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Effective training requires high muscle forces potentially leading to training-induced injuries. Thus, continuous monitoring and controlling of the loadings applied to the musculoskeletal system along the motion trajectory is required. In this paper, a norm-optimal iterative learning control algorithm for the robot-assisted training is developed. The algorithm aims at minimizing the external knee joint moment, which is commonly used to quantify the loading of the medial compartment. To estimate the external knee joint moment, a musculoskeletal lower extremity model is implemented in OpenSim and coupled with a model of an industrial robot and a force plate mounted at its end-effector. The algorithm is tested in simulation for patients with varus, normal and valgus alignment of the knee. The results show that the algorithm is able to minimize the external knee joint moment in all three cases and converges after less than seven iterations.
The paper presents a method for the quantitative assessment of choroidal blood flow using an OCT-A system. The developed technique for processing of OCT-A scans is divided into two stages. At the first stage, the identification of the boundaries in the selected portion was performed. At the second stage, each pixel mark on the selected layer was represented as a volume unit, a voxel, which characterizes the region of moving blood. Three geometric shapes were considered to represent the voxel. On the example of one OCT-A scan, this work presents a quantitative assessment of the blood flow index. A possible modification of two-stage algorithm based on voxel scan processing is presented.
Recognition of subjects with mild cognitive impairment (MCI) by the use of retinal arterial vessels.
(2019)
Clearance of blood components and fluid drainage play a crucial role in subarachnoid hemorrhage (SAH) and post hemorrhagic hydrocephalus (PHH). With the involvement of interstitial fluid (ISF) and cerebrospinal fluid (CSF), two pathways for the clearance of fluid and solutes in the brain are proposed. Starting at the level of capillaries, flow of ISF follows along the basement membranes in the walls of cerebral arteries out of the parenchyma to drain into the lymphatics and CSF [1]–[3]. Conversely, it is shown that CSF enters the parenchyma between glial and pial basement membranes of penetrating arteries [4]–[6]. Nevertheless, the involved structures and the contribution of either flow pathway to fluid balance between the subarachnoid space and interstitial space remains controversial. Low frequency oscillations in vascular tone are referred to as vasomotion and corresponding vasomotion waves are modeled as the driving force for flow of ISF out of the parenchyma [7]. Retinal vessel analysis (RVA) allows non-invasive measurement of retinal vessel vasomotion with respect to diameter changes [8]. Thus, the aim of the study is to investigate vasomotion in RVA signals of SAH and PHH patients.
One of interesting but not well known water properties is related to appearance of highly ordered structures in response to strong electrical field. In 1893 Sir William Armstrong placed a cotton thread between two wine glasses filled with chemically pure water. When high DC voltage was applied between the glasses, a connection consisting of water formed, producing a "water bridge"
Enceladus explorer - A maneuverable subsurface probe for autonomous navigation through deep ice
(2012)
Attitude and Orbital Dynamics Modeling for an Uncontrolled Solar-Sail Experiment in Low-Earth Orbit
(2015)
Recent analysis of scientific data from Cassini and earth-based observations gave evidence for a global ocean under a surrounding solid ice shell on Saturn's moon Enceladus. Images of Enceladus' South Pole showed several fissures in the ice shell with plumes constantly exhausting frozen water particles, building up the E-Ring, one of the outer rings of Saturn. In this southern region of Enceladus, the ice shell is considered to be as thin as 2 km, about an order of magnitude thinner than on the rest of the moon. Under the ice shell, there is a global ocean consisting of liquid water. Scientists are discussing different approaches the possibilities of taking samples of water, i.e. by melting through the ice using a melting probe. FH Aachen UAS developed a prototype of maneuverable melting probe which can navigate through the ice that has already been tested successfully in a terrestrial environment. This means no atmosphere and or ambient pressure, low ice temperatures of around 100 to 150K (near the South Pole) and a very low gravity of 0,114 m/s^2 or 1100 μg. Two of these influencing measures are about to be investigated at FH Aachen UAS in 2017, low ice temperature and low ambient pressure below the triple point of water. Low gravity cannot be easily simulated inside a large experiment chamber, though. Numerical simulations of the melting process at RWTH Aachen however are showing a gravity dependence of melting behavior. Considering this aspect, VIPER provides a link between large-scale experimental simulations at FH Aachen UAS and numerical simulations at RWTH Aachen. To analyze the melting process, about 90 seconds of experiment time in reduced gravity and low ambient pressure is provided by the REXUS rocket. In this time frame, the melting speed and contact force between ice and probes are measured, as well as heating power and a two-dimensional array of ice temperatures. Additionally, visual and infrared cameras are used to observe the melting process.
The quest for life on other planets is closely connected with the search for water in liquid state. Recent discoveries of deep oceans on icy moons like Europa and Enceladus have spurred an intensive discussion about how these waters can be accessed. The challenge of this endeavor lies in the unforeseeable requirements on instrumental characteristics both with respect to the scientific and technical methods. The TRIPLE/nanoAUV initiative is aiming at developing a mission concept for exploring exo-oceans and demonstrating the achievements in an earth-analogue context, exploring the ocean under the ice shield of Antarctica and lakes like Dome-C on the Antarctic continent.
20 years after the successful ground deployment test of a (20 m) 2 solar sail at DLR Cologne, and in the light of the upcoming U.S. NEAscout mission, we provide an overview of the progress made since in our mission and hardware design studies as well as the hardware built in the course of our solar sail technology development. We outline the most likely and most efficient routes to develop solar sails for useful missions in science and applications, based on our developed `now-term' and near-term hardware as well as the many practical and managerial lessons learned from the DLR-ESTEC Gossamer Roadmap. Mission types directly applicable to planetary defense include single and Multiple NEA Rendezvous ((M)NR) for precursor, monitoring and follow-up scenarios as well as sail-propelled head-on retrograde kinetic impactors (RKI) for mitigation. Other mission types such as the Displaced L1 (DL1) space weather advance warning and monitoring or Solar Polar Orbiter (SPO) types demonstrate the capability of near-term solar sails to achieve asteroid rendezvous in any kind of orbit, from Earth-coorbital to extremely inclined and even retrograde orbits. Some of these mission types such as SPO, (M)NR and RKI include separable payloads. For one-way access to the asteroid surface, nanolanders like MASCOT are an ideal match for solar sails in micro-spacecraft format, i.e. in launch configurations compatible with ESPA and ASAP secondary payload platforms. Larger landers similar to the JAXA-DLR study of a Jupiter Trojan asteroid lander for the OKEANOS mission can shuttle from the sail to the asteroids visited and enable multiple NEA sample-return missions. The high impact velocities and re-try capability achieved by the RKI mission type on a final orbit identical to the target asteroid's but retrograde to its motion enables small spacecraft size impactors to carry sufficient kinetic energy for deflection.
Following the successful PHILAE landing with ESA's ROSETTA probe and the launch of the MINERVA rovers and the Mobile Asteroid Surface Scout, MASCOT, aboard the JAXA space probe, HAYABUSA2, to asteroid (162173) Ryugu, small landers have found increasing interest. Integrated at the instrument level in their mothership they support small solar system body studies. With efficient capabilities, resource-friendly design and inherent robustness they are an attractive exploration mission element. We discuss advantages and constraints of small sub-spacecraft, focusing on emerging areas of activity such as asteroid diversity studies, planetary defence, and asteroid mining, on the background of our projects PHILAE, MASCOT, MASCOT2, the JAXA-DLR Solar Power Sail Lander Design Study, and others. The GOSSAMER-1 solar sail deployment concept also involves independent separable sub-spacecraft operating synchronized to deploy the sail. Small spacecraft require big changes in the way we do things and occasionally a little more effort than would be anticipated based on a traditional large spacecraft approach. In a Constraints-Driven Engineering environment we apply Concurrent Design and Engineering (CD/CE), Concurrent Assembly, Integration and Verification (CAIV) and Model-Based Systems Engineering (MBSE). Near-term solar sails will likely be small spacecraft which we expect to harmonize well with nano-scale separable instrument payload packages.
The recently proposed NASA and ESA missions to Saturn and Jupiter pose difficult tasks to mission designers because chemical propulsion scenarios are not capable of transferring heavy spacecraft into the outer solar system without the use of gravity assists. Thus our developed mission scenario based on the joint NASA/ESA Titan Saturn System Mission baselines solar electric propulsion to improve mission flexibility and transfer time. For the calculation of near-globally optimal low-thrust trajectories, we have used a method called Evolutionary Neurocontrol, which is implemented in the low-thrust trajectory optimization software InTrance. The studied solar electric propulsion scenario covers trajectory optimization of the interplanetary transfer including variations of the spacecraft's thrust level, the thrust unit's specific impulse and the solar power generator power level. Additionally developed software extensions enabled trajectory optimization with launcher-provided hyperbolic excess energy, a complex solar power generator model and a variable specific impulse ion engine model. For the investigated mission scenario, Evolutionary Neurocontrol yields good optimization results, which also hold valid for the more elaborate spacecraft models. Compared to Cassini/Huygens, the best found solutions have faster transfer times and a higher mission flexibility in general.
By DLR-contact, sample return missions to the large main-belt asteroid “19, Fortuna” have been studied. The mission scenario has been based on three ion thrusters of the RIT-22 model, which is presently under space qualification, and on solar arrays equipped with triple-junction GaAs solar cells. After having designed the spacecraft, the orbit-to-orbit trajectories for both, a one-way SEP mission with a chemical sample return and an all-SEP return mission, have been optimized using a combination of artificial neural networks with evolutionary algorithms. Additionally, body-to-body trajectories have been
investigated within a launch period between 2012 and 2015. For orbit-to-orbit calculation, the launch masses of the hybrid mission and of the all-SEP mission resulted in 2.05 tons and 1.56 tons, respectively, including a scientific payload of 246 kg. For the related transfer
durations 4.14 yrs and 4.62 yrs were obtained. Finally, a comparison between the mission scenarios based on SEP and on NEP have been carried out favouring clearly SEP.
We propose a simple parametric OSSD model that describes the variation of the sail film's optical coefficients with time, depending on the sail film's environmental history, i.e., the radiation dose. The primary intention of our model is not to describe the exact behavior of specific film-coating combinations in the real space environment, but to provide a more general parametric framework for describing the general optical degradation behavior of solar sails.
With the increased interest for interstellar exploration after the discovery of exoplanets and the proposal by Breakthrough Starshot, this paper investigates the optimisation of photon-sail trajectories in Alpha Centauri. The prime objective is to find the optimal steering strategy for a photonic sail to get captured around one of the stars after a minimum-time transfer from Earth. By extending the idea of the Breakthrough Starshot project with a deceleration phase upon arrival, the mission’s scientific yield will be increased. As a secondary objective, transfer trajectories between the stars and orbit-raising manoeuvres to explore the habitable zones of the stars are investigated. All trajectories are optimised for minimum time of flight using the trajectory optimisation software InTrance. Depending on the sail technology, interstellar travel times of 77.6-18,790 years can be achieved, which presents an average improvement of 30% with respect to previous work. Still, significant technological development is required to reach and be captured in the Alpha-Centauri system in less than a century. Therefore, a fly-through mission arguably remains the only option for a first exploratory mission to Alpha Centauri, but the enticing results obtained in this work provide perspective for future long-residence missions to our closest neighbouring star system.
The concept of a laser-enhanced solar sail is introduced and the radiation pressure force model for an ideal laser-enhanced solar sail is derived. A laser-enhanced solar sail is a “traditional” solar sail that is, however, not solely propelled by solar radiation, but additionally by a laser beam that illuminates the sail. The additional laser radiation pressure increases the sail's propulsive force and can give, depending on the location of the laser source, more control authority over the direction of the solar sail’s propulsive force vector. This way, laser-enhanced solar sails may augment already existing solar sail mission concepts and make novel mission concepts feasible.
Near-Earth asteroid (NEA) 99942 Apophis provides a typical example for the evolution of asteroid orbits that lead to Earth-impacts after a close Earth-encounter that results in a resonant return. Apophis will have a close Earth-encounter in 2029 with potential very close subsequent Earth-encounters (or even an impact) in 2036 or later, depending on whether it passes through one of several less than 1 km-sized gravitational keyholes during its 2029-encounter. A pre-2029 kinetic impact is a very favorable option to nudge the asteroid out of a keyhole. The highest impact velocity and thus deflection can be achieved from a trajectory that is retrograde to Apophis orbit. With a chemical or electric propulsion system, however, many gravity assists and thus a long time is required to achieve this. We show in this paper that the solar sail might be the better propulsion system for such a mission: a solar sail Kinetic Energy Impactor (KEI) spacecraft could impact Apophis from a retrograde trajectory with a very high relative velocity (75-80 km/s) during one of its perihelion passages. The spacecraft consists of a 160 m × 160 m, 168 kg solar sail assembly and a 150 kg impactor. Although conventional spacecraft can also achieve the required minimum deflection of 1 km for this approx. 320 m-sized object from a prograde trajectory, our solar sail KEI concept also allows the deflection of larger objects. For a launch in 2020, we also show that, even after Apophis has flown through one of the gravitational keyholes in 2029, the solar sail KEI concept is still feasible to prevent Apophis from impacting the Earth, but many KEIs would be required for consecutive impacts to increase the total Earth-miss distance to a safe value
Solar sails are propelled in space by reflecting solar photons off large mirroring surfaces, thereby transforming the momentum of the photons into a propulsive force. This innovative concept for low-thrust space propulsion works without any propellant and thus provides a wide range of opportunities for highenergy low-cost missions. Offering an efficient way of propulsion, solar sailcraft could close a gap in transportation options for highly demanding exploration missions within our solar system and even beyond. On December 17th, 1999, a significant step was made towards the realization of this technology: a lightweight solar sail structure with an area of 20 m × 20 m was successfully deployed on ground in a large facility at the German Aerospace Center (DLR) at Cologne. The deployment from a package of 60 cm × 60 cm × 65 cm with a total mass of less than 35 kg was achieved using four extremely light-weight carbon fiber reinforced plastics (CFRP) booms with a specific mass of 100 g/m. The paper briefly reviews the basic principles of solar sails as well as the technical concept and its realization in the ground demonstration experiment, performed in close cooperation between DLR and ESA. Next possible steps are outlined. They could comprise the in-orbit demonstration of the sail deployment on the upper stage of a low-cost rocket and the verification of the propulsion concept by an autonomous and free flying solar sail in the frame of a scientific mission. It is expected that the present design could be extended to sail sizes of about (40 m)2 up to even (70 m)2 without significant mass penalty. With these areas, the maximum achievable thrust at 1 AU would range between 10 and 40 mN – comparable to some electric thrusters. Such prototype sails with a mass between 50 and 150 kg plus a micro-spacecraft of 50 to 250 kg would have a maximum acceleration in the order of 0.1 mm/s2 at 1 AU, corresponding to a maximum ∆V-capability of about 3 km/s per year. Two near/medium-term mission examples to a near-Earth asteroid (NEA) will be discussed: a rendezvous mission
and a sample return mission.
Solar sailcraft provide a wide range of opportunities for high-energy low-cost missions. To date, most mission studies require a rather demanding performance that will not be realized by solar sailcraft of the first generation.
However, even with solar sailcraft of moderate performance, scientifically relevant missions are feasible. This is demonstrated with a Near Earth Asteroid sample return mission and various planetary rendezvous missions.
Flight times to the heliopause using a combination of solar and radioisotope electric propulsion
(2011)
We investigate the interplanetary flight of a low-thrust space probe to the heliopause,located at a distance of about 200 AU from the Sun. Our goal was to reach this distance within the 25 years postulated by ESA for such a mission (which is less ambitious than the 15-year goal set by NASA). Contrary to solar sail concepts and combinations of allistic and electrically propelled flight legs, we have investigated whether the set flight time limit could also be kept with a combination of solar-electric propulsion and a second, RTG-powered upper stage. The used ion engine type was the RIT-22 for the first stage and the RIT-10 for the second stage. Trajectory optimization was carried out with the low-thrust optimization program InTrance, which implements the method of Evolutionary Neurocontrol,using Artificial Neural Networks for spacecraft steering and Evolutionary Algorithms to optimize the Neural Networks’ parameter set. Based on a parameter space study, in which the number of thrust units, the unit’s specific impulse, and the relative size of the solar power generator were varied, we have chosen one configuration as reference. The transfer time of this reference configuration was 29.6 years and the fastest one, which is technically
more challenging, still required 28.3 years. As all flight times of this parameter study were longer than 25 years, we further shortened the transfer time by applying a launcher-provided hyperbolic excess energy up to 49 km2/s2. The resulting minimal flight time for the reference configuration was then 27.8 years. The following, more precise optimization to a launch with the European Ariane 5 ECA rocket reduced the transfer time to 27.5 years. This is the fastest mission design of our study that is flexible enough to allow a launch every
year. The inclusion of a fly-by at Jupiter finally resulted in a flight time of 23.8 years,which is below the set transfer-time limit. However, compared to the 27.5-year transfer,this mission design has a significantly reduced launch window and mission flexibility if the
escape direction is restricted to the heliosphere’s “nose".
Solar sails provide ignificant advantages over other low-thrust propulsion systems because they produce thrust by the momentum exchange from solar radiation pressure (SRP) and thus do not consume any propellant.The force exerted on a very thin sail foil basically depends on the light incidence angle. Several analytical SRP force models that describe the SRP force acting on the sail have been established since the 1970s. All the widely used models use constant optical force coefficients of the reflecting sail material. In 2006,MENGALI et al. proposed a refined SRP force model that takes into account the dependancy of the force coefficients on the light incident angle,the sail’s distance from the sun (and thus the sail emperature) and the surface roughness of the sail material [1]. In this paper, the refined SRP force model is compared to the previous ones in order to identify the potential impact of the new model on the predicted capabilities of solar sails in performing low-cost interplanetary space missions. All force models have been implemented within InTrance, a global low-thrust trajectory optimization software utilizing evolutionary neurocontrol [2]. Two interplanetary rendezvous missions, to Mercury and the near-Earth asteroid 1996FG3, are investigated. Two solar sail performances in terms of characteristic acceleration are examined for both scenarios, 0.2 mm/s2 and 0.5 mm/s2, termed “low” and “medium” sail performance. In case of the refined SRP model, three different values of surface roughness are chosen, h = 0 nm, 10 nm and 25 nm. The results show that the refined SRP force model yields shorter transfer times than the standard model.
Solar-electric propulsion (SEP) is superior with
respect to payload capacity, flight time and
flexible launch window to the conventional
interplanetary transfer method using chemical
propulsion combined with gravity assists. This fact
results from the large exhaust velocities of electric
low–thrust propulsion and is favourable also for
missions to the giant planets, Kuiper-belt objects
and even for a heliopause probe (IHP) as shown in
three studies by the authors funded by DLR. They
dealt with a lander for Europa and a sample return
mission from a mainbelt asteroid [1], with the
TANDEM mission [2]; the third recent one
investigates electric propulsion for the transfer to
the edge of the solar system.
All studies are based on triple-junction solar arrays,
on rf-ion thrusters of the qualified RIT-22 type and
they use the intelligent trajectory optimization
program InTrance [3].
Solar sails enable missions to the outer solar system and beyond, although the solar
radiation pressure decreases with the square of solar distance. For such missions, the solar sail may gain a large amount of energy by first making one or more close approaches to the sun. Within this paper, optimal trajectories for solar sail missions to the outer planets and into near interstellar space (200 AU) are presented. Thereby, it is shown that even near/medium-term solar sails with relatively moderate performance allow reasonable transfer times to the boundaries of the solar system.
Recently, in his vision for space exploration, US president Bush announced to extend human presence across the solar system, starting with a human return to the Moon as early as 2015 in preparation for human exploration of Mars and other destinations. In Europe, an exploration program, termed AURORA, was established by ESA in 2001 – funded on a voluntary basis by ESA member states – with a clear focus on Mars and the ultimate goal of landing humans on Mars around 2030 in international cooperation. In 2003, a Human Spaceflight Vision Group was appointed by ESA with the task to develop a vision for the role of human spaceflight during the next quarter of the century. The resulting vision focused on a European-led lunar exploration initiative as part of a multi-decade, international effort to strengthen European identity and economy. After a review of the situation in Europe concerning space exploration, the paper outlines an approach for a consistent positioning of exploration within the existing European space programs, identifies destinations, and develops corresponding scenarios for an integrated strategy, starting with robotic missions to the Moon, Mars, and near-Earth asteroids. The interests of the European planetary in-situ science community, which recently met at DLR Cologne, are considered. Potential robotic lunar missions comprise polar landings to search for frozen volatiles and a sample return. For Mars, the implementation of a modest robotic landing mission in 2009 to demonstrate the capability for landing and prepare more ambitious and complex missions is discussed. For near-Earth asteroid exploration, a low-cost in-situ technology demonstration mission could yield important results. All proposed scenarios offer excellent science and could therefore create synergies between ESA’s mandatory and optional programs in the area of planetary science and exploration. The paper intents to stimulate the European discussion on space exploration and reflects the personal view of the authors.
This paper describes the results and methods used during the 8th Global Trajectory Optimization Competition (GTOC) of the DLR team. Trajectory optimization is crucial for most of the space missions and usually can be formulated as a global optimization problem. A lot of research has been done to different type of mission problems. The most demanding ones are low thrust transfers with e.g. gravity assist sequences. In that case the optimal control problem is combined with an integer problem. In most of the GTOCs we apply a filtering of the problem based on domain knowledge.
In parallel to the evolution of the Planetary Defense Conference, the exploration of small solar system bodies has advanced from fast fly-bys on the sidelines of missions to the planets to the implementation of dedicated sample-return and in-situ analysis missions. Spacecraft of all sizes have landed, touch-and-go sampled, been gently beached, or impacted at hypervelocity on asteroid and comet surfaces. More have flown by close enough to image their surfaces in detail or sample their immediate environment, often as part of an extended or re-purposed mission. And finally, full-scale planetary defense experiment missions are in the making. Highly efficient low-thrust propulsion is increasingly applied beyond commercial use also in mainstream and flagship science missions, in combination with gravity assist propulsion. Another development in the same years is the growth of small spacecraft solutions, not in size but in numbers and individual capabilities. The on-going NASA OSIRIS-REx and JAXA HAYABUSA2 missions exemplify the trend as well as the upcoming NEA SCOUT mission or the landers MINERVA-II and MASCOT recently deployed on Ryugu. We outline likely as well as possible and efficient routes of continuation of all these developments towards a propellant-less and highly efficient class of spacecraft for small solar system body exploration: small spacecraft solar sails designed for carefree handling and equipped with carried landers and application modules, for all asteroid user communities –planetary science, planetary defence, and in-situ resource utilization. This projection builds on the experience gained in the development of deployable membrane structures leading up to the successful ground deployment test of a (20 m)² solar sail at DLR Cologne and in the 20 years since. It draws on the background of extensive trajectory optimization studies, the qualified technology of the DLR GOSSAMER-1 deployment demonstrator, and the MASCOT asteroid lander. These enable ‘now-term’ as well as near-term hardware solutions, and thus responsive fast-paced development. Mission types directly applicable to planetary defense include: single and Multiple NEA Rendezvous ((M)NR) for mitigation precursor, target monitoring and deflection follow-up tasks; sail-propelled head-on retrograde kinetic impactors (RKI) for mitigation; and deployable membrane based methods to modify the asteroid’s properties or interact with it. The DLR-ESTEC GOSSAMER Roadmap initiated studies of missions uniquely feasible with solar sails such as Displaced L1 (DL1) space weather advance warning and monitoring and Solar Polar Orbiter (SPO) delivery which demonstrate the capability of near-term solar sails to achieve NEA rendezvous in any kind of orbit, from Earth-coorbital to extremely inclined and even retrograde orbits. For those mission types using separable payloads, such as SPO, (M)NR and RKI, design concepts can be derived from the separable Boom Sail Deployment Units characteristic of DLR GOSSAMER solar sail technology, nanolanders like MASCOT, or microlanders like the JAXA-DLR Jupiter Trojan Asteroid Lander for the OKEANOS mission which can shuttle from the sail to the asteroids visited and enable multiple NEA sample-return missions. These are an ideal match for solar sails in micro-spacecraft format whose launch configurations are compatible with ESPA and ASAP secondary payload platforms.
Gossamer-1 is the first project of the three-step Gossamer roadmap, the purpose of which is to develop, prove and demonstrate that solar-sail technology is a safe and reliable propulsion technique for long-lasting and high-energy missions. This paper firstly presents the structural analysis performed on the sail to understand its elastic behavior. The results are then used in attitude and orbital simulations. The model considers the main forces and torques that a satellite experiences in low-Earth orbit coupled with the sail deformation. Doing the simulations for varying initial conditions in attitude and rotation rate, the results show initial states to avoid and maximum rotation rates reached for correct and faulty deployment of the sail. Lastly comparisons with the classic flat sail model are carried out to test the hypothesis that the elastic behavior does play a role in the attitude and orbital behavior of the sail