Papers by Guido Sangiovanni
Combining ExoMars’ Ma_MISS and Drill data
<p>The ExoMars Rover and Surface Platform planned for launch in 2022 is a large int... more <p>The ExoMars Rover and Surface Platform planned for launch in 2022 is a large international cooperation between the European Space Agency and Roscosmos with a scientific contribution from NASA.  Thales Alenia Space is the ExoMars mission industrial prime contractor. </p> <p>Besides sensors and instruments characterizing the surface at large scale, the ExoMars’ rover Rosalind Franklin payload features some experiments devoted specifically to the characterization of the first few meters of the Martian subsurface. These experiments are particularly critical for the main ExoMars objective of detecting traces of present or past life forms on Mars, which may have been preserved within the shallow Martian underground [1].</p> <p>Rosalind Franklin will be able to perform both non-invasive geophysical imaging of the underground [2] and subsurface <em>in situ</em> measurements thanks to the Drill unit installed on the rover. The Drill has been developed by Leonardo and its purposes are 1) to collect core samples to be analyzed in the Analytical Laboratory Drawer (ALD) onboard the Rover and 2) to drive the miniaturized spectrometer Ma_MISS within the borehole.   </p> <p>Ma_MISS (Mars Multispectral Imager for Subsurface Studies, [3]) will collect mineralogic measurements from the rocks exposed into the borehole created by the Drill with a spatial resolution of 120 μm down to 2 meters into the Martian subsurface.</p> <p>Rocks are composed of grains of minerals, and their reaction to an applied stress is related to the mechanical behavior of the minerals that compose the rock itself. The mechanical properties of a mineral depend mainly on the strength of the chemical bonds, the orientation of crystals, and the number of impurities in the crystal lattice.</p> <p>In this context, the integration of Ma_MISS measurements and drill telemetry are of great importance.  The mechanical properties of rocks coupled with their mineralogic composition provide a rich source of information to characterize the nature of rocks being explored by ExoMars rover’s drilling activity.</p> <p>Within our study, we are starting to collect telemetry recorded during the Drill unit tests on several samples ranging from sedimentary to volcanic rocks with varying degrees of weathering and water content.  In this first phase of the study, we focused our attention on the variation of torque and penetration speed between different samples, which have been found to be indicative of a particular type of rock or group of rocks and their water content.  </p> <p>We are planning to analyze the same rocks with the Ma_MISS breadboard creating the link between the mineralogy and the mechanical response of the Drill.      </p> <p>This will put the base for a more comprehensive and rich characterization of the <em>in situ</em> subsurface observation by Rosalind Franklin planned at Oxia Planum, Mars in 2023. </p> <p> </p> <p><strong>Acknowledgments: </strong>We thank the European Space Agency (ESA) for developing the ExoMars Project, ROSCOSMOS and Thales Alenia Space for rover development, and Italian Space Agency (ASI) for funding the Ma_MISS experiment (ASI-INAF contract n.2017-48-H.0 for ExoMars MA_MISS phase E/science).</p> <p> </p> <p><strong>References</strong></p> <p>[1] Vago et al., 2017. Astrobiology, 17 6-7. [2] Ciarletti et al., 2017. Astrobiology, 17 6-7. [3] De Sanctis et al., 2017. Astrobiology, 17 6-7.</p>
Fuzzy Sets and Systems, May 1, 2009
A detailed description of the methodology used for reproducing the human knowledge required for c... more A detailed description of the methodology used for reproducing the human knowledge required for creating the mesh for solving a differential problem with the finite element method (FEM) is here presented. The fuzzy logic provides the framework for building the set of linguistic if-then rules, but some specific operators and some normalization constants have been created for introducing the knowledge.
Realization and control of a prototype of legged rover for planetary exploration
Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 2005
This paper concerns the development of a prototype of a six-legged robot for space exploration. T... more This paper concerns the development of a prototype of a six-legged robot for space exploration. The robot is a testbed for a new control technique based on a peculiar kind of artificial neural network. Accounts are given on the shape and structure of the hexapod, and a brief description of its electronic circuit and computer interface is shown. The paper
Control of a legged rover for planetary exploration using embedded and evolved dynamical recurrent artificial neural networks
Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 2005
This paper presents a new method for realizing the control system of a legged rover for planetary... more This paper presents a new method for realizing the control system of a legged rover for planetary exploration. The controller is realized using a class of dynamical recurrent artificial neural networks called CTRNN, and evolutionary algorithms. The proposed approach allows realizing the design of the controller in a modular way, decomposing the global problem into a collection of low-level tasks
Contextualized Possibilistic Networks with Temporal Framework for Knowledge Base Reliability Improvement
Lecture Notes in Computer Science, 2007
Possibilistic abductive reasoning is particularly suited for diagnostic problem solving affected ... more Possibilistic abductive reasoning is particularly suited for diagnostic problem solving affected by uncertainty. Being a Knowledge-Based approach, it requires a Knowledge Base consisting in a map of causal dependencies between failures (or anomalies) and their effects (symptoms). Possibilistic Causal Networks are an effective formalism for knowledge representation within this applicative field, but are affected by different issues. This paper is
Reconstruction of the Matrix of Causal Dependencies for the Fuzzy Inductive Reasoning Method
Lecture Notes in Computer Science, 2007
Fuzzy Inductive Reasoning (FIR) methodology is a very powerful tool for creating a mixed qualitat... more Fuzzy Inductive Reasoning (FIR) methodology is a very powerful tool for creating a mixed qualitative-quantitative model of any dynamical system by using its input and output signals. One of the key issue of this methodology is the creation of the mask, i.e. a matrix that contains the causal dependencies among the signals of the systems for particular time steps. This
Importance of sensors’ feedback in legged rovers controlled by evolutionary dynamical neural networks
2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007
A multiagent system for efficient electrical energy management on the Palamede satellite
Proceedings of 14th International Power Electronics and Motion Control Conference EPE-PEMC 2010, 2010
Abstract The fundamental role of autonomous agents in managing activities of space systems has em... more Abstract The fundamental role of autonomous agents in managing activities of space systems has emerged from 1990s with the NASA's Remote Agent Experiment. This paper gives a contribution in exploring the possible advantages of employing multiple agents to efficiently and autonomously manage electrical energy on a satellite. The general idea is to associate an agent to each subsystem of the satellite in order to manage its activities. The global interaction between agents allows to obtain an efficient electrical energy ...
The Dynamic System Theory as a Tool to Model and Guide the Concurrent Engineering Design Process: The Space System Design Application
11th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference, 2006
This paper shows the realization and validation of a detection, identification and recovery modul... more This paper shows the realization and validation of a detection, identification and recovery module for hardware failures on ESA GOCE satellite, merging two independently developed modules. The work is currently focused on its attitude control subsystem, following a previous work on the power subsystem. This application is more challenging than the former because of two reasons. Control system, sensors and
A Possible Approach to Cope with Uncertainties in Space Applications
Lecture Notes in Computer Science, 2007
The paper shows methods that could be suitably applied to manage uncertainties in space systems d... more The paper shows methods that could be suitably applied to manage uncertainties in space systems design and modeling. Attention is focused on the Interval Analysis, as one of the most promising methods. In this research two issues typical faced in space-related researchs have been treated: optimization and ordinary differential equations (ODEs) solving taking into account possible uncertainties included in the
Embodied and evolved dynamical neural networks for robust planetary navigation
2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007
The N.E.Me.Sys project has the aim of controlling a legged rover for planetary exploration using ... more The N.E.Me.Sys project has the aim of controlling a legged rover for planetary exploration using dynamical recurrent neural networks and evolutionary algorithms. This paper describes the realization of the navigation module of such a rover using a 2D chemiotaxis scenario, in which the agent must reach the source of a chemical signal. The analyses carried out in this work show
Using Fuzzy Logic to Generate the Mesh for the Finite Element Method
Lecture Notes in Computer Science, 2006
The aim of this work is to prove the efficacy of a Soft Computing approach to the problem of gene... more The aim of this work is to prove the efficacy of a Soft Computing approach to the problem of generating the best suited mesh for solving a differential problem with the Finite Element Method. Using Fuzzy Logic, it is possible to introduce a set of linguistic if-then rules reproducing the human expert reasoning used for creating the mesh.
The increased complexity of space systems implied, in recent years, a growing demand for an on-bo... more The increased complexity of space systems implied, in recent years, a growing demand for an on-board artificial intelligence, including fault-monitoring systems more and more autonomous, aimed both to enhance the mission performance and to support technicians during the plant operative life. The paper proposed a mixed approach to deal with possible symptoms Detection from sensor readings and -consequently- failure Identification in terms of either occurred or incipient fault of a particular device, driven by a qualitative knowledge base of the system to be monitored. The Detection mechanism is based on the Inductive reasoning approach, supported by the Fuzzy Logic theory to deal with uncertainties intrinsic in data coming from sensor readings. The Identification is accomplished by applying algorithms from the Possibilistic Reasoning theoretic field. Uncertainties related both to the classification of telemetry data as failure symptoms and to the inductive relationships from the curr...
N.E.Me.Sys: A Planetary Legged Rover Controlled With Dynamical Artificial Neural Networks
Intelligent Automation & Soft Computing, 2008
ABSTRACT This paper concerns the realization of the N.E.Me.Sys planetary six-legged rover control... more ABSTRACT This paper concerns the realization of the N.E.Me.Sys planetary six-legged rover controlled by a dynamical Artificial Neural Network. The parameters of the neural controller have been defined using Evolutionary Algorithms, thus following a biomimicry approach. A very meticulous investigation of the properties of such an innovative controller has been performed throughout simulations, demonstrating the very high robustness degree of the rover in facing obstacles, craters or uneven terrains. These very brilliant results have been confirmed also on the physical test-bed, thus rising the interest in studying innovative strategies for future planetary exploration.
Fuzzy Sets and Systems, 2009
A detailed description of the methodology used for reproducing the human knowledge required for c... more A detailed description of the methodology used for reproducing the human knowledge required for creating the mesh for solving a differential problem with the finite element method (FEM) is here presented. The fuzzy logic provides the framework for building the set of linguistic if-then rules, but some specific operators and some normalization constants have been created for introducing the knowledge.
A multiagent system for scheduling activities onboard a space system
The possible advantages of employing multiple agents to manage activities on a single space syste... more The possible advantages of employing multiple agents to manage activities on a single space system are largely unexplored. This paper presents the experimental validation of a multiagent scheduler for a low Earth orbit satellite. ... Note: OCR errors may be found in this Reference List extracted from the full text article. ACM has opted to expose the complete List rather than only correct and linked references. ... S. Das, P. Gonsalves, R. Krikorian, and W. Truszkowski, 'Multi-agent planning and scheduling environment for enhanced spacecraft autonomy', in ...
Web Intelligence and Agent Systems: An International Journal, 2010
The fundamental role of autonomous agents in managing activities of space systems has emerged som... more The fundamental role of autonomous agents in managing activities of space systems has emerged some years ago with the NASA's Remote Agent Experiment. However, the possible advantages of employing multiple agents to manage activities on a single space system are largely unexplored. This paper gives a contribution in this direction by presenting the design and the experimental validation of a multiagent architecture intended to run onboard a space satellite. Each agent is associated to a subsystem of the satellite and manages its activities. Each agent is organized in three modules, or layers: a planner, a scheduler, and an executor. Taken together across the agents, these layers form a distributed planner, a distributed scheduler, and a distributed executor, respectively. With a multiagent architecture, a number of benefits, including robustness, easy reuse of agents, and the possibility for the designer to focus on a small portion of the problem at a time, can be exploited. We experimentally validated our system in the scenario provided by Palamede, a low Earth orbit satellite under development at the Department of Aerospace Engineering of the Politecnico di Milano.
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Papers by Guido Sangiovanni