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Intelligent Spacecraft Visual GNC Architecture With the State-Of-the-Art AI Components for On-Orbit Manipulation

Zhou Hao, R. B. Ashith Shyam, Arunkumar Rathinam, Yang Gao
2021 Frontiers in Robotics and AI  
(ii) A technique for modeling and controlling space robot manipulator trajectories using probabilistic modeling and reproduction to previously unseen situations to avoid complex trajectory optimizations  ...  This also minimizes the attitude disturbances of spacecraft induced on it due to the motion of the robot arm.  ...  Aleksander Maslowski and Dr. Richard Gillham Darnley for assistance with the laboratory supports.  ... 
doi:10.3389/frobt.2021.639327 pmid:34141728 pmcid:PMC8204185 fatcat:kqdi2musmrai5ctalecvbdedra

Assembly of a Large Modular Optical Telescope (ALMOST)

David W. Miller, Swati Mohan, Jason Budinoff, Jacobus M. Oschmann, Jr., Mattheus W. M. de Graauw, Howard A. MacEwen
2008 Space Telescopes and Instrumentation 2008: Optical, Infrared, and Millimeter  
Therefore, the objective of the ALMOST program is to develop a methodology for hardware-in-the-loop assessment of in-space robotic assembly of a telescope under micro-gravity conditions in a more cost-effective  ...  Future space telescope programs need to assess in-space robotic assembly of large apertures at GEO and ESL2 to support ever increasing aperture sizes.  ...  Figure 3: NASA GSFC's SPOT telescope architecture modified for ALMOST Robotic Assembly The reason for using SPHERES is that it is a comparatively low cost, in-space facility for testing space robotics  ... 
doi:10.1117/12.788566 fatcat:j7pnx3w7srfm7ciniwwago7l2u

Assistive Relative Pose Estimation for On-orbit Assembly using Convolutional Neural Networks [article]

Shubham Sonawani, Daniel Jeong Interactive Robotics Laboratory, Arizona State University, Tempe, AZ, 85281, USA, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, 91109, USA)
2020 arXiv   pre-print
Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks.  ...  Pose estimation of objects in space is more challenging than for objects on Earth due to space images containing widely varying illumination conditions, high contrast, and poor resolution in addition to  ...  Acknowledgments The authors gratefully acknowledge funding from Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (NASA  ... 
arXiv:2001.10673v1 fatcat:zys62fu3wffwvj3p2h6mna4ujq

Experiments on Command Shaping Control of a Manipulator with Flexible Links

Marcello Romano, Brij N. Agrawal, Franco Bernelli-Zazzera
2002 Journal of Guidance Control and Dynamics  
Results are presented of a series of experimental tests carried out on the Space Robot Simulator assembly, which has been set up at the Spacecraft Research and Design Center of the Naval Postgraduate School  ...  He also has developed research programs in attitude control of exible spacecraft, smart structures, and space robotics. He received his  ...  Acknowledgments The authors wish to thank Hong-Jen Chen for his useful advice in the design of the real-time controller software and Gangbing Song and Arun Banerjee for the interesting discussions on the  ... 
doi:10.2514/2.4903 fatcat:orayccdgbjgi5nmz3v5ol75ffa

Historical Review of Air-Bearing Spacecraft Simulators

Jana L. Schwartz, Mason A. Peck, Christopher D. Hall
2003 Journal of Guidance Control and Dynamics  
Air bearings have been used for satellite attitude determination and control hardware veri cation and software development for nearly 45 years.  ...  First a survey is given of planar systems that give a payload freedom to translate and spin.  ...  A crucial topic in the development of robotic construction techniques is the level at which human operators should be involved.Currently, space robots such as the space shuttle remote manipulator system  ... 
doi:10.2514/2.5085 fatcat:cs3hfwn5pzhoti5e5jkgojyzsm

Historical Review of Air-Bearing Spacecraft Simulators

Jana L. Schwartz, Mason A. Peck, Christopher D. Hall
2003 Journal of Guidance Control and Dynamics  
Air bearings have been used for satellite attitude determination and control hardware veri cation and software development for nearly 45 years.  ...  First a survey is given of planar systems that give a payload freedom to translate and spin.  ...  A crucial topic in the development of robotic construction techniques is the level at which human operators should be involved.Currently, space robots such as the space shuttle remote manipulator system  ... 
doi:10.2514/1.1035 fatcat:nmqzflnsnne5xcfntomei25d6a

Robotic Manipulation and Capture in Space: A Survey

Evangelos Papadopoulos, Farhad Aghili, Ou Ma, Roberto Lampariello
2021 Frontiers in Robotics and AI  
Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.  ...  Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital  ...  Design and development of a testbed facility for testing a range of actuators, used for either space robots were first reported in Aghili (2005, 2006).  ... 
doi:10.3389/frobt.2021.686723 fatcat:tigdb7c2tzhcjp7kxkjntqgdri

Dynamic Air-Bearing Hardware-in-the-Loop Testbed to Experimentally Evaluate Autonomous Spacecraft Proximity Maneuvers

Richard Zappulla, Josep Virgili-Llop, Costantinos Zagaris, Hyeongjun Park, Marcello Romano
2017 Journal of Spacecraft and Rockets  
This paper provides an in-detail description of a state-of-the-art air-bearing testbed used to develop guidance, navigation, and control methods for close-proximity operations.  ...  Finally, a test campaign is used to showcase its capabilities and to illustrate the testbed operations.  ...  This particular FSS is used for spacecraft robotics research, and a multilink modular robotic manipulator can be connected to it [23] .  ... 
doi:10.2514/1.a33769 fatcat:q6iibblq3vc7bp2rw3z7il6jdy

2D Microgravity Test-Bed for the Validation of Space Robot Control Algorithms

Oleś Jakub, Jakub Kindracki, Tomasz Rybus, Łukasz Mężyk, Przemysław Paszkiewicz, Radosław Moczydłowski, Tomasz Barciński, Karol Seweryn, Piotr Wolański
2017 Journal of Automation, Mobile Robotics & Intelligent Systems  
This paper is about the control of on-orbit space robots and the testing of such objects in laboratory conditions.  ...  The Space Research Centre of the Polish Academy of Sciences (CBK PAN) possesses a planar air bearing microgravity simulator used for the testing of advanced control algorithms of space robots supported  ...  In CBK PAN tests of 2D motion are performed on a microgravity testbed, consisting of a granite table, 2 m × 3 m wide, flat and precisely levelled, and a space robot supported on air bearings.  ... 
doi:10.14313/jamris_2-2017/21 fatcat:mppvtqagqvechb66oqmpaxhg74

Vision-Based Autonomous Helicopter Research at Carnegie Mellon Robotics Institute (1991-1998) [chapter]

2009 Robust Vision for Vision-Based Control of Motion  
The requirements of these applications are addressed by a central goal mission for the project.  ...  The advantages of an autonomous vision-guided helicopter for a number of goal applications are enumerated through possible mission scenarios.  ...  September 1991: Initial attitude control experiments Februarv 1992: Free flight and vision-based state estimator Six-degree-of-freedom testbed developed for evaluating various position estimation and  ... 
doi:10.1109/9780470546369.ch15 fatcat:fentm3dchrhp5geqsdulevzaem

System Requirements and Platform Interfaces

ATLANTIS
2020 Zenodo  
Deliverable of Workpackage 2 of ATLANTIS, listing the required capabilities of the multiple robotic systems, as well as platform interface to be achieved by the project.  ...  SW_DC_007 Numeric Telemetry Numeric data associated with a characteristic of the robot. Robot Position in 3d space and Orientation as quaternion.  ...  COVERED IN SCENARIO 2 LogR_F04 Place for personnel STATEMENT There has to be a space for at least three people on the vessel, apart from the vessel crew -the operator of the robot, a supervisor and a  ... 
doi:10.5281/zenodo.5042770 fatcat:nsont7uefnbixexlxx4zbsasku

SpaceDrones 2.0—Hardware-in-the-Loop Simulation and Validation for Orbital and Deep Space Computer Vision and Machine Learning Tasking Using Free-Flying Drone Platforms

Marco Peterson, Minzhen Du, Bryant Springle, Jonathan Black
2022 Aerospace (Basel)  
a robust onboard computer vision, robotic manipulation, and free-flight capabilities.  ...  This paper proposes a novel approach for space-based computer vision sensing and machine learning simulation and validation using synthetically trained models to generate the large amounts of space-based  ...  However, methods to test and validate autonomous space robotics systems is still a relatively new field of study.  ... 
doi:10.3390/aerospace9050254 fatcat:odbceqjzyrcergelhcqs7lcmzi

Assembling a Swarm Navigation System: Communication, Localization, Sensing and Control

Siwei Zhang, Robert Pohlmann, Emanuel Staudinger, Armin Dammann
2021 2021 IEEE 18th Annual Consumer Communications & Networking Conference (CCNC)  
Each building block of a swarm can be rooted from specific well-addressed research topic such as communications, signal processing, robotics, control, etc.  ...  With that we aim to shed light on some essential issues when designing a communication system particularly suitable for swarms.  ...  The authors would like to thank Thomas Wiedemann and Stefano Caizzone for their support.  ... 
doi:10.1109/ccnc49032.2021.9369547 fatcat:szzwbvcctfbapp4zcb6rcwr2xu

OTTER: The Design and Development of an Intelligent Underwater Robot [chapter]

Howard H. Wang, Stephen M. Rock, Michael J. Lee
1996 Underwater Robots  
OTTER is an underwater robot designed to be used as a testbed for autonomous technologies.  ...  Both OTTER's hardware and software systems are con gured to support simultaneous development and testing of di erent concepts for underwater robotics by independent researchers.  ...  Funding for the research performed in the joint MBARI ARL program has been provided by the Monterey Bay Aquarium Research Institute, the National Aeronautics and Space Administration, the O ce of Naval  ... 
doi:10.1007/978-1-4613-1419-6_13 fatcat:46xyxfqsdvfldecywrzza4hi6u

OTTER: The design and development of an intelligent underwater robot

Howard H. Wang, Stephen M. Rock, Michael J. Lee
1996 Autonomous Robots  
OTTER is an underwater robot designed to be used as a testbed for autonomous technologies.  ...  Both OTTER's hardware and software systems are con gured to support simultaneous development and testing of di erent concepts for underwater robotics by independent researchers.  ...  Funding for the research performed in the joint MBARI ARL program has been provided by the Monterey Bay Aquarium Research Institute, the National Aeronautics and Space Administration, the O ce of Naval  ... 
doi:10.1007/bf00141161 fatcat:ytnxybgzgrbyfmsyqcqxczmbxq
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