Robotics and AI-Enabled On-Orbit Operations With Future Generation of Small Satellites

Nanjangud, Angadh; Blacker, Peter C.; Bandyopadhyay, Saptarshi; Gao, Yang

doi:10.1109/jproc.2018.2794829

Cited by 43 publications

(25 citation statements)

References 85 publications

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“…Despite the nominally smooth, impact-free capture, the momenta equalization between the chaser and the target relies on contact forces between the chaser's gripper and the target's grapple fixture. Depending on the mass and inertia of the two vehicles, as well as the tumbling state and momenta transfer rates, these forces could be large, limiting the applicability of this technique or requiring a gripper able to sustain these large forces (Nanjangud et al, 2018 ). A thorough analysis of the requirements imposed to the chaser's manipulator falls outside the scope of this research.…”

Section: Simultaneous Capture and Detumble Maneuvermentioning

confidence: 99%

“…The trajectory generated by the guidance algorithm must be computed in a timely manner, the obstacle avoidance and control constraints satisfied, the nonlinear multibody kinematics and dynamics dealt with, and the propellant usage minimized. Given the relevance and challenging nature of the guidance problem, the literature on it is extensive (Flores-Abad et al, 2014a ; Nanjangud et al, 2018 ). With respect to the capture maneuver, two distinct approaches have been considered.…”

Section: Introductionmentioning

confidence: 99%

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Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Virgili-Llop

Romano

2019

Front. Robot. AI

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A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector's position and velocity ensure a successful capture, and a terminal constraint on the chaser's momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material.

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Section: Simultaneous Capture and Detumble Maneuvermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Virgili-Llop

Romano

2019

Front. Robot. AI

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“…The free-lying nature of spacecraft means that often the orientation of a spacecraft cannot be guaranteed, or requires expensive correction. In the context of orbital servicing there could also be a rogue target craft with no ability to correct itself (Nanjangud et al, 2018 ). In this case, aligning the interfaces will be a difficult and timely task.…”

Section: Recommendationsmentioning

confidence: 99%

Integrated Mechanical, Thermal, Data, and Power Transfer Interfaces for Future Space Robotics

et al. 2018

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In-situ connectability among modules of a space system can provide significantly enhanced flexibility, adaptability, and robustness for space exploration and servicing missions. Connection of modules in extra-terrestrial environment is hence a topic of rising importance in modern orbital or planetary missions. As an example, the increasing number of satellites sent to space have introduced a large set of connections of various type, for transferring mechanical loads, data, electrical power and heat from one module to another. This paper provides a comprehensive review of published work in space robotic connections and presents the different transfer types developed and used to date in robotic applications for orbital and extra-terrestrial planetary missions. The aims of this paper are to present a detailed analysis of the state of the art available technologies, to make an analysis of and comparison among different solutions to common problems, to synthesize and identify future connectability research, and to lay the foundation for future European space robotic connectability effort and work for a complex and growing important future space missions. All types are described in their base characteristics and evaluated for orbital and planetary environments. This analysis shows that despite the large number of connectors developed for each of the four functionalities (mechanical, thermal, data, and electrical power) here considered, the trend is that researchers are integrating more than one functionalizes into a single equipment or device, to reduce costs and improve standardization. The outcomes of this literature review have contributed toward the design of a future multifunctional, standard and scalable interface at the early stage of the Standard Interface for Robotic Manipulation of Payloads in Future Space Missions (SIROM) project, a European Commission funded Horizon 2020 project. SIROM interfaces will be employed by European prime contractors in future extra-terrestrial missions.

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“…take into account the impact of big data. Current artificial intelligence technologies can be integrated with geo-spatial information science so that we can perform geospatial information collection, intelligent data analysis and geo-spatial data driven applications [7], [8]. Thus, artificial intelligence can be applied to the design and operation of satellite terrestrial networks.…”

Section: Introductionmentioning

confidence: 99%

Artificial Intelligence Based Mobile Tracking and Antenna Pointing in Satellite-Terrestrial Network

et al. 2019

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In recent years, mobile services have developed rapidly and traditional satellite-terrestrial networks have been unable to support them. We are faced with the problems of how to locate mobile terminals accurately and process the data we collected quickly to reduce communication pressure. In order to solve this problem, this paper studies a pointing and tracking method based on artificial intelligence for mobile stations and terminals in satellite-terrestrial network, to make sure that our mobile stations and terminals can access best antenna signal and suffer minimal communication interference from other stations or terminals. An AI-based self learning (ASL) network framework is designed to support filtering and correct original sampling data, mobile tracking of mobile stations and terminals, and unsupervised satellite selection and antenna adjustment scheme. Deep learning of historical information data of stations and terminals to achieve real-time pointing and tracking, and predict the distribution of stations and terminals at some time in the future. Finally, the ASL is compared with existing systems to measure their functionality and usability. INDEX TERMS Satellite-terrestrial network, artificial intelligence, mobile tracking, deep learning, unsupervised self learning.

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Robotics and AI-Enabled On-Orbit Operations With Future Generation of Small Satellites

Cited by 43 publications

References 85 publications

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Integrated Mechanical, Thermal, Data, and Power Transfer Interfaces for Future Space Robotics

Artificial Intelligence Based Mobile Tracking and Antenna Pointing in Satellite-Terrestrial Network

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