Syftet med detta arbete är att undersöka omgivningsmedvetenhet hos besättningsmedlemmar som arbetar vid förtöjningsplatser. Olyckor vid förtöjning sker varje år. De som arbetar på förtöjningsplaten arbetar med stora krafter under en tidspress, därför är det intressant att undersöka en besättning som avgår och lägger till kaj mer än två gånger på ett dygn. Verktyget Omgivningsmedvetenhet (engelska: situational awareness) kommer ifrån sjöfartens bryggtjänstgörning (engelska: Bridge resource Management) och är ett verktyg för att förbättra säkerheten. Undersökningen gjordes på ett kvalitativt sätt med semistrukturerade intervjuer för att lättare kunna fånga upp respondenternas egna synpunkter och erfarenheter. Resultatet visar att omgivningsmedvetenheten manifesteras genom att besättningsmedlemmarna är uppmärksamma och vaksamma på till exempel om någon kollega står i en riskzon eller om en tross är för sliten. Riskområden ansågs vara där det är störst risk för snapback. Till exempel vid klys, pollare och bakom trumman vid förtöjningsspelet. / The purpose of this paper is to investigate situational awareness within the crew, working on the mooring station. Accidents at the mooring station occur regularly. Those who are working at the mooring station handle large forces under a time pressure, therefore it is of interest to investigate the crew onboard vessels that moor and unmoor more than four times a day. The tool situational awareness comes from the maritime Bridge Resource Management, it is used to improve safety. This was a qualitative study and semi-structured interviews were carried out to make it easier to capture the respondents’ thoughts and experiences. The results showed that situational awareness is manifested through the crew in the form of attention and vigilance. High areas were regarded as as those with a high potential for snapback. These areas were highlighted as those in the immediate proximity of fairleads fairleads, bollards and behind the drum where the mooring line is stored.

Unmanned aerial vehicle (UAV) is an expanding interest in numerous industries for various applications. Increasing development of UAVs is happening worldwide, where various sensor attachments and functions are being added. The multi-function UAV can be used within areas where they have not been managed before. Because of their accessibility, cheap purchase, and easy-to-use, they replace expensive systems such as helicopters- and airplane-surveillance. UAV are also being applied into surveillance, combing object detection to video-surveillance and mobility to finding an object from the air without interfering with vehicles or humans ground. In this thesis, we solve the problem of using UAV on autonomous sites, finding an object and critical situation, support autonomous site operators with an extra safety layer from UAVs camera. After finding an object on such a site, uses GPS-coordinates from the UAV to see and place the detected object on the site onto a gridmap, leaving a coordinate-map to the operator to see where the objects are and see if the critical situation can occur. Directly under the object detection, reporting critical situations can be done because of safety-distance-circle leaving warnings if objects come to close to each other. However, the system itself only supports the operator with extra safety and warnings, leaving the operator with the choice of pressing emergency stop or not. Object detection uses You only look once (YOLO) as main object detection Neural Network (NN), mixed with edge-detection for gaining accuracy during bird-eye-views and motion-detection for supporting finding all object that is moving on-site, even if UAV cannot find all the objects on site. Result proofs that the UAV-surveillance on autonomous site is an excellent way to add extra safety on-site if the operator is out of focus or finding objects on-site before startup since the operator can fly the UAV around the site, leaving an extra-safety-layer of finding humans on-site before startup. Also, moving the UAV to a specific position, where extra safety is needed, informing the operator to limit autonomous vehicles speed around that area because of humans operation on site. The use of single object detection limits the effects but gathered object detection methods lead to a promising result while printing those objects onto a global positions system (GPS) map has proposed a new field to study. It leaves the operator with a viewable interface outside of object detection libraries.

Software is the crux of many commercial, industrial and military systems. The software systems need to be very reliable especially in case of safety critical systems. Unmanned Aerial Vehicle (UAV) and manned aircraft are safety critical systems and hence failures related to software or software-hardware interaction leads to huge problems. The software systems need to be certified before they are deployed. Even after being certified several accidents and incidents have occurred and are occurring. The software errors can occur during any phase of software development. The reliability of the software is enhanced using the verification process. Runtime monitoring has various advantages over testing and model checking. Hence this thesis work explores runtime monitoring of UAV. The runtime monitoring shall verify the run of the current system state. The runtime monitoring shall monitor the health of the UAV and shall report to the operator about its status. The software faults and errors if not prevented shall lead to software failure. UAV lacks the situational awareness due to absence of pilot onboard. This motivated to use runtime monitor to enhance the situation awareness. The runtime monitor shall detect the software errors and avoid failures. This monitor shall also enhance the situational awareness of the remote operator. The runtime monitor that enhance situation awareness shall not only be applicable to specific UAV but this shall be applicable to all the UAV’s. Hence this work provides an independent Generic Runtime Monitor (GRM) to enhance the situation awareness. The runtime monitor has various methods but using formal specifications in specific using Linear Temporal Logic(LTL) to generate monitor is considered in this work. Runtime monitoring makes UAV more safe and at the same time reduces the costs as it verifies only the current run of the system state by providing a detection of critical errors. The situation awareness includes functional and environmental states that remote pilot shall not be aware of. The architecture plays vital role for the system design. GRM architecture is one such architecture which chalks out the overall independent system design for the runtime monitoring of the UAV system. This architecture is an extensible one. The generic requirements were elicited from different sources such as Aircraft Incidents and Accidents, Boeing Aero Magazine, Autonomous Rotorcraft Testbed for Intelligent Systems (ARTIS) requirements, generic Autonomy Levels for Unmanned Rotorcraft Systems (ALFURS) framework etc. The situation awareness can be categorized into three levels namely perception, comprehension and projection. The requirements were elicited for all the three levels of situation awareness. These requirements further formalized using temporal logics. The formalized requirements further translated into state automaton automatically.

<div>As the number of Resident Space Objects around Earth continues to increase, the need for an optimal sensor tasking strategy, specifically with Ground-Based Optical sensors, continues to be of great importance. This thesis focuses on the single and multi-sensor tasking problem with realistic optical sensor modeling for the observation of objects in the Geosynchronous Earth Orbit regime. In this work, sensor tasking refers to assigning the specific?c observation times and viewing directions of a single or multi sensor framework to either survey for or track new or existing objects. For this work specifically, the sensor tasking problem will seek to maximize the total number of Geosynchronous Earth Orbiting objects to be observed from a catalog of existing objects with a single and multi optical sensor tasking framework. This research focuses on the physical assumptions and limitations on an optical sensor, and how these assumptions affect the single and multi sensor tasking scenario. First, the concept of the probability of detection of a resident space object is calculated based on the viewing geometry of the resident space object. Then, this probability of detection is compared to the system that avoids the computational process by implementing a classical heuristic minimum elevation constraint to an electro-optical charged coupled optical sensor. It is shown that in the single and multi-sensor tasking scenario if the probability of detection is not considered in the sensor tasking framework, then a rigid elevation constraint of around 25^o-35^o is recommended for tasking Geosynchronous objects. Secondly, the topic of complete geo-coverage within a single night is explored. A sensor network proposed by Ackermann et al. (2018) is studied with and without the probability of detection considerations, and with and without uncertainties in the resident space objects' states. (then what you have). For the multi-sensor system, it is shown that with the assumed covariance model for this work, the framework developed by Ackermann et al. (2018) does not meet the design requirements for the cataloged Geosynchronous objects from March 19th, 2019. Finally, the concept of a variable repositioning time for the slewing of the ground-based sensors is introduced and compared to a constant repositioning time model. A model for the variable repositioning time is derived from data retrieved from the Purdue Optical Ground Station. This model is applied to a single sensor scenario. Optimizers are developed using the two repositioning time functions derived in this work. It is shown that the constant repositioning models that are greater than the maximum repositioning time produce results close to the variable repositioning solution. When the optimizers are tested, it is shown that there is a small increase in performance only when the maximum repositioning time is significant.</div>

In this report I present a feasibility study of using open astronomical data to make Initial Orbit Determination (IOD) for Resident Space Objects (RSO) appearing as streaks in telescope images. The purpose is to contribute to Space Surveillance and Tracking (SST) for maintaining Space Situation Awareness (SSA). Data from different wide-field survey telescopes were considered but due to availability constraints only mask images from Zwicky Transient Facility (ZTF) survey were chosen for the analysis. An algorithm was developed to detect streaks in the mask images and match them to RSO known to be within the Field of View (FoV) at the observation time. Further, the IOD was made with angles-only Laplace’s method and the state vectors calculated for the streaks from the IOD were compared to those from the TLE for the matching RSO. The algorithm was tested with 6 different image fields acquired between the 14th to the 16th December 2019, of which 4 are characterised as non-crowded and 2 as crowded. The streak finding algorithm has a better precision and sensitivity for the non-crowded field, with an F1-score of 0.65, but is worse for the crowded fields with an F1-score of 0.035. In the non-crowded fields 95% of all streak and object matches are true matches to unique RSO, while for the crowded field only 10% are true matches. It was found that the 1''/pixel resolution in the images is too low for doing an IOD with Laplace’s method, despite how well the streak finding algorithm performs. However, with some improvements, the method is suitable as a cost effective way to verify known RSO in catalogues. / I den här rapporten presenterar jag en studie om att använda öppen astronomiska data för att göra initial banbestämning för artificiella rymdobjekt avbildade som streck i teleskopbilder. Syftet är att tillhandahålla information för att upprätthålla en god rymdlägesbild. Data från olika kartläggnings teleskop övervägdes men på grund av begränsningar i tillgänglighet valdes endast mask-bilderna från Zwicky Transient Facility för analysen. En algoritm utvecklades för att upptäcka streck i mask-bilderna och matcha dem med kända objekt i bildens synfält vid observationstillfället. Vidare gjordes den initiala banbestämningen med Laplaces metod, som använder vinkelkoordinaterna för streckens position vid observationen. Tillståndsvektorerna för strecken och de matchade objekten jämfördes, de beräknades från den initiala banbestämningen respektive objektets TLE. Algoritmen testades med 6 olika bildfält från observationsdatum mellan den 14:e till den 16:e december 2019, av dessa karakteriseras 4 som glesa och 2 som fyllda. Algoritmen för streck detektering har bättre precision och känslighet för de glesa fälten, med ett F1-värde på 0.65, men sämre för de fulla fälten med ett F1-värde på 0.035. I de glesa fälten är 95% av alla streck- och objektmatchningar korrekta matchningar med unika objekt, medan för det fulla fälten är endast 10% korrekta matchningar. Det visar sig att upplösningen på 1''/pixel i bilderna är för låg för att göra en initial banbestämning med Laplaces metod, oavsett hur bra algoritmen för streck detektering presterar. Genom att göra vissa förbättringar i algoritmen är metoden lämplig för att, på ett kostnadseffektivt sätt, verifiera kända objekt i kataloger.

During an extravehicular activity (EVA), the role of an astronaut involves a multitude of complex tasks. Whether that task is a science experiment aboard the International Space Station, or traversing extraterrestrial terrain – attention, communication, and instruction are essential. As an aid, augmented reality (AR) can portray suit informatics and procedures within line-of-sight while minimizing attentional loss. Currently, there exists little research highlighting the human systems considerations to qualify AR systems for space suit applications. This study quantifies user interface (UI) and human performance measures for an AR prototype on the Mark III space suit. For user testing, 21 military pilots and personnel (11 men, 10 women) evaluated UI search tasks and completed a series of AR-instructed EVA dexterity tasks in an elevated luminosity, background clutter, and workload scenario. UI results suggest correlations for readability and usability; whereas, human performance results provide situational awareness, workload, and task performance data.

No description available.

<p>Autonomous guidance and control techniques for low-thrust spacecraft under multi-body dynamics via reinforcement learning</p>

<p>Secondary payloads have a rich and successful history of utilizing cheap rides to orbit to perform outstanding missions in Earth orbit, and more recently, in cislunar space and beyond. New launch vehicles, namely the Space Launch System (SLS), are increasing the science opportunity for rideshare class missions by providing regular service to the lunar vicinity. However, trajectory design in a multi-body regime brings a host of novel challenges, further exacerbated by constraints generated from the primary payload’s mission. Often, secondary payloads do not possess the fuel required to directly insert into lunar orbit and must instead perform a lunar flyby, traverse the Earth-Moon-Sun system, and later return to the lunar vicinity. This investigation develops a novel framework to construct low-cost, end-to-end lunar transfer trajectories for secondary payload missions. The proposed threephase approach provides unique insights into potential lunar transfer geometries. The phases consist of an arc from launch to initial perilune, an exterior transfer arc, and a lunar approach arc. The space of feasible transfers within each phase is determined through low-dimension grid searches and informed filtering techniques, while the problem of recombining the phases through differential corrections is kept tractable by reducing the dimensionality at each phase transition boundary. A sample mission demonstrates the trajectory design approach and example solutions are generated and discussed. Finally, alternate strategies are developed to both augment the analysis and for scenarios where the proposed three-phase technique does not deliver adequate solutions. The trajectory design methods described in this document are applicable to many upcoming secondary payload missions headed to lunar orbit, including spacecraft with only low-thrust, only high-thrust, or a combination of both. </p>

Since the early 2000s the space industry has undergone significant changes such as the advent of reusable launch vehicles and an increase of commercial opportunities. This new space age is characterized by a dynamic entrepreneurial climate, lowered barriers to access space and the emergence of new markets. New business models are being developed by many actors and the merging of space and other sectors continues, facilitating innovative and disruptive opportunities. Already established companies are adapting in various ways as efforts to stay relevant are gaining attention. The previous pace of development that was exclusively determined by governmental programs are now largely set by private and commercial ventures. Relating to all trends, new technologies and driving forces in the space industry is no trivial matter. By analyzing and examining identified trends and technologies the author has attempted to discern those that will have a significant impact on the industrial environment during the next decade. Market assessments have been summarized and interviews have been carried out. Discussions and conclusions relating to the services provided by the Swedish Space Corporation are presented. This report is intended to update the reader on the current status of the space industry, introduce concepts and provide relevant commentary on many important trends. / Sedan början av 2000-talet har det skett markanta förändringar inom rymdindustrin, såsom utvecklingen av återanvändningsbara raketer och en ökad mängd kommersiella möjligheter. Denna nya rymder a karaktäriseras av ett dynamiskt klimat för entreprenörer, minskande barriärer för att etablera rymdverksamhet och uppkomsten av nya marknader. Nya affärsmodeller utvecklas och integrering mellan rymden och andra industrier fortsätter, vilket ger utrymme för utveckling av innovativa och disruptiva idéer. Redan etablerade företag anpassar sig till förändringarna på olika sätt och ansträngningar för att bibehålla relevans prioriteras. Utvecklingstakten inom branschen var tidigare dominerad av statliga program men är nu alltmer influerad av privata och kommersiella satsningar. Att relatera till ny teknik, nuvarande trender och drivkrafter inom rymdindustrin är Jacob Ask is pursuing a Master of Science degree in Aerospace Engineering at KTH Royal Institute of Technology in Stockholm, Sweden. Christer Fuglesang is a professor in Space Travel, director of KTH Space Center and responsible for the Aerospace Engineering master program. He serves as the examiner for this master thesis project. Linda Lyckman is the Head of Business &amp; Technology Innovation at SSC and supervisor for this master thesis project. komplext. Genom att undersöka och analysera identifierade trender och teknologier ämnar författaren urskilja de som kan komma att påverka industrin i störst utsträckning under det kommande decenniet. Bedömningar av marknadsmöjligheter och intervjuer har genomförts och i denna rapport presenteras ¨aven diskussioner och slutsatser relaterade till den typ av tjänster som Swedish Space Corporation erbjuder. Denna rapport har för avsikt att uppdatera läsaren om delar av den aktuella nulägesanalysen inom rymdindustrin, introducera koncept och ge relevanta kommentarer om viktiga trender.