Projects

Reading time: 2 minutes and 1 second

Current projects

Lodestar

C++ digital guidance, navigation and control framework

Lodestar provides a user friendly platform-agnostic framework for real-time linear control of dynamic systems.

Overview

•   Language: C++11 / Python (bindings)
•   License: BSD-3
•    Status: In active development.
•    Website: https://lodestarengine.org ; https://theory.ldstr.dev .

The Lodestar framework consists of several templates that allow for control of linear discrete time systems. The following features are implemented:

• Discrete-time linear time invariant systems modeling and control:
  • Template-based object oriented framework for arbitrary finite dimensional linear systems
  • Linear Quadratic Regulation (LQR)
  • Linear Quadratic Estimation/Classical Kalman Filter (LQE/KF)

Planned features

The following capabilities are planned for Lodestar in the near future:

• Continuous to discrete time zero-order hold conversion
• Recursive algebraic Riccati equation (ARE) solver
• Recursive Least Squares (RLS) system identification
• Single-input single-output (SISO) Generalized Predictive Control (GPC)
• Spatial value functions (SVF) based guidance and path planning [1]
• Real-time plotting and performance evaluation (impulse, unit step repsonse, Bode/Nyquist plots) frontend
• Google Protocol Buffers-based message passing interface for real-time logging and command
• I/O interface for common sensors (e.g., IMUs, barometers, time-of-flight sensors) and servos (e.g., solenoids, brushless DC motors).

Links

• Lodestar is powered by:
  • Eigen: http://eigen.tuxfamily.org/
  • neither: https://github.com/LoopPerfect/neither
• Related projects:
  • SLICOT (Subroutine Library in Systems and Control Theory): http://slicot.org/
  • Control Toolbox: https://github.com/ethz-adrl/control-toolbox

References

[1] Mettler, B., Dadkhah, N., and Kong, Z. “Agile Autonomous Guidance Using Spatial Value Functions.” Control Engineering Practice, Vol. 18, No. 7, 2010, pp. 773–788. doi:10.1016/j.conengprac.2010.02.013.

Knifefish

A light-weight framework for robotic electrosurgery

Knifefish is a framework for real-time control and simulation of electrosurgical processes, allowing for sensor data processing and feedback control.

Overview

•   Language: C++11
•   License: TBD
•    Status: In active development

Past/shelved projects

Stratagem3D

A light-weight web-based game engine for 3D turn-based strategy games

Overview

•   Language: Haxe/Kha
•   License: TBD
•    Status: Shelved

Extendible Orbit System 3D (EOS3D)

Lightweight orbital mechanics calculation and visualization suite based on matplotlib

Overview

•   Language: Python
•   License: MIT
•    Status: Suspended

The eos3d library is a lightweight orbital mechanics calculation and visualization suite based on matplotlib. It includes orbit visualization, SPACETRACK Two-Line Element retrieval and current satellite position visualization, Solar System orbits and planetary position visualizations and real-time n-body simulations.

Documentation

The documentation of eos3d-mpl may be downloaded via the following link: documentation.