Download or read book Real time Quasi analytical Trajectory Generation for Docking with Tumbling Objects written by Alejandro D. Cabrales Hernandez and published by . This book was released on 2020 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: The capability to rendezvous and dock with tumbling objects has become prominent with increased interest in active debris removal, satellite servicing, and in-space assembly. Guidance and control algorithms have been developed in the literature to allow for a spacecraft to capture an uncooperative and tumbling object under several constraints such as collision avoidance, speed bounds, and thruster saturation. However, current algorithms for this capability do not address plume impingement due to thrusters, which can lead to damage to the target object, and can require the use of nonlinear solvers that neither guarantee convergence of a solution nor be deployed in real-time using current computational capabilities of spacecraft. This thesis presents a quasi-analytical guidance algorithm that allows for a spacecraft to soft-dock with a target, avoids plume impingement, and allows for real-time generation of trajectories with low computational expense. Several test cases compare the solution from this algorithm against a solution using pseudospectral methods and show similar performance at less than 0.1% computational cost, and an example scenario for docking with the the European Space Agency’s ENVISAT is presented. Additionally, a discrete transport trajectory optimizer is presented for use as a first cut solution to transporting several components to the same halo orbit for in-space assembly.
Download or read book Optimal Docking to Tumbling Objects with Uncertain Properties written by David Charles Sternberg (Ph. D.) and published by . This book was released on 2017 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: Active debris removal (ADR), on-orbit servicing and in-space assembly likely require proximity operations and soft docking between two or more satellites. These operations can be complicated by the presence of several challenges, including 1) flexible dynamics, 2) impending collision with other proximity objects, 3) uncooperative satellites, 4) tumbling behavior, 5) uncertainty in the knowledge of this tumble, and 6) the need to maneuver at least one of the satellites through an accelerated approach trajectory. This thesis considers challenges 3 through 6 by addressing the terminal approach and soft docking by a Chaser satellite to a passively tumbling, rigid-body Target. The terminal approach is characterized by the Chaser starting at an initial position several meters away from the Target and aligned with the Target’s docking port. It then initializes its inward motion relative to the Target to maintain its position synchronous (i.e., maintaining alignment with the body-fixed frame of the Target’s docking port) with the tumbling motion. Using a fuel-efficient trajectory, it traverses along the docking port’s body-fixed approach axis by creating the requisite tangential and radial accelerations associated with the Target’s tumble. Finally, the Chaser docks with a sufficiently low impact velocity to avoid damage to itself or the Target. This thesis addresses three important aspects of this Synchronous Docking to a Tumbling Target (SDTT) problem, with examples drawn from this ADR mission scenario. First, a methodology is developed to define whether a Chaser can feasibly execute this terminal approach to a Target when that Target’s tumbling motion is measured a priori with some known degree of uncertainty. Given the potential urgency in deriving the approach trajectory, a robust and computationally efficient minimum fuel trajectory solver is formulated. This solver is based upon the recognition that fuel optimality requires that the tangential and radial accelerations of the Chaser be equal as it traverses the terminal approach. Since these accelerations are dictated by the Target’s uncertain tumbling motion, a Multiple Model optimization technique is used to provide robustness in the trajectory. The result is a methodology that can assess the feasibility of achieving a soft dock of a known Chaser with a Target whose motion is uncertain. Second, this feasibility framework can be used to analyze two Chaser scenarios. The first entails the design of a new Chaser that can capture a broad sub-set of the Target population (Market Capture), while the second entails the determination of the fraction of a Target population, with uncertain dynamics, to which an existing Chaser can feasibly soft dock (Market Analysis). Both scenarios consider levels of uncertainty in the knowledge of the motion of individual Targets in the population that is inherently associated with remote sensing. Third, 0-g simulations are required to obtain predictions of Chaser performance, since this SDTT problem leads to Chasers that conduct multi-axis accelerations uncharacteristic of conventional satellites. A simulation framework that supports both unconstrained 0-g and constrained 1-g performance prediction to flight is developed. The development and validation of key dynamics and environmental factors for both environments are presented. As a result, this research provides a computationally efficient, low-order solver for rapidly deriving a terminal approach trajectory that is both fuel optimal as well as robust to uncertainty in the measurement of the Target’s dynamics. Furthermore, a methodology is provided that permits evaluation of the design of a Chaser that can feasibly dock with a desired fraction of the Target population before committing to the cost and effort of developing that Chaser (Market Capture) as well as those Targets to which an existing Chaser can feasibly dock before committing to the time and fuel consumption needed to rendezvous with those Targets (Market Analysis). Finally, a ground test methodology for Chasers that must execute multi-axis accelerated trajectories is presented to minimize the impact of Chaser 0-g modeling errors on the performance of SDTT operations.
Download or read book Control Problems in Robotics written by Antonio Bicchi and published by Springer Science & Business Media. This book was released on 2007-07-12 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
Download or read book Nonlinear Model Predictive Control written by Frank Allgöwer and published by Birkhäuser. This book was released on 2012-12-06 with total page 463 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the past decade model predictive control (MPC), also referred to as receding horizon control or moving horizon control, has become the preferred control strategy for quite a number of industrial processes. There have been many significant advances in this area over the past years, one of the most important ones being its extension to nonlinear systems. This book gives an up-to-date assessment of the current state of the art in the new field of nonlinear model predictive control (NMPC). The main topic areas that appear to be of central importance for NMPC are covered, namely receding horizon control theory, modeling for NMPC, computational aspects of on-line optimization and application issues. The book consists of selected papers presented at the International Symposium on Nonlinear Model Predictive Control – Assessment and Future Directions, which took place from June 3 to 5, 1998, in Ascona, Switzerland. The book is geared towards researchers and practitioners in the area of control engineering and control theory. It is also suited for postgraduate students as the book contains several overview articles that give a tutorial introduction into the various aspects of nonlinear model predictive control, including systems theory, computations, modeling and applications.
Download or read book SKYLAB 1973 1974 written by and published by . This book was released on 1985 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Complexity written by M. Mitchell Waldrop and published by Open Road Media. This book was released on 2019-10-01 with total page 492 pages. Available in PDF, EPUB and Kindle. Book excerpt: “If you liked Chaos, you’ll love Complexity. Waldrop creates the most exciting intellectual adventure story of the year” (The Washington Post). In a rarified world of scientific research, a revolution has been brewing. Its activists are not anarchists, but rather Nobel Laureates in physics and economics and pony-tailed graduates, mathematicians, and computer scientists from all over the world. They have formed an iconoclastic think-tank and their radical idea is to create a new science: complexity. They want to know how a primordial soup of simple molecules managed to turn itself into the first living cell—and what the origin of life some four billion years ago can tell us about the process of technological innovation today. This book is their story—the story of how they have tried to forge what they like to call the science of the twenty-first century. “Lucidly shows physicists, biologists, computer scientists and economists swapping metaphors and reveling in the sense that epochal discoveries are just around the corner . . . [Waldrop] has a special talent for relaying the exhilaration of moments of intellectual insight.” —The New York Times Book Review “Where I enjoyed the book was when it dove into the actual question of complexity, talking about complex systems in economics, biology, genetics, computer modeling, and so on. Snippets of rare beauty here and there almost took your breath away.” —Medium “[Waldrop] provides a good grounding of what may indeed be the first flowering of a new science.” —Publishers Weekly
Download or read book Albion s Seed written by David Hackett Fischer and published by Oxford University Press. This book was released on 1991-03-14 with total page 981 pages. Available in PDF, EPUB and Kindle. Book excerpt: This fascinating book is the first volume in a projected cultural history of the United States, from the earliest English settlements to our own time. It is a history of American folkways as they have changed through time, and it argues a thesis about the importance for the United States of having been British in its cultural origins. While most people in the United States today have no British ancestors, they have assimilated regional cultures which were created by British colonists, even while preserving ethnic identities at the same time. In this sense, nearly all Americans are "Albion's Seed," no matter what their ethnicity may be. The concluding section of this remarkable book explores the ways that regional cultures have continued to dominate national politics from 1789 to 1988, and still help to shape attitudes toward education, government, gender, and violence, on which differences between American regions are greater than between European nations.
Download or read book Hendrik Petrus Berlage written by Hendrik Petrus Berlage and published by Getty Publications. This book was released on 1996-01-01 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hendrik Petrus Berlage, the Dutch architect and architectural philosopher, created a series of buildings and a body of writings from 1886 to 1909 that were among the first efforts to probe the problems and possibilities of modernism. Although his Amsterdam Stock Exchange, with its rational mastery of materials and space, has long been celebrated for its seminal influence on the architecture of the 20th century, Berlage's writings are highlighted here. Bringing together Berlage's most important texts, among them "Thoughts on Style in Architecture", "Architecture's Place in Modern Aesthetics", and "Art and Society", this volume presents a chapter in the history of European modernism. In his introduction, Iain Boyd Whyte demonstrates that the substantial contribution of Berlage's designs to modern architecture cannot be fully appreciated without an understanding of the aesthetic principles first laid out in his writings.
Download or read book Parables for the Virtual written by Brian Massumi and published by Duke University Press. This book was released on 2002-04-09 with total page 337 pages. Available in PDF, EPUB and Kindle. Book excerpt: Although the body has been the focus of much contemporary cultural theory, the models that are typically applied neglect the most salient characteristics of embodied existence—movement, affect, and sensation—in favor of concepts derived from linguistic theory. In Parables for the Virtual Brian Massumi views the body and media such as television, film, and the Internet, as cultural formations that operate on multiple registers of sensation beyond the reach of the reading techniques founded on the standard rhetorical and semiotic models. Renewing and assessing William James's radical empiricism and Henri Bergson's philosophy of perception through the filter of the post-war French philosophy of Deleuze, Guattari, and Foucault, Massumi links a cultural logic of variation to questions of movement, affect, and sensation. If such concepts are as fundamental as signs and significations, he argues, then a new set of theoretical issues appear, and with them potential new paths for the wedding of scientific and cultural theory. Replacing the traditional opposition of literal and figural with new distinctions between stasis and motion and between actual and virtual, Parables for the Virtual tackles related theoretical issues by applying them to cultural mediums as diverse as architecture, body art, the digital art of Stelarc, and Ronald Reagan's acting career. The result is an intriguing combination of cultural theory, science, and philosophy that asserts itself in a crystalline and multi-faceted argument.
Download or read book International Traffic in Arms Regulations ITAR 22 CFR 120 130 written by United States. Department of State and published by . This book was released on 1993 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Technical Report on Space Debris written by United Nations. General Assembly. Committee on the Peaceful Uses of Outer Space. Scientific and Technical Subcommittee and published by . This book was released on 1999 with total page 60 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Spacecraft Trajectory Optimization written by Bruce A. Conway and published by Cambridge University Press. This book was released on 2010-08-23 with total page 313 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a long-overdue volume dedicated to space trajectory optimization. Interest in the subject has grown, as space missions of increasing levels of sophistication, complexity, and scientific return - hardly imaginable in the 1960s - have been designed and flown. Although the basic tools of optimization theory remain an accepted canon, there has been a revolution in the manner in which they are applied and in the development of numerical optimization. This volume purposely includes a variety of both analytical and numerical approaches to trajectory optimization. The choice of authors has been guided by the editor's intention to assemble the most expert and active researchers in the various specialities presented. The authors were given considerable freedom to choose their subjects, and although this may yield a somewhat eclectic volume, it also yields chapters written with palpable enthusiasm and relevance to contemporary problems.
Download or read book Discipline and Punish written by Michel Foucault and published by Vintage. This book was released on 2012-04-18 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt: A brilliant work from the most influential philosopher since Sartre. In this indispensable work, a brilliant thinker suggests that such vaunted reforms as the abolition of torture and the emergence of the modern penitentiary have merely shifted the focus of punishment from the prisoner's body to his soul.
Download or read book Report of the Presidential Commission on the Space Shuttle Challenger Accident written by DIANE Publishing Company and published by DIANE Publishing. This book was released on 1995-07 with total page 267 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Production of Space written by Henri Lefebvre and published by Wiley-Blackwell. This book was released on 1992-04-08 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Henri Lefebvre has considerable claims to be the greatest living philosopher. His work spans some sixty years and includes original work on a diverse range of subjects, from dialectical materialism to architecture, urbanism and the experience of everyday life. The Production of Space is his major philosophical work and its translation has been long awaited by scholars in many different fields. The book is a search for a reconciliation between mental space (the space of the philosophers) and real space (the physical and social spheres in which we all live). In the course of his exploration, Henri Lefebvre moves from metaphysical and ideological considerations of the meaning of space to its experience in the everyday life of home and city. He seeks, in other words, to bridge the gap between the realms of theory and practice, between the mental and the social, and between philosophy and reality. In doing so, he ranges through art, literature, architecture and economics, and further provides a powerful antidote to the sterile and obfuscatory methods and theories characteristic of much recent continental philosophy. This is a work of great vision and incisiveness. It is also characterized by its author's wit and by anecdote, as well as by a deftness of style which Donald Nicholson-Smith's sensitive translation precisely captures.
Download or read book Biological Physics written by Philip Nelson and published by Macmillan Higher Education. This book was released on 2013-12-16 with total page 661 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biological Physics focuses on new results in molecular motors, self-assembly, and single-molecule manipulation that have revolutionized the field in recent years, and integrates these topics with classical results. The text also provides foundational material for the emerging field of nanotechnology.
