The Returning Rocket Friend or Foe? David Franklin & Philip - PowerPoint PPT Presentation

The Returning Rocket Friend or Foe? David Franklin & Philip Massey 1 / 15

The Returning Rocket - David Franklin & Philip Massey Outline ● Introduction ○ Motivation ○ Safety ○ Physics ● Controllers ○ Strategy ○ Descent ○ Balance ● Conclusion 2 / 15

The Returning Rocket - David Franklin & Philip Massey Outline ● Introduction ○ Motivation ○ Safety ○ Physics ● Controllers ○ Strategy ○ Descent ○ Balance ● Conclusion 3 / 15

The Returning Rocket - David Franklin & Philip Massey Introduction How do we make space exploration less expensive? Possible answer: ● Reusability of launch vehicles "Atlas EELV Family" Public Domain, US Gov FFA 4 / 15

The Returning Rocket - David Franklin & Philip Massey Introduction - Problem http://youtu.be/0UjWqQPWmsY?t=40s 5 / 15

The Returning Rocket - David Franklin & Philip Massey Introduction - Safety ● Descent ○ Must land with safe velocity ● Balance ○ Maintain a safe rotation "Falcon rocket family" by Craigboy - Own work. Licensed under CC BY-SA 3.0 via Wikimedia Commons 6 / 15

The Returning Rocket - David Franklin & Philip Massey Introduction - Physics ● Descent ○ 7 / 15

The Returning Rocket - David Franklin & Philip Massey Introduction - Physics ● Descent ○ 8 / 15

The Returning Rocket - David Franklin & Philip Massey Introduction - Physics ● Descent ○ ● Balance ○ 9 / 15

The Returning Rocket - David Franklin & Philip Massey Outline ● Introduction ○ Motivation ○ Safety ○ Physics ● Controllers ○ Strategy ○ Descent ○ Balance ● Conclusion 10 / 15

The Returning Rocket - David Franklin & Philip Massey Controllers - Strategy ● Use two time-based controllers ○ One controller for descent ○ One controller for balance ○ Either can be changed without need to reprove other controller. ○ Cannot take advantage of particular descent strategy. 11 / 15

The Returning Rocket - David Franklin & Philip Massey Controllers - Descent ● Safety: ○ At height h = 0, ensure v < v safe ● Cased solution: ○ If speed greater than max: ■ ○ Else if speed less than max and can free fall: ■ ○ Else: ■ 12 / 15

The Returning Rocket - David Franklin & Philip Massey Controllers - Balance ● Safety: ○ Maintain a bound on rotation ● Idea: ○ Non-deterministically assign ● Simple Solution: ○ Set ○ Keep ○ Use 13 / 15

The Returning Rocket - David Franklin & Philip Massey Conclusion ● Safety ● Physics ● Controllers ○ Strategy ○ Descent ○ Balance ● Importance "SpaceX Landing Rendering" Jon Rosszlsa 14 / 15

The Returning Rocket - David Franklin & Philip Massey Questions? 15 / 15