End-to-end simulation of teleoperated on-orbit robotics:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
München
Verl. Dr. Hut
2014
|
| Edition: | 1. Aufl. |
| Series: | Raumfahrt
|
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XXIII, 274 S. Ill., graph. Darst. 210 mm x 148 mm, 453 g |
| ISBN: | 9783843915762 3843915768 |
Staff View
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| 245 | 1 | 0 | |a End-to-end simulation of teleoperated on-orbit robotics |c Markus Thomas Pietras |
| 250 | |a 1. Aufl. | ||
| 263 | |a 201406 | ||
| 264 | 1 | |a München |b Verl. Dr. Hut |c 2014 | |
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Record in the Search Index
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TABLE OF CONTENTS
TABLE OF CONTENTS
I. INTRODUCTION 1
1. PROBLEM DEFINITION 3
2. OBJECTIVES AND STRUCTURE 5
2.1. MAJOR GOALS 5
2.2. STRUCTURE 7
3. MATHEMATICAL BACKGROUND 11
3.1. ROTATIONS AND TRANSFORMATIONS 11
3.1.1. EULER ROTATIONS 11
3.1.2. DIRECTION COSINE MATRIX 11
3.1.3. QUATERNIONS 12
3.1.4. TRANSFORM REPRESENTATION 13
3.2. NOTATION 13
3.3. REFERENCE FRAMES 14
3.3.1. TIME AND DATE 14
3.3.2. EARTH CENTERED INERTIAL (ECI) 15
3.3.3. EARTH CENTERED FIXED (ECF) 15
3.3.4. LATITUDE, LONGITUDE, ALTITUDE (LLA) 16
3.3.5. VELOCITY, NORMAL, CO-NORMAL (VNC) 16
3.3.6. BODY FIXED (B) 16
3.3.7. PRINCIPLE AXES FIXED (PA) 17
REFERENCES 19
II. ON-ORBIT ROBOTICS 21
4. FIELDS OF APPLICATION 23
4.1. MISSIONS AND TECHNOLOGIES 25
4.1.1. ROTEX 25
4.1.2. SOLAR MAXIMUM REPAIR MISSION, STS-41C 25
4.1.3. RANGER 26
III
HTTP://D-NB.INFO/1051877512
TABLE OF CONTENTS
4.1.4. ETS-VII 27
4.1.5. XSS-11 28
4.1.6. DART 28
4.1.7. ORBITAL EXPRESS 29
4.1.8. DEUTSCHE ORBITALE SERVICING MISSION (DEOS) 30
4.1.9. OLEV 30
4.2. CHARACTERISTICS OF OOR 31
4.2.1. ROBOTIC SYSTEMS 31
4.2.2. OPERATIONS 31
4.2.3. TELEOPERATION AND AUTONOMY 32
5. MISSION STRATEGIES 35
5.1. CAPTURE STRATEGIES 35
5.1.1. ROBOTIC CAPTURE AND DOCKING 35
5.1.2. SOFT CAPTURE 36
5.2. APPROACH STRATEGIES 37
5.2.1. V-BAR APPROACH (VBA) 38
5.2.2. R-BAR APPROACH (RBA) 38
5.2.3. FORCED FORMATION FLIGHT APPROACH (FFA) 39
5.2.4. MINIMIZED RELATIVE MOTION APPROACH (MMA) 39
6. DECOMPOSITION OF MISSION ELEMENTS 41
6.1. TARGET SPACECRAFT 41
6.1.1. POTENTIAL TARGET TYPES 41
6.1.2. TARGET SYSTEM PROPERTIES 43
6.1.3. TARGET SYSTEM STATES 44
6.1.4. CAPTURE INTERFACE 45
6.2. CHASER SPACECRAFT 46
6.2.1. CHASER SYSTEM PROPERTIES 46
6.2.2. GUIDANCE, NAVIGATION AND CONTROL (GNC) 46
6.2.3. SENSORS AND CAMERAS 49
6.2.4. COMMUNICATION SYSTEMS 51
6.2.5. ROBOTIC MANIPULATOR SYSTEMS (RMS) 53
6.3. COMMUNICATION ARCHITECTURE 54
6.3.1. GROUND STATION NETWORKS 54
6.3.2. DATA RELAY SATELLITES 55
6.4. SAFETY CONSIDERATIONS 55
6.4.1. RISK OF COLLISION 55
6.4.2. PLUME INTERACTION 56
7. SUMMARY AND CONCLUSIONS 59
IV
TABLE OF CONTENTS
REFERENCES 61
III. SIMULATION DEVELOPMENT 67
8. SIMULATION REQUIREMENTS 69
8.1. SIMULATORS SYSTEMS 69
8.1.1. SYSTEMS TOOL KIT (STK) 69
8.1.2. OPENSIMKIT 69
8.1.3. SIMSAT 70
8.2. RACOONSIM EVOLUTION 71
8.3. MAJOR CHALLENGES 73
8.4. TOP LEVEL REQUIREMENTS 73
8.4.1. MAIN MODULE DEFINITION 77
8.4.2. MODULE CORE REQUIREMENTS 77
9. COMPUTATIONAL SOLUTIONS 79
9.1. REAL-TIME MULTI-BODY PHYSICS 79
9.1.1. PHYSICS ENGINES 79
9.1.2. COLLISION DETECTION 80
9.1.3. COLLISION RESPONSE 84
9.1.4. PHYSICAL CONSTRAINTS 88
9.1.5. PHYSICS ENGINE SELECTION 90
9.2. REAL-TIME 3D RENDERING 93
9.2.1. SCENE GRAPHS 94
9.2.2. RENDERER 94
9.2.3. LIGHTING 95
9.2.4. 3D RENDER ENGINES SELECTION 97
9.3. OPERATIONS AND MMI 98
9.3.1. TMTC INTERFACE 99
9.3.2. MMI FRAMEWORK SELECTION 99
9.4. ON-BOARD SYSTEM SIMULATION 102
9.4.1. SYSTEM SIMULATION ENVIRONMENT SELECTION 102
9.5. REAL-TIME DATA MANAGEMENT 105
10.
RACOONSIM ARCHITECTURE 107
10.1.
SIMULATION CONCEPT AND STRUCTURE 109
10.1.1.
SIMULATION CONTROL MODES 110
10.1.2.
SIMULATION ELEMENTS 112
10.1.3.
DATA, TELEMETRY AND TELECOMMANDING 114
10.1.4.
EXTERNAL LIBRARIES 114
V
TABLE OF CONTENTS
10.2.
SIMULATION SCENARIO DEVELOPMENT (RACOONSIM-TOOLS) 115
10.2.1.
MODELING PROCESS 115
10.2.2.
RACOONLAB SYSTEM 116
10.2.3.
RACOON SIMULATION SERVER 117
10.2.4.
SYSTEM MODEL 118
10.2.5.
RACOON-MODEL 130
10.2.6.
MODEL TRANSLATION 132
10.3.
MULTIBODY MECHANICS MODULE (RACOONSIM-MEC) 137
10.3.1.
MODULE STRUCTURE 137
10.3.2.
MULTI-BODY SIMULATION 138
10.3.3.
ENVIRONMENT SIMULATION 157
10.3.4.
MODULE EXECUTION 159
10.4.
VISUAL FEEDBACK MODULE (RACOONSIM-VIS) 162
10.4.1.
MODULE STRUCTURE 162
10.4.2.
SYSTEMS VISUALIZATION 162
10.4.3.
ENVIRONMENT VISUALIZATION 168
10.4.4.
RACOONSIM-VIS EXECUTION 168
10.5.SPACECRAFT SUBSYSTEMS MODULE (RACOONSIM-SYS) 172
10.5.1.
MODULE STRUCTURE 172
10.5.2.
SUBSYSTEM SIMULATION 174
10.5.3.
HIL AND SIL INTERFACES 178
10.5.4.
RACOONSIM-SYS EXECUTION 178
10.6.OPERATOR INTERACTION MODULE (RACOONSIM-CON) 179
10.6.1.
MODULE STRUCTURE 179
10.6.2.
SIMULATION SETUP AND CONTROL 180
10.6.3.
TELEMETRY INTERFACE 184
10.6.4.
TELECOMMAND INTERFACE 187
10.6.5.
MODULE EXECUTION 189
10.7.
REAL TIME DATA DISTRIBUTION 190
10.7.1.
SIMULATION SETUP AND SYNCHRONIZATION 190
1*0.7.2.
RECEIVING AND
TRANSMITTING COMPONENTS 191
11.
SIMULATION PROCESS 201
11.1
.SYSTEM MODEL DEVELOPMENT 202
11.2.
SERIALIZED SCENARIOS 203
11.3.
MODULE EXECUTION 203
11.4.
COMMANDING AND CONTROL 204
11.4.1.
MANEUVER COMMANDING 204
11.4.2.
LINK CHAIN COMMANDING 205
11.4.3.
ANTENNA COMMANDING 205
11.4.4.
MAIN ENGINE COMMANDING 205
11.4.5.
CAMERAS AND LIGHTS COMMANDING 206
VI
TABLE OF CONTENTS
11.5.
TELEMETRY MONITORING 206
11.5.1.
TELEMETRY FEEDBACK 206
11.5.2.
VISUAL FEEDBACK . 207
11.5.3.
DATA LOGGING 207
REFERENCES 209
IV. PROOF OF CONCEPT 213
12.
PERFORMANCE VALIDATION 215
12.1.
ORBIT DYNAMICS 215
12.2.
PERFORMANCE 216
12.2.1.
RACOONSIM-MEC PERFORMANCE 217
12.2.2.
RACOONSIM-VIS PERFORMANCE 218
12.2.3.
RACOONSIM-SYS PERFORMANCE 219
13.
EXEMPLARY CASE STUDIES 221
13.1.
SYSTEM MODELS 221
13.1.1.
TARGET SPACECRAFT 221
13.1.2.
CHASER SPACECRAFT 224
13.1.3.
FREEFLYER SPACECRAFT 228
13.1.4.
COMMUNICATION ARCHITECTURE 228
13.2.
CASE STUDY 1: ROBOTIC CAPTURE 230
13.2.1.
SIMULATION SCENARIO 230
13.2.2.
SIMULATION PROCESS 230
13.2.3.
RESULTS 235
13.3.
CASE STUDY 2: REMOTE INSPECTION 239
13.3.1.
SIMULATION SCENARIO 239
13.3.2.
SIMULATION PROCESS 240
13.3.3.
RESULTS 241
13.4.
CASE STUDY 3: AUTONOMOUS DOCKING 243
13.4.1.
SIMULATION SCENARIO 243
13.4.2.
SIMULATION PROCESS 245
13.4.3.
RESULTS 246
14.
CONCLUSION AND OUTLOOK 247
14.1.RACOONSIM SUMMARY 247
14.2.
RACOONSIM SOLUTIONS 248
14.3.
LIMITATIONS 251
14.4.
FUTURE POTENTIALS 251
REFERENCES 253
VII |
| any_adam_object | 1 |
| author | Pietras, Markus Thomas |
| author_facet | Pietras, Markus Thomas |
| author_role | aut |
| author_sort | Pietras, Markus Thomas |
| author_variant | m t p mt mtp |
| building | Verbundindex |
| bvnumber | BV041964686 |
| classification_tum | FER 980d VER 835d |
| ctrlnum | (OCoLC)881389500 (DE-599)DNB1051877512 |
| dewey-full | 629.130113 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.130113 |
| dewey-search | 629.130113 |
| dewey-sort | 3629.130113 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Fertigungstechnik Verkehrstechnik Verkehr / Transport |
| edition | 1. Aufl. |
| format | Thesis Book |
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| indexdate | 2024-09-10T01:19:12Z |
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| isbn | 9783843915762 3843915768 |
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| publisher | Verl. Dr. Hut |
| record_format | marc |
| series2 | Raumfahrt |
| spelling | Pietras, Markus Thomas Verfasser aut End-to-end simulation of teleoperated on-orbit robotics Markus Thomas Pietras 1. Aufl. 201406 München Verl. Dr. Hut 2014 XXIII, 274 S. Ill., graph. Darst. 210 mm x 148 mm, 453 g txt rdacontent n rdamedia nc rdacarrier Raumfahrt Zugl.: München, Techn. Univ., Diss., 2014 Raumfahrzeug (DE-588)4048579-1 gnd rswk-swf Telemanipulator (DE-588)4513105-3 gnd rswk-swf Computersimulation (DE-588)4148259-1 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 gnd rswk-swf Robotik (DE-588)4261462-4 gnd rswk-swf Raumflug (DE-588)4177063-8 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Raumflug (DE-588)4177063-8 s Raumfahrzeug (DE-588)4048579-1 s Mehrkörpersystem (DE-588)4038390-8 s Telemanipulator (DE-588)4513105-3 s Robotik (DE-588)4261462-4 s Computersimulation (DE-588)4148259-1 s DE-604 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=4684223&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027407458&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Pietras, Markus Thomas End-to-end simulation of teleoperated on-orbit robotics Raumfahrzeug (DE-588)4048579-1 gnd Telemanipulator (DE-588)4513105-3 gnd Computersimulation (DE-588)4148259-1 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Robotik (DE-588)4261462-4 gnd Raumflug (DE-588)4177063-8 gnd |
| subject_GND | (DE-588)4048579-1 (DE-588)4513105-3 (DE-588)4148259-1 (DE-588)4038390-8 (DE-588)4261462-4 (DE-588)4177063-8 (DE-588)4113937-9 |
| title | End-to-end simulation of teleoperated on-orbit robotics |
| title_auth | End-to-end simulation of teleoperated on-orbit robotics |
| title_exact_search | End-to-end simulation of teleoperated on-orbit robotics |
| title_full | End-to-end simulation of teleoperated on-orbit robotics Markus Thomas Pietras |
| title_fullStr | End-to-end simulation of teleoperated on-orbit robotics Markus Thomas Pietras |
| title_full_unstemmed | End-to-end simulation of teleoperated on-orbit robotics Markus Thomas Pietras |
| title_short | End-to-end simulation of teleoperated on-orbit robotics |
| title_sort | end to end simulation of teleoperated on orbit robotics |
| topic | Raumfahrzeug (DE-588)4048579-1 gnd Telemanipulator (DE-588)4513105-3 gnd Computersimulation (DE-588)4148259-1 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Robotik (DE-588)4261462-4 gnd Raumflug (DE-588)4177063-8 gnd |
| topic_facet | Raumfahrzeug Telemanipulator Computersimulation Mehrkörpersystem Robotik Raumflug Hochschulschrift |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=4684223&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027407458&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT pietrasmarkusthomas endtoendsimulationofteleoperatedonorbitrobotics |