プロジェクト

プロジェクト

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現在のプロジェクト

Stratagem3D

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

Overview

  •   Language: Haxe/Kha
  •   License: TBD
  •    Status: In active development

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++14
  •   License: MIT
  •    Status: In active development

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).

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.

過去プロジェクト

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.