Obstacles faced in planetary surface exploration require innovation in many areas, primarily that of robotics. To be able to study interesting areas that are by current means hard to reach, such as steep slopes, ravines, caves andlava tubes, the surface vehicles of today need to be modified or augmented. Oneaugmentation with such a goal is PHALANX (Projectile Hordes for AdvancedLong-term and Networked eXploration), a prototype system being developed atthe NASA Ames Research Center. PHALANX uses remote deployment of expendablesensor nodes from a lander or rover vehicle. This enables in-situ measurementsin hard-to-reach areas with reduced risk to the rover. The deployed sensornodes are equipped with capabilities to transmit data wirelessly back to therover and to form a network with the rover and other nodes. Knowledge of the location of deployed sensor nodes and the momentary locationof the rover is greatly desired. PHALANX can be of aid in this aspect as well.With the addition of inter-node and rover-to-node range measurements, arange-based network SLAM (Simultaneous Localization and Mapping) system can beimplemented for the rover to use while it is driving within the network. Theresulting SLAM system in PHALANX shares characteristics with others in the SLAM literature, but with some additions that make it unique. One crucial additionis that the rover itself deploys the nodes. Another is the ability for therover to more accurately localize deployed nodes by external sensing, such asby utilizing the rover cameras. In this thesis, the SLAM of PHALANX is studied by means of computer simulation.The simulation software is created using real mission values and valuesresulting from testing of the PHALANX prototype hardware. An overview of issuesthat a SLAM solution has to face as present in the literature is given in thecontext of the PHALANX SLAM system, such as poor connectivity, and highlycollinear placements of nodes. The system performance and sensitivities arethen investigated for the described issues, using predicted typical PHALANXapplication scenarios. The results are presented as errors in estimated positions of the sensor nodesand in the estimated position of the rover. I find that there are relativesensitivities to the investigated parameters, but that in general SLAM inPHALANX is fairly insensitive. This gives mission planners and operatorsgreater flexibility to prioritize other aspects important to the mission athand. The simulation software developed in this thesis work also has thepotential to be expanded on as a tool for mission planners to prepare forspecific mission scenarios using PHALANX.

This thesis takes a closer look at the complex maneuver known as gravity assist, a popular method of interplanetary travel. The maneuver is used to gain or lose momentum by flying by planets, which induces a speed and direction change. A simulation model is created using the General Mission Analysis Tool (GMAT), which is intended to be easily reproduced and altered to match any desired gravity assist maneuver. The validity of its results is analyzed, comparing them to available data from real missions. Some parameters, including speed and trajectory, are found to be extremely reliable. The model is then used as a tool to investigate the way that different parameters impact this complex environment, and the advantages of performing thrusting burns at different points during the maneuver are explored. According to theory, thrusting at the point of closest approach to the planet is thought to be the most efficient method for changing speed and direction of flight. However, the results from this study show that thrusting before this point can have some major advantages, depending on the desired outcome. The reason behind this is concluded to be the high sensitivity of the gravity assist maneuver to the altitude and location of the point of closest approach. / Detta examensarbete tittar närmare på den komplexa manöver inom banmekanik som kallas gravitationsassisterad manöver, vilken är vanligt förekommande vid interplanetära rymduppdrag. Manövern används för att öka eller minska farkostens rörelsemängd genom att flyga förbi nära planeter, vilket ger upphov till en förändring i fart och riktning. En simuleringsmodell är skapad i NASAs mjukvara GMAT med syftena att den ska vara reproducerbar samt möjlig att ändra för olika gravitationsassisterade manövrar. Resultaten från simuleringarna är validerade mot tillgängliga data från riktigt rymduppdrag. Vissa parametrar, som fart och position, har en väldigt bra överenstämmelse. Modellen används sedan för att noggrannare undersöka hur olika parametrar påverkar det komplexa beteendet vid en graviationsassisterad manöver, genom att specifikt titta på effekterna av en pålagd dragkraft från motorn under den gravitationsassisterade manövern. Teoretiskt fås mest effekt på fart och riktning om dragkraften från motorn läggs på vid punkten närmast planeten. Resultaten från denna studie visar att beroende på vilken parameter man vill ändra så kan man erhålla mer effekt genom att lägga på dragkraften innan den närmsta punkten. Förklaringen till detta är att den gravitationsassisterade manövern är väldigt icke-linjär, så en tidigare pålagd dragkraft kan kraftigt förändra farkostens bana nära planeten, så att farkosten t.ex. kommer närmare och då påverkas mer.

Although high-level synthesis has been researched for many years, synthesizing minimum hardware implementations under a throughput constraint for computationally intensive algorithms remains a challenge. In this thesis, three important techniques are studied carefully and applied in an integrated way to meet this challenging synthesis requirement. The first is pipeline scheduling, which generates a pipelined schedule that meets the throughput requirement. The second is module selection, which decides the most appropriate circuit module for each operation. The third is resource sharing, which reuses a circuit module by sharing it between multiple operations. This work shows that combining module selection and resource sharing while performing pipeline scheduling can significantly reduce the hardware area, by either using slower, more area-efficient circuit modules or by time-multiplexing faster, larger circuit modules, while meeting the throughput constraint. The results of this work show that the combined approach can generate on average 43% smaller hardware than possible when a single technique (resource sharing or module selection) is applied. There are four major contributions of this work. First, given a fixed throughput constraint, it explores all feasible frequency and data introduction interval design points that meet this throughput constraint. This enlarged pipelining design space exploration results in superior hardware architectures than previous pipeline synthesis work because of the larger sapce. Second, the module selection algorithm in this work considers different module architectures, as well as different pipelining options for each architecture. This not only addresses the unique architecture of most FPGA circuit modules, it also performs retiming at the high-level synthesis level. Third, this work proposes a novel approach that integrates the three inter-related synthesis techniques of pipeline scheduling, module selection and resource sharing. To the author's best knowledge, this is the first attempt to do this. The integrated approach is able to identify more efficient hardware implementations than when only one or two of the three techniques are applied. Fourth, this work proposes and implements several algorithms that explore the combined pipeline scheduling, module selection and resource sharing design space, and identifies the most efficient hardware architecture under the synthesis constraint. These algorithms explore the combined design space in different ways which represents the trade off between algorithm execution time and the size of the explored design space.

With a big picture view of increasing the accessibility of space, standardization is applied within a service-oriented space program. The development of standardized spacecraft interfaces for numerous and varied payloads is examined through the lens of the creation of an Interface Control Document (ICD) within the Peregrine Lunar Lander project of Astrobotic Technologies, Inc. The procedure is simple, transparent, and adaptable; its applicability to other similar projects is assessed. / För en ökad tillgång till rymden finns det behov av standardisering för en förbättrad service. Utvecklingen av standardiserade rymdfarkostgränsytor för flera och olika nyttolaster har undersökts via ett dokumentet för gränssnittskontroll (ICD) inom projektet Peregrine Lunar Lander för Astrobotic Technologies, Inc. Proceduren är enkel, transparent och anpassningbar; dess användning för andra liknande projekt har värderats.

In the advent of Space 4.0 era with the commercialization and increased accessibility of space, a requirement analysis, trade-off options, development status and critical areas of a propulsion system for a Commercial Micro Moon Lander is carried out. An investigation of a suitable system for the current mission is examined in the frame of the ASTRI project of OHB System AG and Blue Horizon. Main trajectory strategies are being investigated and simulations are performed to extract the ∆V requirements. Top-level requirements are extracted which give the first input for the propulsion design. An evaluation of the propulsion requirements is implemented which outlines the factors that are more important and drive the propulsion design. The evaluation implements a dual comparison of the requirements where weighting factors are extracted, resulting the main drivers of the propulsion system design. A trade-off analysis is performed for various types of propulsion systems and a preliminary selection of a propulsion system suitable for the mission is described. A first-iteration architecture of the propulsion, ADCS and GNC subsystems are also presented as well as a component list. A first approach of the landing phase is described and an estimation of the required thrust is calculated. A unified Bipropellant propulsion system is proposed which fills out most of the mission requirements. However, the analysis shows that the total mass of the lander, including all the margins, exceeds a bit the mass limitations but no the volume limitations. The results shows that a decrease in payload capacity or the implementation of a different trajectory strategy can lower the mass below the limit. In addition, further iterations in the lander concept which will give a more detailed design, resulting to no extra margins, can drive the mass below the limit. Finally, a discussion on the results is done, addressing the limitations and the important factors that need to be considered for the mission. The viability of the mission due to its commercial aspect is being questioned and further investigation is suggested to be carried out on the ”micro” lander concept. / I tillkomsten av Space 4.0 era med kommersialisering och ökad tillgänglighet av rymden, en kravanalys, avvägningsalternativ, utvecklingsstatus och kritiska områden av ett framdrivningssystem för en kommersiell mikro månlandare bärs ut. En undersökning av ett lämpligt system för det aktuella uppdraget genomförs inom ramen för ASTRI-projektet för OHB System AG och Blue Horizon. Olika strategier för banor undersöks och simuleringar utförs för att extrahera ΔV-kraven. Topp-nivå krav definieras och ger den första inputen för designen av framdrivningssystemet. En utvärdering av framdrivningskraven implementeras och belyser de viktigaste faktorer som driver design av framdrivningssystemet. En avvägningsanalys utförs för olika typer av framdrivningssystem och ett preliminärt urval av ett framdrivningssystem som är lämpligt för uppdraget beskrivs. En arkitektur för framdrivningen, ADCS och GNC-delsystem presenteras såväl som en komponentlista. Ett första tillvägagångssätt av landningsfasen beskrivs och en uppskattning av den nödvändiga dragkraften beräknas. Ett enhetligt Bi-propellant framdrivningssystem föreslås som uppfyller ut de flesta uppdragskraven. Analysen visar dock att summan av månlandarens massa, inklusive alla marginaler, överstiger massbegränsningarna men inte de volymbegränsningarna uppsatta i projektet. Resultaten visar att en minskning av nyttolastkapaciteten eller genomförandet av en annan banstrategi kan minska den totala massan då den inom gränsvärdena. Dessutom, ytterligare iterationer i månlandarens koncept som kommer att ge en mer detaljerad design, vilket resulterar i inga extra marginaler, kan leda till att den uppskattade massan minskar ytterligare. Slutligen förs en diskussion om resultaten, med hänsyn till de begränsningarna och de viktigaste faktorerna som måste beaktas för uppdraget. Lönsamheten hos uppdraget på grund av sin kommersiella aspekt är ifrågasatt och vidare utredning föreslås utförs på ”mikro” månlandare konceptet.

Die Ramanspektroskopie (RS) ist eine analytische Technik, die in Folge einer optischen Anregung eines Stoffes materialspezifische Informationen über dessen molekulare Schwingungen und Kristallstruktur liefert. Da sowohl Minerale als auch biologische Materialien untersucht werden können, ist die RS in der Weltraumforschung von besonderem Interesse. So werden im Jahr 2020 gleich zwei Marsrover (ExoMars und Mars 2020) Ramanspektrometer mitführen, deren Aufgabe unter anderem die Detektion von Spuren von vergangenem oder gegenwärtigem extraterrestrischen Leben sein wird. Die Charakterisierung von stark lumineszierenden biologischen Proben und Mineralen stellt eine der größten Herausforderungen in der konventionellen RS dar. Daher beschäftigt sich diese Dissertation mit dem Problem der Lumineszenz in der RS. Dazu wird das Potenzial von fünf verschiedenen ramanspektroskopischen Techniken zur Handhabung der Lumineszenz evaluiert. Diese Techniken beinhalten (i) die Auswahl von verschiedenen Anregungswellenlängen (325 nm, 532 nm, 785 nm, 1064 nm), welche auf dem Konzept der spektralen Trennung des Lumineszenz- und Ramansignals basiert. (ii) Eine Alternative ist das Photobleichen, wobei die Lumineszenz durch eine lange Belichtungszeit unterdrückt wird. (iii) Eine weitere Methode für die spektrale Separation von Raman- und Lumineszenzphotonen ist die anti-Stokes RS. (iv) Bei der SERDS Technik werden zwei leicht verschobene Anregungswellenlängen verwendet. (v) Abschließend erfolgt die Untersuchung der Streu- und Emissionsstrahlung in der Zeitdomäne. Die Ergebnisse dieser Arbeit zeigen, dass es keine universelle Lösung gibt um das Problem der Lumineszenz in der RS zu überwinden. Allerdings weist die Verwendung unterschiedlicher Laserwellenlängen großes Potenzial für die erfolgreiche Handhabung der Lumineszenz in der RS auf. In Kombination mit SERDS und/oder Photobleichen steigt die Wahrscheinlichkeit verwertbare Spektren für die Probencharakterisierung zu erhalten. / Raman spectroscopy (RS) is an analytical technique conveying material-specific information about a material’s molecular vibrations and crystal structure in succession of an optical excitation of the material. Due to the fact that mineralogical as well as biological material can be examined, RS is of special interest for space research. For instance, two Mars rovers (ExoMars and Mars 2020) will each carry along a Raman spectrometer in the year 2020, with the aim of detecting inter alia traces of extant or extinct extraterrestrial life. One of the biggest challenges in conventional RS is the characterization of strongly luminescent biological or mineralogical material; therefore, the dissertation at hand deals with the problem of luminescence in RS. For this purpose, the potential of five different Raman spectroscopic techniques for the handling of luminescence will be evaluated. These techniques include (i) the selection of different excitation wavelengths (325 nm, 532 nm, 785 nm and 1064 nm), which is based on the concept of the spectral separation of the luminescence signals as well as Raman signals. (ii) Photobleaching provides an alternative whereby the luminescence is suppressed by long exposure. (iii) A further method for the spectral separation of Raman photons as well as luminescence photons is provided by the anti-Stokes RS. (iv) The SERDS technique uses two slightly shifted excitation wavelengths. (v) Finally the examination of inelastic scattering and emission takes place in the time domain. The results of this dissertation show that there is no universal solution to overcome the problem of luminescence in RS. However, the usage of different excitation wavelengths offers great potential for handling luminescence in RS successfully. In combination with SERDS and/or photobleaching the probability to obtain exploitable spectra for sample characterization increases

As embedded systems advance, the complexity and multifaceted requirements of products have increased significantly. A trend in this domain is the selection of different types of application models and multiprocessors as the platform. However, limited design space exploration techniques often perform one particular model, and combining diverse application models may cause compatibility issues. Additionally, embedded system design inherently involves multiple objectives. Beyond the essential functionalities, other metrics always need to be considered, such as power consumption, resource utilization, cost, safety, etc. The consideration of these diverse metrics results in a vast design space, so effective design space exploration also plays a crucial role. This thesis addresses these challenges by proposing a co-mapping approach for two distinct models: the periodically activated tasks model for real-time applications and the synchronous dataflow model for digital signal processing. Our primary goal is to co-map these two kinds of models onto a multi-core platform and explore trade-offs between the solutions. We choose the number of used resources and throughput of the synchronous dataflow model as our performance metrics for assessment. We adopt a combination method in which periodic tasks are given precedence to ensure their deadlines are met. The remaining processor resources are then allocated to the synchronous dataflow model. Both the execution of periodic tasks and the synchronous dataflow model are managed by a scheduler, which prevents resource contention and optimizes the utilization of available processor resources. To achieve a balance between different metrics, we implement Pareto optimization as a guiding principle in our approach. This thesis uses the IDeSyDe tool, an extension of the ForSyDe group’s current design space exploration tool, following the Design Space Identification methodology. Implementation is based on Scala and Python, running on the Java virtual machine. The experiment results affirm the successful mapping and scheduling of the periodically activated tasks model and the synchronous dataflow model onto the shared multi-processor platform. We find the Pareto-optimal solutions by IDeSyDe, strategically aiming to maximize the throughput of synchronous dataflow while concurrently minimizing resource consumption. This thesis serves as a valuable insight into the application of different models on a shared platform, particularly for developers interested in utilizing IDeSyDe. However, due to time constraints, our test case may not fully encompass the potential scalability of our thesis method. Additional tests can demonstrate the better effectiveness of our approach. For further reference, the code can be checked in the GitHub repository at*. / Allt eftersom inbyggda system utvecklas, blir komplexiteten och de mångfacetterade kraven av produkter har ökat avsevärt. En trend inom detta område är urval av olika typer av applikationsmodeller och multiprocessorer som plattformen. Dock begränsad design utrymme utforskning tekniker ofta utföra en viss modell, och kombinera olika applikationsmodeller kan orsaka kompatibilitetsproblem. Dessutom inbyggt systemdesign i sig involverar flera mål. Utöver de väsentliga funktionerna, andra mätvärden måste alltid beaktas, såsom strömförbrukning, resurs användning, kostnad, säkerhet, etc. Övervägandet av dessa olika mätvärden resulterar i ett stort designutrymme spelar så effektiv designrumsutforskning också en avgörande roll roll. Denna avhandling tar upp dessa utmaningar genom att föreslå en samkartläggning tillvägagångssätt för två distinkta modeller: modellen med periodiskt aktiverade uppgifter för realtidsapplikationer och den synkrona dataflödesmodellen för digital signal bearbetning. Vårt primära mål är att samkarta dessa två typer av modeller på en multi-core plattform och utforska avvägningar mellan lösningarna. Vi väljer antalet använda resurser och genomströmning av det synkrona dataflödet modell som vårt prestationsmått för bedömning. Vi använder en kombinationsmetod där periodiska uppgifter ges företräde för att säkerställa att deras tidsfrister hålls. Den återstående processorn resurser allokeras sedan till den synkrona dataflödesmodellen. Både utförandet av periodiska uppgifter och den synkrona dataflödesmodellen är hanteras av en schemaläggare, vilket förhindrar resursstrid och optimerar utnyttjandet av tillgängliga processorresurser. För att uppnå en balans mellan olika mått, implementerar vi Pareto-optimering som en vägledande princip i vårt tillvägagångssätt. Denna avhandling använder verktyget IDeSyDe, en förlängning av ForSyDe gruppens nuvarande verktyg för utforskning av designutrymme, efter Design Space Identifieringsmetodik. Implementeringen är baserad på Scala och Python, körs på den virtuella Java-maskinen. Experimentresultaten bekräftar den framgångsrika kartläggningen och schemaläggningen av den periodiskt aktiverade uppgiftsmodellen och det synkrona dataflödet modell på den delade flerprocessorplattformen. Vi finner Pareto-optimal lösningar av IDeSyDe, strategiskt inriktade på att maximera genomströmningen av synkront dataflöde samtidigt som resursförbrukningen minimeras. Denna uppsats fungerar som en värdefull inblick i tillämpningen av olika modeller på en delad plattform, särskilt för utvecklare IDeSyDe. På grund av tidsbrist kanske vårt testfall inte är fullt ut omfattar den potentiella skalbarheten hos vår avhandlingsmetod. Ytterligare tester kan visa hur effektiv vår strategi är. För ytterligare referens, koden kan kontrolleras i GitHub*.

In recent years international space agencies have become more and more explicit about long term lunar and Martian space missions. With the space program Terrae Novae, the European Space Agency puts forward a focus on the development of Human & Robotic Exploration technologies essential in enabling such long term missions. An integral component of this program is the focus on Advanced Life Support Systems. Life support systems are operated to provide astronauts with life necessities like oxygen, water and food. Currently, conventional Life Support System often have a linear supply design, relying on resources shipped from Earth, with limited onboard re-usage. However, for extended space missions, this linear supply model becomes impractical due to the constraints of dry mass during space travel. Given this need, the European Space Agency initiated the MELiSSA (Micro-Ecological Life Support System Alternative) project aimed at the development of a bioregenerative life support systems. In previous works, the MELiSSA Loop has been proposed: a system design inspired by terrestial ecosystems, that consists of multiple compartments that perform specific biological functions like nitrification and biosynthesis. Due to the complex interdependence of the individual compartments and general space system requirements, the control of such this cyber-physical system forms a significant challenge. This thesis proposes a previously undescribed architecture for the MELiSSA Loop controller design that coordinates the resource distribution between the compartments and establishes atmosphere revitalisation. The architecture meets control objectives specified at high level, and at the same time satisfies the physical and operational constraints. / Under de senaste åren har internationella rymdorganisationer blivit mer och mer tydliga om långsiktiga mån- och rymduppdrag på mars. Med rymdprogrammet Terrae Novae lägger Europeiska rymdorganisationen fram ett fokus på utvecklingen av Human & Robotic Exploration-teknik som är nödvändig för att möjliggöra sådana långsiktiga uppdrag. En integrerad del av detta program är fokus på Advanced Life Support Systems. Livsuppehållande system används för att förse astronauter med livsnödvändigheter som syre, vatten och mat. För närvarande har konventionella livsuppehållande system ofta en linjär försörjningsdesign som förlitar sig på resurser som skickas från jorden, med begränsad återanvändning ombord. Men för utökade rymduppdrag blir denna linjära försörjningsmodell opraktisk på grund av begränsningarna av torr massa under rymdresor. Med tanke på detta behov initierade Europeiska rymdorganisationen MELiSSA-projektet (MicroEcological Life Support System Alternative) som syftade till att utveckla ett bioregenerativt livsuppehållande system. I tidigare arbeten har MELiSSA Loop föreslagits: en systemdesign inspirerad av terrestiska ekosystem, som består av flera fack som utför specifika biologiska funktioner som nitrifikation och biosyntes. På grund av det komplexa ömsesidiga beroendet mellan de enskilda avdelningarna och allmänna krav på rymdsystem, utgör kontrollen av sådana detta cyberfysiska system en betydande utmaning. Denna avhandling föreslår en tidigare obeskriven arkitektur för MELiSSA Loopkontrollerdesignen som koordinerar resursfördelningen mellan avdelningarna och etablerar återupplivning av atmosfären. Arkitekturen uppfyller styrmål som anges på hög nivå, och uppfyller samtidigt de fysiska och operativa begränsningarna.

Embedded Systems may have competing design objectives, such as to maximize the reliability, increase the functional safety, minimize the product cost, and minimize the energy consumption. The architectures must be therefore configured to meet varied requirements and multiple design objectives. In particular, reliability and safety are receiving increasing attention. Consequently, the configuration of fault-tolerant mechanisms is a critical design decision. This work proposes a method for automatic selection of appropriate fault-tolerant design patterns, optimizing simultaneously multiple objective functions. Firstly, we present an exact method that leverages the power of Satisfiability Modulo Theory to encode the problem with a symbolic technique. It is based on a novel assessment of reliability which is part of the evaluation of alternative designs. Afterwards, we empirically evaluate the performance of a near-optimal approximation variation that allows us to solve the problem even when the instance size makes it intractable in terms of computing resources. The efficiency and scalability of this method is validated with a series of experiments of different sizes and characteristics, and by comparing it with existing methods on a test problem that is widely used in the reliability optimization literature.

This thesis aimed to assess the feasibility of using an off-the-shelf virtual reality tracking system as a low cost precision pose estimation solution for robotic operations in both indoor and outdoor environments. Such a tracking solution has the potential of assisting critical operations related to planetary exploration missions, parcel handling/delivery, and wildfire detection/early warning systems. The boom of virtual reality experiences has accelerated the development of various low-cost, precision indoor tracking technologies. For the purpose of this thesis we choose to adapt the SteamVR Lighthouse system developed by Valve, which uses photo-diodes on the trackers to detect the rotating IR laser sheets emitted from the anchored base stations, also known as lighthouses. Some previous researches had been completed using the first generation of lighthouses, which has a few limitations on communication from lighthouses to the tracker. A NASA research has cited poor tracking performance under sunlight. We choose to use the second generation lighthouses which has improved the method of communication from lighthouses to the tracker, and we performed various experiments to assess their performance outdoors, including under sunlight. The studies of this thesis have two stages, the first stage focused on a controlled, indoor environment, having an Unmanned Aerial Vehicle (UAS) perform repeatable flight patterns and simultaneously tracked by the Lighthouse and a reference indoor tracking system, which showed that the tracking precision of the lighthouse is comparable to the industrial standard indoor tracking solution. The second stage of the study focused on outdoor experiments with the tracking system, comparing UAS flights between day and night conditions as well as positioning accuracy assessments with a CNC machine under indoor and outdoor conditions. The results showed matching performance between day and night while still comparable to industrial standard indoor tracking solution down to centimeter precision, and matching simulated CNC trajectory down to millimeter precision. There is also some room for improvement in regards to the experimental method and equipment used, as well as improvements on the tracking system itself needed prior to adaptation in real-world applications. / Master of Science / This thesis aimed to assess the feasibility of using an off-the-shelf virtual reality tracking system as a low cost precision pose estimation solution for robotic operations in both indoor and outdoor environments. Such a tracking solution has the potential of assisting critical operations related to planetary exploration missions, parcel handling/delivery, and wildfire detection/early warning systems. The boom of virtual reality experiences has accelerated the development of various low-cost, precision indoor tracking technologies. For the purpose of this thesis we choose to adapt the SteamVR Lighthouse system developed by Valve, which uses photo-diodes on the trackers to detect the rotating IR laser sheets emitted from the anchored base stations, also known as lighthouses. Some previous researches had been completed using the first generation of lighthouses, which has a few limitations on communication from lighthouses to the tracker. A NASA research has cited poor tracking performance under sunlight. We choose to use the second generation lighthouses which has improved the method of communication from lighthouses to the tracker, and we performed various experiments to assess their performance outdoors, including under sunlight. The studies of this thesis have two stages, the first stage focused on a controlled, indoor environment, having an Unmanned Aerial Vehicle (UAS) perform repeatable flight patterns and simultaneously tracked by the Lighthouse and a reference indoor tracking system, which showed that the tracking precision of the lighthouse is comparable to the industrial standard indoor tracking solution. The second stage of the study focused on outdoor experiments with the tracking system, comparing UAS flights between day and night conditions as well as positioning accuracy assessments with a CNC machine under indoor and outdoor conditions. The results showed matching performance between day and night while still comparable to industrial standard indoor tracking solution down to centimeter precision, and matching simulated CNC trajectory down to millimeter precision. There is also some room for improvement in regards to the experimental method and equipment used, as well as improvements on the tracking system itself needed prior to adaptation in real-world applications.