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Fuzzy-Based Inference System for Navigation and Life Detection on Titan

Fuzzy-Based Inference System for Navigation and Life Detection on Titan. Speaker: Steven Forbes University of Arizona. Autonomy requirements. Unconstrained, Science-Driven Planetary Reconnaissance requires higher level of on-board automation:

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Fuzzy-Based Inference System for Navigation and Life Detection on Titan

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  1. Fuzzy-Based Inference System for Navigation and Life Detection on Titan Speaker: Steven Forbes University of Arizona

  2. Autonomy requirements • Unconstrained, Science-Driven Planetary Reconnaissance requires higher level of on-board automation: • Autonomous determination of sites with the highest probability of significant scientific findings and/or natural resources • Solution: Fuzzy Expert System for Titan Hot-air Balloon autonomy • Collects information at multiple (> 2) using multiple instruments mounted on a mobile, floating platform • Synergistically connected to AGFA-like smart software • Performs synthesis of spatial and temporal information • Exhibits high degree of flexibility: can be tuned to autonomously infer presence of life, and/or identify geological processes (e.g. fluvial processes, volcanism etc.)

  3. Hot-Air Balloon for Titan Exploration

  4. Fuzzy Altitude Controller Fuzzy PD + I U = Kα Desired Altitude Integral Control Altitude Desired Velocity Vertical Dynamics Fuzzy PD Velocity Knowledge-base: “IF delta-h is LP AND delta-V is Z THEN alpha is H” (Mamdami-type) Membership Functions

  5. Navigation through Fuzzy Logic

  6. Fuzzy Expert System Architecture

  7. Factors for Life Potential • Polymaric similarity • Obtained through mass spectrometry / gas chromatography • Isotopic abundance • Analysis of C12/C13 ratio • Chirality skew • Comparison of right handed to left handed molecule abundance

  8. Fuzzy Planner: GNC System Fuzzy Expert Architecture Preprocessing/ Categorization Guidance System SI Desired Altitude Valve Angle DFG Altitude Vertical Velocity Gas temperature Horizontal Position

  9. Conclusions and Future Work • Using fuzzy logic based inference systems is a viable approach to overcome autonomous challenges on future probes • A fuzzy system capable of controlling the dynamics of hot-air balloons for the autonomous exploration of Titan has been shown • The system is modular and flexible. It can be modified to incorporate multidisciplinary knowledge • Further incorporation and testing of potential life detection needs to be carried out • Future efforts will include more extensive tests of the fuzzy controller on more realistic models

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