle based on the threshold of the travel speed.

Claims

1. A protective device for a space exploration vehicle comprising an electronic unit for navigating the space exploration vehicle to a destination, a vehicle mechanism for supporting the electronic unit, a mechanical fixer for attaching the electronic unit to the vehicle mechanism, and a ground contacting mechanism for facilitating transportation of the space exploration vehicle while supporting the electronic unit, the mechanical fixer, and the vehicle mechanism, where the ground contacting mechanism includes a plurality of wheels for generating a traction against a ground and for causing motions of the space exploration vehicle across the ground, a plurality of motors for driving the plurality of wheels, a plurality of ground contacting mechanism state sensors for measuring a plurality of the ground contacting mechanism states such as a plurality of rotational speeds of the plurality of wheels, and a plurality of environment sensors for measuring a plurality of environmental variables such as an ambient temperature, the protective device comprising:

an autonomous motion controller selecting a parameter identification mode if the autonomous motion controller is at a beginning of a space mission or receives the plurality of environmental variables from the plurality of environment sensors that deviate from the ones measured previously by more than a predetermined amount, selecting a normal operation mode if the autonomous motion controller is not at the beginning of the space mission and does not receive the plurality of environmental variables from the plurality of environment sensors that deviate from the ones measured previously by more than the predetermined amount, sending a control signal to the plurality of motors and the selected operation mode if the parameter identification mode is selected, where the control signal is a plurality of motor currents such that the space exploration vehicle travels at a constant travel speed for a predetermined time interval wherein an electronic unit state reaches steady state and makes a sudden stop, and sending a control signal required to perform the space mission if the normal operation mode is selected;

a Laplace transform calculation unit receiving the selected operation mode and the measured electronic unit state from the electronic unit state sensor, calculating and sending a Laplace transform of the measured electronic unit state if in the parameter identification mode, and waiting until the selected operation mode becomes the parameter identification mode if in the normal operation mode;

a system parameter identification unit receiving the Laplace transform of the measured electronic unit state, identifying and sending a plurality of identified system parameters;

a Fourier transform calculation unit receiving the selected operation mode and waiting until the selected operation mode becomes the normal operation mode if in the parameter identification mode, receiving the selected operation mode, the measured electronic unit state from the electronic unit state sensor, and the ground contacting mechanism state from the plurality of ground contacting mechanism state sensors, calculating and sending a ratio of the ground contacting mechanism state to a highest dominant frequency of the measured electronic unit state if in the normal operation mode;

a critical travel speed calculation unit receiving the plurality of identified system parameters from the system parameter identification unit, the ratio of the travel speed to the highest dominant frequency of the measured electronic unit state from the Fourier transform calculation unit, calculating and sending a critical travel speed at which the highest dominant frequency of the measured electronic unit state coincides with a first damped natural frequency of the space exploration vehicle; and

a calculation unit for threshold of travel speed receiving the plurality of identified system parameters from the system parameter identification unit, the ratio of the travel speed to the first dominant frequency of the electronic unit state from the Fourier transform calculation unit, and the critical travel speed from the critical speed calculation unit, calculating and sending the threshold of the travel speed, which the space exploration vehicle is controlled not to exceed, as a function of the critical travel speed and the plurality of identified system parameters.