Ground Guided CX-OLEV Rendez-vous with Uncooperative Geostationary Satellite

Tarabini, L.; Gil, Jesús; Gandia, Fernando; Molina, Miguel Ángel; Cura, Juan Manuel Del; Ortega, Guillermo

doi:10.2514/6.iac-06-c1.6.01

Cited by 6 publications

(5 citation statements)

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“…Further tests of robotic OOS scenarios included fuel and electronics transfer and deployment of and operations with a microsatellite. The Swedish Space Cooperation (SSC), together with Kayser-Threde, Germany, and Sener, Spain, is developing the SMART orbital life extension vehicle (SMART-OLEV) (Tarabini et al, 2007). It aims at extending the operational lifetime of geostationary satellites.…”

Section: State-of-the-art Oos Technology Demonstratorsmentioning

confidence: 99%

Ground verification of the feasibility of telepresent on‐orbit servicing

Stoll

Walter

Artigas

et al. 2009

Journal of Field Robotics

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In an ideal case telepresence achieves a state, where a human operator can no longer di erentiate between an interaction with a real environment or a technical mediated one. This state is called transparent telepresence. The applicability of telepresence to on-orbit servicing (OOS), i.e. an unmanned servicing operation in space, teleoperated from ground in real time, is veri ed in this paper. For that purpose, a communication test environment was set up on ground, which involved the Institute of Astronautics (LRT) ground station in Garching, Germany and the ESA ground station in Redu, Belgium. Both were connected via the geostationary ESA data relay satellite ARTEMIS. Utilizing the data relay satellite, a teleoperation was accomplished, in which the human operator as well as the (space) teleoperator was located on ground. The feasibility of telepresent OOS was evaluated, using an OOS test bed in the Institute of Mechatronics and Robotics at the German Aerospace Center (DLR). The manipulation task was representative for OOS and supported real time feedback from the haptic-visual workspace. The tests showed that complex manipulation tasks can be ful lled by utilizing geostationary data relay satellites. For verifying the feasibility of telepresent OOS, di erent evaluation methods were used. The properties of the space link were measured and related to subjective perceptions of participants, which had to ful ll manipulation tasks. An evaluation of the transparency of the system, including the data relay satellite, was accomplished as well.

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Section: State-of-the-art Oos Technology Demonstratorsmentioning

confidence: 99%

Ground verification of the feasibility of telepresent on‐orbit servicing

Stoll

Walter

Artigas

et al. 2009

Journal of Field Robotics

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“…Typical operational targets on orbit are cooperative in the sense that they allow friendly communication for synchronization manipulation, as well as dedicated grappling fixtures and artificial markers to support docking [4]. The capture process of cooperative spacecraft is almost static or quasi-static in low earth orbits, such as the famous CX-OLEV mission [5] and SMART-OLEV spacecraft [6]. Nowadays, the robotic arms with full driven have been widely applied to the tasks in space, such as docking, berthing, refueling, repairing and upgrading [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

Qiao

Liu

Guo

et al. 2018

Chin. J. Mech. Eng.

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Capture is a key component for on-orbit service and space debris clean. The current research of capture on-orbit focuses on using special capture devices or full-actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are noncooperative targets. To capture non-cooperative targets in space, a lightweight, less driven under-actuated robotic hand is proposed in this paper, which composed by tendon-pulley transmission and double-stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5 m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under-actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under-actuated robotic hand can satisfy the grasp requirements. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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“…Over the past two decades, SDRE has been used more extensively in optimizing the control of nonlinear systems (Abbaszadeh & Marquez, 2012;Aliyu, 2000;Amato, 2006;Amato, Colacino, Cosentino, & Merola, 2014;Amato, Cosentino, & Merola, 2010;Banks, Kwon, Toivanen, & Tran, 2006;Bernábe-Loranca, Coello-Coello, & Osorio-Lama, 2012;Bouzaouache & Braiek, 2008;Elloumi & Braiek, 2012;Mohan & Miller, 2008;Shamma & Cloutier, 2003;Strano & Terzo, 2015;Won & Biswas, 2007). The SDRE method can be used to control and stabilize a wide range of systems, such as satellites (Cyril, Jaar, & Misra, 1995;Flores-Abad & Ma, 2012;Inaba, Oda, & Asano, 2006;Tarabini et al, 2007), spacecraft (Kaiser, Sjöberg, Delcura, & Eilertsen, 2008;Xin & Pan, 2011), helicopter (Bogdanov CONTACT Mohammad Ali Nekoui manekoui@eetd.kntu.ac.ir et al, 2003;Dimitrov & Yoshida, 2004;Liu, Wu, & Lu, 2007;Yoshida, Dimitrov, & Nakanishi, 2006), robots (Abiko & Hirzinger, 2007;Huang, Wang, Meng, & Liu, 2015;Huang, Wang, Meng, Zhang, & Liu, 2016), chaotic system (Choi, 2012;Sinha, Henrichs, & Ravindra, 2000;Yuan, Liu, Lin, Hu, & Gong, 2017) and more. The problem of eliminating disturbance in control systems is one of the most important issues that has always been considered, and in case of inappropriate attention to it, it can cause large damage to the control system.…”

Section: Introductionmentioning

confidence: 99%

Design of robust optimal regulator considering state and control nonlinearities

Rudposhti

Nekoui

Teshnehlab

2018

Systems Science & Control Engineering

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Most real systems can be considered as a nonlinear and parameters of the systems may have uncertainties and external disturbances. Hence, in this paper, using the power series algorithm (PSA) based on State Dependent Riccati Equations (SDRE) and considering the proposed conditions that guarantee the asymptotic stability, the optimal regulator problem for a particular class of nonlinear systems is solved. Also, according to the specified pattern in the modified PSA (MPSA) method, weighting matrices are used as a function of state variables to achieve the better regulatory responses. Simulations are carried out on the Lorenz's chaotic system with uncertainties and external disturbances. The efficiency of optimal regulators the PSA and the MPSA methods in eliminating the external disturbances and being robust to uncertainties are compared together. The results show that the values of the performance index and the control cost in the MPSA method are smaller than the PSA method. Then the regulatory response in the MPSA method is more efficient.

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Ground Guided CX-OLEV Rendez-vous with Uncooperative Geostationary Satellite

Cited by 6 publications

References 0 publications

Ground verification of the feasibility of telepresent on‐orbit servicing

Ground verification of the feasibility of telepresent on‐orbit servicing

Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

Design of robust optimal regulator considering state and control nonlinearities

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