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Prerequisites: Background in control theory, MPC, MATLAB, C are required. Knowledge of numerical optimization is a plus. Contact: Andrea Carron, [email protected] Kyosho Mini-Z car Semester/Master Thesis Reusable Rocket Testbed (RRT) Keywords: G&C, real-time, embedded computing, VTOL, reusable rockets Project description: Reusable rockets have shown to cut costs and thereby democratize the access to Space. The European Space Agency (ESA) has identified reusability as one of the key techniques to be deployed on next-generation vehicles. However, development of guidance and control algorithms for such devices require typically extremely expensive equipment and testing infrastructure. The goal of this project is to build a low-cost, scaled model of the first stage of a rocket launcher vehicle – made of standard drone components – and to demonstrate its stable flight in the flying machine arena (FMA). The platform will allow the student to test real-time trajectory generators as well as guidance and control algorithms based on convex and/or nonlinear numerical optimization. The project gives you the opportunity to develop a fully functional model of a rocket booster where the rocket engine is replaced by two gimbaled coaxial propellers. A Pixhawk platform with a companion PC shall be integrated to perform attitude & position control, as well as guidance and mission & vehicle management. Your project would include: • Take an initial design to its full completion • Build the VTOL aircraft from as many standard components as possible • Integrate the embedded computing hardware; • Integrate the Embotech guidance and control software with the Vicon vision/tracker system; • Develop and implement a safety switch based on both manual trigger or GPS • Design, implement and tune a low-level attitude and position controller • Indoor flight testing with ground truth measurements from Vicon system • If time allows: outdoor flight tests You will be supported by Embotech (initial design, on-board software, simulation environment etc.), IDSC academic supervision on control systems (state estimation, attitude control, safety concept).
