Abhinandan Jain

Accurate, GPU Accelerated Solar Radiation Pressure Modeling for Exo-Atmosphere Trajectory Simulation

Asher Elmquist, Vivian Steyert, S. Diehl, Abhinandan Jain

For long-duration space flight, solar radiation pressure (SRP) can induce non-negligible forces on the space craft, requiring accurate modeling for the analysis of uncontrolled flight trajectories. These forces are the result of absorbed and reflected radiation on the spacecraft's surface, a phenomenon …

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Dshell-DARTS: A Reusability-Focused Multi-Mission Aerospace and Robotics Simulation Toolkit

Juan Garcia-Bonilla, Carl Leake, Asher Elmquist, Tristan D. Hasseler et autres

The Dshell-DARTS framework is a versatile simulation toolkit designed for aerospace and robotics applications. Developed at NASA's Jet Propulsion Laboratory (JPL), it supports high-fidelity simulations for a wide range of systems, including interplanetary, orbital, atmospheric, and surface vehicles, as well as robotic …

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EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development

Tristan D. Hasseler, Carl Leake, Aaron Gaut, Asher Elmquist et autres

EELS-DARTS is a simulator designed for autonomy development and analysis of large degree of freedom snake-like robots for space exploration. A detailed description of the EELS-DARTS simulator design is presented. This includes the versatile underlying multibody dynamics representation used to model a …

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HeliCAT-DARTS: A High Fidelity, Closed-Loop Rotorcraft Simulator for Planetary Exploration

Carl Leake, Håvard Fjær Grip, Vivian Steyert, Tristan D. Hasseler et autres

HeliCAT-DARTS is a high-fidelity rotorcraft dynamics simulator developed for the design and development of rotorcraft for planetary exploration. While initially developed for the life cycle use of the Ingenuity Mars Helicopter mission, the simulator now supports a broad range of rotorcraft configurations …

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Endurance Mission-Level Simulation Architecture for Autonomy Development

Saptarshi Bandyopadhyay, Aaron Gaut, Nicolas Rouquette, Abhinandan Jain et autres

The Endurance mission concept is a lunar sample-return mission that comprises a long-range traverse from the middle of the South-pole Aitken basin to the South Pole to collect samples from sites of high science value along the route. The samples would be …

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Volumetric and viscometric study on the interaction of amino acid (valine) with an aqueous solution of cationic surfactant, Cetyltrimethylammonium Bromide (CTAB), at 298.15, 303.15, 308.15, and 313.15 K

Abhinandan Jain

Interactions between the surfactant (CTAB) and amino acid (valine) were investigated using density and viscosity data. These data were utilized to calculate apparent molar volume, fv, and partial molar volume also known as limiting molar volume f0v and these parameters were further …

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EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration

Tiago Vaquero, Guglielmo Daddi, Rohan Thakker, Michael Paton et autres

Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected to a subsurface ocean, through which the …

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To Boldly Go Where No Robots Have Gone Before – Part 4: NEO Autonomy for Robustly Exploring Unknown, Extreme Environments with Versatile Robots

Rohan Thakker, Michael John Paton, Marlin P. Strub, Michael K. Swan et autres

This paper introduces NEO, a novel autonomy framework for controlling a versatile high- degree-of-freedom (DOF) robots such as EELS (a screw-driven snake-like robot), aimed at exploring unknown and extreme environments like the geysers of Enceladus or the subsurface oceans of icy worlds. …

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Physicochemical study on interaction of valine with aqueous solution of anionic surfactant, sodium dodecyl surfactant (SDS), at 298.15, 303.15, 308.15 and 313.15 K temperatures

Abhinandan Jain

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Resistive-Gate Field-Effect Transistor: A Potential Steep-Slope Device

Abhinandan Jain, Lalit Kumar Lata, Neeraj Kumar Jain, Praveen Kumar Jain

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EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures

Rohan Thakker, Michael Paton, Marlin P. Strub, Michael K. Swan et autres

The discovery of ocean worlds such as Enceladus, Titan, and Europa motivates the development of versatile autonomous mobility systems to enable the next era of space exploration where there is large uncertainty in terrain specifications due to a lack of prior surface …

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Hybrid Dynamics for Closed-Loop Multibody Systems

Abhinandan Jain

Abstract A popular method for solving the dynamics of closed-loop systems is the {\it tree-augmented (TA)} dynamics algorithm. In this method, a minimal set of the inter-body constraints are ``cut'' to convert the system into a tree-topology system. The inter-body constraints within …

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