# Manoranjan Majji's research while affiliated with Texas A&M University and other places

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## Publications (148)

Interferometric Vision-Based Navigation (iVisNav) is a novel optoelectronic sensor for autonomous proximity operations. iVisNav employs laser emitting structured beacons and precisely characterizes six degrees of freedom relative motion rates by measuring changes in the phase of the transmitted laser pulses. iVisNav's embedded package must efficien...

The origin and geometric interpretation of the equinoctial elements is explained with a connection to orthogonal rotations and attitude dynamics in Euclidean 3-space. An identification is made between the equinoctial elements and classical Rodrigues parameters. A new set of equinoctial elements are then developed using the modified Rodrigues parame...

This paper deals with the technical formulation and implementation details of an algorithm that provides an estimate of the probability density function of the state of a nonlinear dynamical system from discrete time measurements. In contrast to other state estimation methods that propagate the conditional moments, the proposed filter is shown to p...

In this study, a supervised machine learning approach called Gaussian process regression (GPR) was applied to approximate optimal bi-impulse rendezvous maneuvers in the cis-lunar space. We demonstrate the use of the GPR approximation of the optimal bi-impulse transfer to patch points associated with various invariant manifolds in the cis-lunar spac...

Technical details associated with a novel relative motion sensor system are elaborated in the paper. By utilizing the Doppler effect, the optical sensor system estimates the relative motion rates between the sensor and the moving object equipped with modulating light sources and relatively inexpensive electrical components. A transimpedance amplifi...

This paper presents a navigation system for autonomous rendezvous, proximity operations, and docking (RPOD) with respect to non-cooperative space objects using a novel velocimeter light detection and ranging (LIDAR) sensor. Given only raw position and Doppler velocity measurements, the proposed methodology is capable of estimating the six degree-of...

View Video Presentation: https://doi.org/10.2514/6.2022-2458.vid The Hamiltonian formalism in over-parameterized, regularized, and redundant phase spaces is developed and applied to the two-body problem. A class of canonical and point transformations from minimal to non-minimal coordinates is derived that provides an explicit identification of the...

This scoping review aimed to identify current evidence and gaps in the field of long-term space nutrition. Specifically, the review targeted critical nutritional needs during long-term manned missions in outer space in addition to the essential components of a sustainable space nutrition system for meeting these needs. The search phrase “space food...

A novel batch state estimation approach to estimate the translational and angular velocity states of a vehicle using a state-of-the-art velocimeter Light Detection and Ranging (LIDAR) sensor for use in Terrain and Hazard Relative Navigation (TRN/HRN) applications is presented in this paper. The velocimeter LIDAR is capable of measuring three dimens...

This paper presents a Multiplicative Extended Kalman Filter (MEKF) framework using a state-of-the-art velocimeter Light Detection and Ranging (LIDAR) sensor for Terrain Relative Navigation (TRN) applications. The newly developed velocimeter LIDAR is capable of providing simultaneous position, Doppler velocity, and reflectivity measurements for ever...

A novel batch state estimation approach to estimate the translational and angular velocity states of a vehicle using a state-of-the-art velocimeter Light Detection and Ranging (LIDAR) sensor for use in Terrain and Hazard Relative Navigation (TRN/HRN) applications is presented in this paper. The velocimeter LIDAR is capable of measuring three dimens...

This paper presents a Multiplicative Extended Kalman Filter (MEKF) framework using a state-of-the-art velocimeter Light Detection and Ranging (LIDAR) sensor for Terrain Relative Navigation (TRN) applications. The newly developed velocimeter LIDAR is capable of provid- ing simultaneous position, Doppler velocity, and reflectivity measurements for ev...

A novel unified approach to jointly optimize structural design parameters, actuator and sensor precision, and controller parameters is presented in this paper. The joint optimization problem is posed as a covariance control problem, where feasibility is achieved by bounding the covariance of the output as well as that of the control signals. The fo...

A supervised machine learning approach called the Gaussian Process Regression (GPR) is applied to approximate the optimal bi-impulse rendezvous maneuvers in cis-lunar space. The use of GPR approximation of the optimal bi-impulse transfer to patch-points associated with various invariant manifolds in the cis-lunar space is demonstrated. The proposed...

A statistical orbit determination approach that minimizes the sum of absolute errors incurred by the vector measurements is developed. An iterative linear program is derived for the differential corrections associated with the best estimated epoch state to minimize the sum of the absolute errors. It is shown that in the presence of redundant measur...

A sensor model and methodology to estimate the forcing accelerations measured using a novel optomechanical inertial sensor with the inclusion of stochastic bias and measurement noise processes is presented. A Kalman filter for the estimation of instantaneous sensor bias is developed; the outputs from this calibration step are then employed in two d...

The partial-update filter concept is a recent development that generalizes the Schmidt Kalman filter and extends the range of nonlinearities and uncertainties that a Kalman filter can tolerate. Similar to the Schmidt filter, the intention of the partial-update filter is to ameliorate the negative impact that certain states have within the filter, o...

An extended Kalman filter (EKF) is developed to estimate unobserved states and parameters in plasma dynamical systems. Physical constraints are satisfied by adapting the process and measurement noise covariances to account for consistency between the estimates and the physical processes. First, the EKF is tested using the Lorenz system to demonstra...

A time-varying output covariance assignment problem in the presence of a stochastic disturbance is solved using finite-horizon optimal control formulation. It is shown that an assignment of time-varying output error covariance is possible in the presence of model error by utilizing a time-varying linear quadratic regulator (LQR) controller with a c...

A method is developed to determine under what conditions the state transition matrix is symplectic for various choices of minimal coordinate representations. It is shown that the state transition matrix for discrete conservative systems is symplectic in inertial cartesian coordinates and their derivatives, as well as for all choices of canonical va...

Lunar explorations have provided us with information about its abundant resources that can be utilized in orbiting-resource depots as lunar-derived commodities. To reduce the energy requirements of a launcher to send these commodities from the lunar surface to the space depots, this paper explores the application of the electromagnetic acceleration...

Emerging interest in space exploration has increased the need for harnessing the
resources of asteroids known as Easily Recoverable Objects (EROs). Accordingly,
an optimal order of visitation was shown to be the minimum distance 3D
path through the set of points defined by the orbital elements of the EROs. This
optimal order is the solution to the...

This review paper attempts to provide a useful reference for space habitat designs that advance the ability of humans to live in space for long periods of time. Five space habitat design concepts are reviewed with the principal aim of addressing the five fundamental problems in long term space exploration: artificial gravity, efficient radiation pr...

Mathematics and methods of integrating camera measurements with inertial sensors for terrain relative navigation of a space vehicle are discussed. Pinhole camera model of the vision sensors, in conjunction with measurement models of typical inertial sensors are used to derive a position and attitude fix for the navigation state of the space vehicle...

Design details of a modular torus composed of a network of axially loaded members are discussed in this paper. Each module is shown to be a tensegrity system, that makes an optimal use of mass to take the loads imposed on the structural system. The use of optimal compressive structures enables the design to offer resistance to the tangential hoop s...

A new robotic platform - the Navigation, Estimation, and Sensing Testbed (NEST) - was developed to support laboratory testing and validation of new guidance, navigation, and control (GN&C) and data fusion algorithms. NEST aids researchers by serving as a reusable vehicle emulation and sensing platform for hardware-in-the-loop (HIL) simulations. NES...

This paper develops a novel approach for relative navigation of two space bodies for cases in which communication with the target space body is either inconvenient or impossible. The approach utilizes multiple hypothesis tracking (MHT) to track the features detected from optical image data using standard edge detection techniques. This is in contra...

This paper studies the attitude dynamics of a rigid body in a Keplerian orbit. We show that the use of Classical Rodrigues Parameters for the attitude motion of the rigid body subject to gravity-gradient torques enables us to characterize the equilibria associated with the rotational motion about its mass center. A parametric study of the stability...

A novel unified approach to jointly optimize structural design parameters, actuator and sensor precision and controller parameters is presented in this paper. The joint optimization problem is posed as a covariance control problem, where feasibility is achieved by bounding the covariance of the output as well as that of the control signals. The for...

Humanity’s global impact on the environment, better understood now, but also greater, than in Gerard K. O’Neill’s time, suggests that it is appropriate to develop an affordable tool of space settlement. The negative effects of micro-gravity on Earth-based life evolved for 1-g, and limited planetary surface area, support O’Neill’s argument of the ne...

This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is used to regulate position, velocity, and acceleration to the specified reference trajectory. State feedback control design is used to obtain the solution for the control va...

This letter presents a data-based control design for reference tracking applications. This design finds the optimal control sequence, which minimizes a quadratic cost function consisting of tracking error and input increments over a finite interval [0,N]. The only information needed is the first N+1 Markov parameters of the system. This design is e...

The Vision Based Navigation (VisNav) developed at Texas A&M is an opto-electronic sensor that employs specific structured light sources to provide a cost-effective and robust six degree-of-freedom (DOF) relative position and attitude determination. Interferometric Vision-Based Navigation Sensor called "iVisNav" is newly proposed with additional fea...

A tensegrity tower design to support a given payload for the moon mining operation is proposed in this paper. A non-linear optimization problem for the minimal-mass structure design is posed and solved, subject to the yielding constraints for strings and yielding and buckling constraints for bars in the presence of lunar gravity. The optimization v...

This study aims at revealing the effects of UV radiation on the burden of disease and the optimal level of its exposure for long-term space habitation using the systematic literature review. The study objectives are to reveal key determinants of UV Exposure, evaluation methods for UV Risk and Disease, optimal Exposure UV Level for Minimum burden of...

This paper considers the development of an extended Kalman filter for estimating the unknown dynamics of the electron temperature in a Hall effect thruster plasma discharge. Experimental measurements of the discharge current are used by the filter to correct the estimation as new measurement data arrives, resulting in a data-model fusion process. T...

A systematic numerical approach to solve the Hamilton-Jacobi partial differential equation is proposed in this paper. Advances in sparse collocation methods are utilized to develop an algorithm to obtain an approximate functional form for the generating function. By employing a family of trajectories in the domain of the relevant phase volume, the...

This paper presents an application of the global-local orthogonal mapping (GLO-MAP) algorithm to derive data-driven models for magnetic field variations of the Earth. The GLO-MAP algorithm rigorously merges different independent local approximations that are based upon measured data to obtain a desired order, globally continuous approximation. We s...

The goal of this study is to show the feasibility of designing a space habitat that advances the ability of humans to live in space for long periods. We first review the previous work on space explorations and summarized five unsolved fundamental problems: providing gravity, radiation protection, sustainable life support system, a large open space...

A complete solution to the uncertain Lambert problem is considered in this paper. While the deterministic Lambert problem considers the two point boundary value problem of the two body problem with a fixed transfer time, its uncertain counterpart is shown to be related to the propagation of uncertainty from a set of initial conditions. In contrast...

This paper focuses on the problem of managing or tasking a network of sensors to accurately track a number of objects while using information theoretic sensor performance metrics. The mathematical formulation of optimally tasking a group of sensors using the mutual information as a sensor utility measure is discussed along with the relative merits...

Technical details associated with a novel relative motion sensor system called the interferometric Vision Navigation (iVisNav) are elaborated in the paper. It is shown that by a unique combination of analog and digital photonic elements, it is possible to simultaneously estimate the relative pose of a cooperative target and the relative rates at di...

Mechanics and control of innovative gyroscopic structural systems are detailed in the paper. By adding controllable spinning wheels to a network of controllable, axially loaded strings and bars, it is shown that the mobility and manipulation of the structural system are enhanced. Using principles of mechanics, a nonlinear dynamic model is presented...

Modeling of Tensegrity Structures (MOTES) provides two categories for the analysis of any tensegrity structure. Firstly, static analysis provides the minimum mass of the tensegrity structure by optimizing tensile forces in the strings and compressive forces in the bars in
the absence of external forces (self-equilibrium state), and in the presence...

In this paper, sparse collocation approach is used to develop optimal feedback control laws for spacecraft attitude maneuvers. The effective collocation process is accomplished by utilizing the recently developed Conjugate Unscented Transformation to provide a minimal set of collocation points. In conjunction with the minimal cubature points, an l1...

This paper investigates the attitude dynamics of a rigid axisymmetric body in an eccentric orbit using a Hamiltonian formulation in the Serret-Andoyer variables. This is formulated using the extended phase-space, wherein the time-like variable arising from the eccentric nature of the orbit is treated as a coordinate. The gravity-gradient potential...

Semi-analytical approaches to solve the Hamilton-Jacobi Partial Differential Equation that governs the transformation of coordinates to rectify the motion of a dynamical system are proposed in this paper. It is shown that recent advances in sparse approximation can be utilized to develop a collocation method to approximate the generating function f...

This paper deals with the coupled problem of data association and nonlinear estimation for enhanced Space Situational Awareness (SSA) applications. High-order quadrature methods are used to implement a joint probabilistic data association (JPDA) filter to associate multiple measurements to multiple targets at any given point of time. It is shown th...

An analytical mechanics approach to derive equations of motion from vector kinematic description of rigid bar assemblies is developed. It is shown that various holonomic constraints governing multibody mechanical systems can be modeled using vector kinematics without using trigonometric/transcendental functions. The principle of virtual work is uti...

This paper investigates the nonlinear attitude dynamics of a rigid body in a Keplerian orbit. We show that the use of Classical Rodrigues Parameters for the attitude motion of the rigid body subject to gravity-gradient torques enables us to characterize the rotational motion about its mass center. The stability of oscillations is investigated using...