THE HEXAPOD PROJECT

This page contains general information about the Hexapod instrument stabilization system project (including the Image Correlation Tracker) at Goddard

• Demonstrate and quantify advantage of stabilized vs. non-stabilized system
• Prepare system for commercialization:
• Improve system response time
• Complete pointing algorithm development
• Repackage positioning system
• Prepare demonstration system
• Demonstrate that system meets pointing/geolocation requirements
• Research alternative GPS/INS devices
• Research additional pointing control input systems

• Must be able to compensate all aircraft motions
• Versatile pointing platform required (6 degrees of freedom)
• Gimbal system rejected:
• Inadequate degrees of motion
• No motion about off-axis point
• No easy scalability or re-configurability
• High component cost (custom built vs. off-the-shelf)
• Precision parts and assembly required
• Excessive weight – high power requirement
• Integration with GPS/INS system
• Provides absolute pointing and positioning
• Enables auto-geolocation of data
• Particularly suited for pushbroom systems

• Spin-off of a DDF for an image correlation tracking (ICT) system
• ICT system required a versatile pointing platform
• Searched for commercially available platforms
• Discovery of hexapod principle
• Searched for hexapod (Stewart Platform) systems
• Component acquisition but minimal development
• Software development support by GN&C Branch
• Patent disclosure submitted
• GSFC Technology Assessment completed by Research Triangle Institute (RTI) .Recommendation to pursue partnership (e.g., technically significant, novel, commercially important)
• Grant from TCO for feasibility study
• Integration of pointing and GPS/INS systems
• Feasibility study / proof of concept completed successfully

• Refinement of the definition of the pointing system’s requirements
• Evaluation of existing system components in light of the requirements
• Planning of a new engineering model component acquisition
• Planning of the new engineering model software development
• Evaluation of new plans for the engineering model
• Acquisition of new components
• Development of new software
• Integration of the new IGPSS
• Testing and debugging of the IGPSS
• Evaluation of the IGPSS engineering model
• Planning for field testing of the engineering model
• Integration of the IGPSS and geolocation systems
• Testing of the integrated system
• Evaluation of the integrated system
• Field testing of the IGPSS
• Debugging and modification of the IGPSS
• Final testing of the IGPSS
• Evaluation (final) of the IGPSS system
• Final report on the IGPSS Project

• GSFC Technology Assessment completed by Research Triangle Institute (RTI). Recommendation to pursue partnership (e.g., technically significant, novel, commercially important)
• Simple instrument stabilization (no absolute pointing knowledge)
• Geolocation of 2-D image centroids
• Co-alignment of 2-D images
• Pushbroom instrument stabilization and pointing:
• Reduce data overlap and voids (improve data quality)
• Minimize acquisition track overlap (speed data acquisition)
• Minimize or eliminate data re-sampling (speed data processing)
• Facilitate high resolution digital imaging (replace film cameras)
• Enable ‘on-the-fly’ topographic mapping (stereo camera system)
• Commercialization inquiries received and viable partners identified
• Provides advanced pointing system for possible orbital use

• Requirement definition and existing system evaluation (0.5 month)
• Planning of new hardware and software (0.5 month)
• Acquisition of new components, software development (2 months)
• Integration, testing and debugging of new IGPSS (2 months)
• Evaluation, and planning field testing of engineering model (0.5 month)
• Integration of IGPSS and geolocation system (0.5 month)
• Testing of integrated system (1 month)
• Field testing and evaluation of IGPSS (2 months)
• Debugging and modification of IGPSS (1 month)
• Final testing of IGPSS (1 month)
• Final evaluation and report on IGPSS Project (1 month)

VI. Itemized budget:

IGPSS PLANNING & SOFTWARE $48,100

• IGPSS Evaluation $3,000

• IGPSS Software Planning $4,000
• Response Time design and Coding $5,800
• Consulting For Mathematics $4,000
• Algorithm Development $10,200
• Integrate INS & GPS $2,700
• Platform Control & Stabilization $10,000
• Refine Control & Response Time Software $5,300
• Position & Attitude Algorithm development $3,100

IGPSS TEST $23,225

• Control Test & Evaluation $13,225
• Lab Testing $4,000
• Field Testing $6,000

IGPSS HARDWARE $15,125

• IGPSS Platform Design $2,500
• Actuator Analysis and Modification $1,625
• Lab to Field System Conversion $9,000
• Controller Upgrade and Development $2,000

IGPSS MISC $7,500

• Reports & Manuals $5,000
• Travel $2,500

VII. Current Status

The "proof of concept" phase of the Hexapod Project has been completed.  Many modifications and improvements to the system have been made.   The feasibility of the concept has demonstrated by thorough laboratory testing.  The contractor, ADS, investigated commercialization options.  Until a commercial partner can be found, further development of the Hexapod system cannot continue.

Final Report of the Hexapod Project (large .pdf file, 1.7Mb)

Pictures from the Hexapod Project at ADS

This page was last modified on 14 January 2010