Academic literature on the topic 'On-Orbit Servicing/Assembly'
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Journal articles on the topic "On-Orbit Servicing/Assembly"
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Liu, Jinguo, Pengyuan Zhao, Keli Chen, Xin Zhang, and Xiang Zhang. "1U-Sized Deployable Space Manipulator for Future On-Orbit Servicing, Assembly, and Manufacturing." Space: Science & Technology 2022 (September 7, 2022): 1–14. http://dx.doi.org/10.34133/2022/9894604.
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Miniaturized, multifunctional, and economical on-orbit service satellites have been increasingly used with the continuous increase of space exploration missions. In this paper, an innovative deployable manipulator is designed, named Cubot, which can be stowed in 1 U-sized (10 cm×10 cm×10 cm) space. With CubeSat as the carrier, the deployable Cubot aims to achieve a variety of on-orbit operation tasks including space debris removal and space station on-orbit maintenance, for future on-orbit servicing, assembly, and manufacturing (OSAM). A kinematics modeling method of a space manipulator with passive joints is proposed, and the motion equation of the manipulator is derived. Considered the elastic potential energy stored in the passive joint during deployment, the momentum change of Cubot is simulated and analyzed. As the main forced element, the end effector is analyzed using FEA. Dynamic stress response with respect to the force distribution and the clamping angle is analyzed to evaluate mechanical performances of the end-effector component. Deployment tests are conducted to verify the feasibility of Cubot based on a principled prototype, which aims to provide engineering and practical experience for the development of this field.
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Ellery. "Tutorial Review on Space Manipulators for Space Debris Mitigation." Robotics 8, no. 2 (April 26, 2019): 34. http://dx.doi.org/10.3390/robotics8020034.
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Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.
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Orlov, Vladislav, Uliana Monakhova, Mikhail Ovchinnikov, and Danil Ivanov. "Fuelless On-Orbit Assembly of a Large Space Truss Structure Using Repulsion of the Service Spacecraft by Robotic Manipulators." Aerospace 11, no. 8 (August 2, 2024): 635. http://dx.doi.org/10.3390/aerospace11080635.
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A servicing spacecraft motion control approach for the problem of on-orbit truss structure assembly is developed in this paper. It is considered that a cargo container with a rod set and servicing spacecraft are in orbit initially. The assembly procedure is based on spacecraft free-flight motion between the structure’s specified points. The spacecraft is equipped with two robotic manipulators capable of attaching to the structure and holding rods. In addition, the spacecraft can repulse from the structure with a given relative velocity using a manipulator, so the spacecraft and the structure receive impulses. The repulsion velocity vector is calculated in order to reach the structure target point to deliver and install the rod into the truss structure, or to reach the cargo container and take a rod. The problem of searching the repulsion velocity is formulated as an optimization problem with constraints, taking into account the limited value of the repulsion velocity, collision avoidance with structure, restrictions on the angular velocity and translational motion of the structure in the orbital reference frame. This problem is solved numerically with an initial guess vector obtained analytically for simplified motion cases. The application of the proposed control scheme to the assembly of a truss-based antenna is demonstrated. It is shown that the servicing spacecraft is successfully transferred between the structure points by means of manipulator repulsion. Main features and limitations of the assembly problem using a spacecraft with two manipulators are discussed.
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Mulsow, Niklas Alexander, Adam Dabrowski, Martin Mallwitz, and Leonard Maisch. "Design and testing of mechanical gripping tools for On Orbit assembling." Journal of Physics: Conference Series 2716, no. 1 (March 1, 2024): 012093. http://dx.doi.org/10.1088/1742-6596/2716/1/012093.
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Abstract On-orbit servicing, assembly and manufacturing (OSAM) opens a new frontier for robotic systems. A gripping tool for such applications must meet several requirements of space mechanics, such as safety, precision and reliability, while functioning in space conditions. This paper presents a development cycle of such tools designed for the assembly of a small satellite antenna on the International Space Station. Two different grippers, driven by a common drive unit, are presented, conforming to a Multi-Purpose-Tool (MPT) for orbital robotic systems and meeting the requirements of a defined OSAM mission. Both design drivers and concepts and specific component selection are described. Proposed mechanical solutions for safe gripping of objects including space tribology aspects are covered. To adapted to operations not foreseen, the grippers and the drive unit can be reconfigured. The tool architecture presented promotes modularity, scalability, reusability and convertibility of designs, thus facilitating rapid integration in similar missions. A test campaign for critical requirements will be in place to ensure reliable performance of the tools for use in the space environment.
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PhD, Stella Alexandrova. "Future trends of commercial In- Orbit Satellite Servicing, Active Debris Removal and End-Of Life services." Journal of Physics: Conference Series 2255, no. 1 (April 1, 2022): 012014. http://dx.doi.org/10.1088/1742-6596/2255/1/012014.
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Abstract Space debris growth has become a major threat not only to satellites as well as to the safe operations of the International Space Station (ISS). In September 2021, there were more than 4,700 operational satellites, 36,5000 space debris objects larger than 10 cm and 1 000 000 pieces in the 1cm to 10 cm range. The total mass of all space objects in Earth Orbit is 9,600 tonnes[1]. The launches of Starlink, Amazon Kuiper and OneWeb satellite constellations will increase the threat of space debris collisions. Satellite owners, operators, space agencies and commercial players owning the mega-constellations will need to find economically viable ways to inspect, refuel, augment, extend and manage the lifetime of their satellites. Some of the emerging trends taking place in the space industry are on- orbit satellite servicing, active debris removal services and end-of life services. With the technology demonstrations on orbit of Mission Extension Vehicles (MEV-1), MEV-2 and ELSA-d missions promising In Orbit Satellite (IOS), markets are emerging and expected to reach up to $ 6.2 bln by 2030[2]. The objective of this paper is to identify the role of Bulgarian organisations in the future emerging of in- orbital satellite (IOS) and space situational services markets. Bulgaria’s historical space competencies can contribute to the development of user-driven services/ solutions for space debris inspection, collision avoidance, space robotics and in- orbit servicing and assembly. By encouraging the creation of a new space eco-system in the domain of space debris and space situational awareness in South-Eastern Europe, Bulgarian companies and research organisations are bound to play an important role in the future space robotics markets.
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Chihi, Mohamed, Chourouk Ben Hassine, and Quan Hu. "Segmented Hybrid Impedance Control for Hyper-Redundant Space Manipulators." Applied Sciences 15, no. 3 (January 23, 2025): 1133. https://doi.org/10.3390/app15031133.
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Hyper-redundant space manipulators (HRSMs), with their extensive degrees of freedom, offer a promising solution for complex space operations such as on-orbit assembly and manipulation of non-cooperative objects. A critical challenge lies in achieving stable and effective grasping configurations, particularly when dealing with irregularly shaped objects in microgravity. This study addresses these challenges by developing a segmented hybrid impedance control architecture tailored to multi-point contact scenarios. The proposed framework reduces the contact forces and enhances object manipulation, enabling the secure handling of irregular objects and improving operational reliability. Numerical simulations demonstrate significant reductions in the contact forces during initial engagements, ensuring stable grasping and effective force regulation. The approach also enables precise trajectory tracking, robust collision avoidance, and resilience to external disturbances. The complete non-linear dynamics of the HRSM system are derived using the Kane method, incorporating both the free-space and constrained motion phases. These results highlight the practical capabilities of HRSM systems, including their potential to grasp and manipulate obstacles effectively, paving the way for applications in autonomous on-orbit servicing and assembly tasks. By integrating advanced control strategies and robust stability guarantees, this work provides a foundation for the deployment of HRSMs in real-world space operations, offering greater versatility and efficiency in complex environments.
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Vasylyev, V. V., L. A. Godunok, and S. A. Matviienko. "On orbit serving — a step towards further exploration of near-Earth space." Kosmìčna nauka ì tehnologìâ 27, no. 3 (July 2021): 39–50. http://dx.doi.org/10.15407/knit2021.03.039.
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The purpose of the publication is to draw the attention of the Ukrainian scientific and technical community to the development of a new area of activity in outer space - orbital service. The content, technical and economic preconditions and competitive advantages of its development in Ukraine are outlined. Definitions of orbital services such as customer inspection, orbital (inter-orbital) transportation, refueling and resupply, upgrade, assembly, collision avoidance are given. The competence of Ukrainian enterprises in this direction has been analyzed. The expediency and possibility of developing the direction of orbital servicing for further exploration of near space, in particular, the developments of Ukrainian enterprises for the development and manufacture of systems for rendezvous and docking of spacecraft, have been substantiated. Scenarios of interaction between a space service vehicle and a client vehicle in near-earth orbit are described. The basic requirements for carrying out of Servicer and the Client autonomous proximity operations, as well as the operation of seizing the client machine are given. Proposals for the functionality of spacecraft for the provision of orbital space services are presented, it is proposed to consider the need to create specialized cargo modules and examples of their application in orbit are given. The tendencies of the approach to the creation of spacecraft structures adapted for in-orbit service are considered. The predicted volume of orbital service operations by type of service and with orbits is given. Provided information about the key players in a given market. The design of Servicer, which is being developed by Kurs NPK JSC, Yuzhnoye Design Bureau, for the provision of transport services, is presented. The specified features of its construction in general and the composition of the modules, as well as the possibility of further expanding the functionality of the Servicer.
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Wang, Xiaoyi, and Jayantha Katupitiya. "A Tangent Release Manipulation Controlled by a Dual-Arm Space Robot." Actuators 12, no. 8 (August 14, 2023): 325. http://dx.doi.org/10.3390/act12080325.
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As people further develop space with advanced technology, space robots have played a significant role in on-orbit servicing missions. Space robots can carry out more risky and complicated missions with less cost than astronauts. Dual-arm space robots can perform complex on-orbit space missions more effectively than single-arm space robots. Since the coupled dynamics between the free-floating base and the arms exist in space robots, accurate coordinate control of the base and the arms is essential. Spacecraft release missions have been proposed to berth/deberth a spacecraft to a space station. Based on the existing release missions, a tangent release strategy is introduced in this paper, which can release a space object in the tangent direction of the final link of a space manipulator. This strategy can control a dual-arm space robot to deploy cargo/spacecraft in variable directions in 3D space without thrusters and the associated fuel consumption. For instance, this tangent release operation can transport cargo or modules of large-scale spacecraft needing on-orbit assembly. Considering model uncertainties, robust controllers again model uncertainties that are used to control the dual-arm space robot with high accuracy. Hence, a robust sliding mode controller (SMC) is utilized to accurately control the space robot to carry out the proposed tangent release strategy. For comparison, we select a conventional computed torque control (CTC) implemented by a PD-type controller. In the simulations, the SMC performs better in tracking accuracy and robustness against the model uncertainties than the PD controller. Numerical simulations indicate the feasibility and effectiveness of the tangent release manipulation of a space object by a dual-arm space robot.
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Brandonisio, Andrea, Michèle Lavagna, and Davide Guzzetti. "Reinforcement Learning for Uncooperative Space Objects Smart Imaging Path-Planning." Journal of the Astronautical Sciences 68, no. 4 (November 2, 2021): 1145–69. http://dx.doi.org/10.1007/s40295-021-00288-7.
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AbstractLeading space agencies are increasingly investing in the gradual automation of space missions. In fact, autonomous flight operations may be a key enabler for on-orbit servicing, assembly and manufacturing (OSAM) missions, carrying inherent benefits such as cost and risk reduction. Within the spectrum of proximity operations, this work focuses on autonomous path-planning for the reconstruction of geometry properties of an uncooperative target. The autonomous navigation problem is called active Simultaneous Localization and Mapping (SLAM) problem, and it has been largely studied within the field of robotics. Active SLAM problem may be formulated as a Partially Observable Markov Decision Process (POMDP). Previous works in astrodynamics have demonstrated that is possible to use Reinforcement Learning (RL) techniques to teach an agent that is moving along a pre-determined orbit when to collect measurements to optimize a given mapping goal. In this work, different RL methods are explored to develop an artificial intelligence agent capable of planning sub-optimal paths for autonomous shape reconstruction of an unknown and uncooperative object via imaging. Proximity orbit dynamics are linearized and include orbit eccentricity. The geometry of the target object is rendered by a polyhedron shaped with a triangular mesh. Artificial intelligent agents are created using both the Deep Q-Network (DQN) and the Advantage Actor Critic (A2C) method. State-action value functions are approximated using Artificial Neural Networks (ANN) and trained according to RL principles. Training of the RL agent architecture occurs under fixed or random initial environment conditions. A large database of training tests has been collected. Trained agents show promising performance in achieving extended coverage of the target. Policy learning is demonstrated by displaying that RL agents, at minimum, have higher mapping performance than agents that behave randomly. Furthermore, RL agent may learn to maneuver the spacecraft to control target lighting conditions as a function of the Sun location. This work, therefore, preliminary demonstrates the applicability of RL to autonomous imaging of an uncooperative space object, thus setting a baseline for future works.
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Peterson, Marco, Minzhen Du, Bryant Springle, and Jonathan Black. "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." Aerospace 9, no. 5 (May 6, 2022): 254. http://dx.doi.org/10.3390/aerospace9050254.
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The proliferation of reusable space vehicles has fundamentally changed how assets are injected into the low earth orbit and beyond, increasing both the reliability and frequency of launches. Consequently, it has led to the rapid development and adoption of new technologies in the aerospace sector, including computer vision (CV), machine learning (ML)/artificial intelligence (AI), and distributed networking. All these technologies are necessary to enable truly autonomous “Human-out-of-the-loop” mission tasking for spaceborne applications as spacecrafts travel further into the solar system and our missions become more ambitious. 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 imagery needed to train computer vision models. We also introduce a method of image data augmentation known as domain randomization to enhance machine learning performance in the dynamic domain of spaceborne computer vision to tackle unique space-based challenges such as orientation and lighting variations. These synthetically trained computer vision models then apply that capability for hardware-in-the-loop testing and evaluation via free-flying robotic platforms, thus enabling sensor-based orbital vehicle control, onboard decision making, and mobile manipulation similar to air-bearing table methods. Given the current energy constraints of space vehicles using solar-based power plants, cameras provide an energy-efficient means of situational awareness when compared to active sensing instruments. When coupled with computationally efficient machine learning algorithms and methods, it can enable space systems proficient in classifying, tracking, capturing, and ultimately manipulating objects for orbital/planetary assembly and maintenance (tasks commonly referred to as In-Space Assembly and On-Orbit Servicing). Given the inherent dangers of manned spaceflight/extravehicular activities (EVAs) currently employed to perform spacecraft maintenance and the current limitation of long-duration human spaceflight outside the low earth orbit, space robotics armed with generalized sensing and control and machine learning architecture have a unique automation potential. However, the tools and methodologies required for hardware-in-the-loop simulation, testing, and validation at a large scale and at an affordable price point are in developmental stages. By leveraging a drone’s free-flight maneuvering capability, theater projection technology, synthetically generated orbital and celestial environments, and machine learning, this work strives to build a robust hardware-in-the-loop testing suite. While the focus of the specific computer vision models in this paper is narrowed down to solving visual sensing problems in orbit, this work can very well be extended to solve any problem set that requires a robust onboard computer vision, robotic manipulation, and free-flight capabilities.
Dissertations / Theses on the topic "On-Orbit Servicing/Assembly"
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Sanchez, William D. (William David). "State estimation of cooperative satellites for on-orbit assembly and servicing of spacecraft." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/112374.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2017.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 153-157).
The development of robust and routine execution of autonomous space-based proximity operations is a critical need for the future of space exploration and space-based business enterprise. One application of this host of activities, which includes rendezvous, capture, and docking, is on-orbit assembly and servicing of spacecraft. It is believed that the maturation of this technology could usher in a new era of space technology featuring modular construction of large spacecraft or habitats for exploration and tourism, assembly of large-aperture space telescopes unconstrained by launch vehicle size, and reconfigurable structures for mission adaptability. Furthermore, this technology could extend to capture and repair high asset spacecraft by replacing modular components, all without the need to risk human lives. This thesis seeks to contribute to the development of this technology by focusing on one of its most critical aspects: robust state estimation between the autonomous agents. Several estimation frameworks exist that can be applied. However, two state estimators were specifically chosen, implemented, verified, and validated for reasons discussed in the text. First, a practical method of implementation of an Unscented Kalman Filter for two active, cooperative, autonomously docking satellites that overcomes latency issues from low frequency vision-based relative-pose measurements is presented. Second, a factor graph based incremental smoothing estimator for the same application is implemented, which can be shown to provide robustness to several failures characteristic of the filtering framework. A detailed analysis enumerating the strengths and weaknesses of the two frameworks is provided, as well as the verification and validation of the two estimators via the SPHERES testbed from both a 3-DOF planar air bearing facility and the playback of data sets collected from the International Space Station 6-DOF test environment.
by William D. Sanchez.
S.M.
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Mohan, Swati. "Reconfiguration methods for on-orbit servicing, assembly, and operations with application to space telescopes." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/39706.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2007.Includes bibliographical references (p. 115-118).
Reconfiguration is an important characteristic in furthering on-orbit servicing, assembly, and operations. Previous work has focused on large assemblers manipulating small payloads, where the dynamics of the assembler is not significantly changed. This work seeks to identify the impact of reconfiguration on maneuver performance. Reconfiguration is considered in two categories: implementation and application. Implementation of reconfiguration consisted of developing a method for defining and updating a configuration, implementation on the SPHERES testbed, and execution of tests (in simulation and on the International Space Station) to assess the control performance improvement after reconfiguration. Four applications were considered in this work, two hardware applications and two systems applications modeled through simulation. The objective of the SWARM application was to demonstrate autonomous assembly capability through docking and undocking maneuvers. The objective of the SIFFT application was to demonstrate formation reconfiguration capability, through the expansion and rotation of an equilateral triangle of three satellites. The objective of the systems applications was to determine the impact of re-configuration in a larger mission context.
(cont.) One application, Mass Property Update, considered how the choice of method for obtaining the mass property information impacts operations. The other application, Modularity Analysis, considered how the implementation of modularity is driven by the mission objectives. Overall, this work has served to demonstrate the control impact of reconfiguration though implementation on the SPHERES testbed. This implementation was used on two hardware applications to determine the performance of reconfiguration for assembly and formation reconfiguration missions. Also, the impact of reconfiguration has been studied in the broader systems context. The choice of method of mass property update was demonstrated to have an impact on operations, in terms of reliability and mass. Finally, the method incorporation of modularity for purposes of on-orbit servicing and assembly was demonstrated to be driven by mission design parameters.
by Swati Mohan.
S.M.
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De, Oliveira Valente Moreno Rodrigues Ricardo. "Modélisation, commande robuste et analyse de missions spatiales complexes, flexibles et non stationnaires." Electronic Thesis or Diss., Toulouse, ISAE, 2024. http://www.theses.fr/2024ESAE0062.
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La complexité des missions spatiales a augmenté de façon exponentielle, avec des exigences croissantes en matière de performance, de précision et de robustesse. Cette évolution est due à la fois aux progrès technologiques et à la nécessité de satisfaire de nouveaux défis, tels que les satellites en rotation (spinnés), l'assemblage en orbite et le service en orbite. Ces missions nécessitent l'intégration de systèmes mécaniques complexes, notamment des réservoirs de carburant liquide et ballotant, des systèmes de pointage précis et des structures flexibles qui présentent généralement des modes à basse fréquence, proches en fréquence et peu amortis. À mesure que les engins spatiaux deviennent plus modulaires avec plusieurs composants interconnectés tels que les antennes et les charges utiles, il est essentiel de modéliser et de contrôler avec précision ces systèmes multicorps complexes. Les interactions entre les structures flexibles et les systèmes de contrôle peuvent avoir un impact significatif sur les tâches critiques telles que le contrôle de l'attitude et la précision du pointage. Il est donc essentiel de prendre en compte les dynamiques couplées et les perturbations externes pour garantir le succès de la mission.Afin de résoudre ces problèmes, cette thèse présente une approche unifiée de la modélisation et du contrôle des systèmes multicorps flexibles dans les missions spatiales. Elle utilise des modèles de représentation fractionnaire linéaire (LFR) pour capturer efficacement la dynamique complexe et les incertitudes inhérentes à ces scénarios. La recherche commence par la dérivation d'un modèle LFR pour une poutre extsc{Euler}- extsc{Bernoulli} flexible et en rotation, prenant en compte les forces centrifuges et leur dépendance par rapport à la vitesse angulaire. Ce modèle à six degrés de liberté (DOFs) intègre les dynamiques de flexion, de traction et de torsion et est conçu pour être compatible avec l'approche des ports à deux entrées et deux sorties (TITOP), permettant de modéliser des systèmes multicorps complexes. Ce manuscrit présente également un modèle multicorps pour un scénario de mission de vaisseau spatial en rotation, suivi de la conception d'un système de contrôle.La thèse étend l'application des modèles LFR à une mission de service en orbite, en se concentrant sur le contrôle robuste de la dynamique d'attitude malgré les incertitudes et les paramètres variables du système. Une nouvelle approche de modélisation pour le mécanisme d'amarrage est introduite pour prendre en compte les propriétés dynamiques de rigidité et d'amortissement de la chaîne cinématique en boucle fermée formée par le véhicule chasseur et le véhicule cible. Un système de contrôle par rétroaction assurant une stabilité et des performances robustes pendant toutes les phases de la mission est proposé et validé par une analyse structurée des valeurs singulières.A partir de ces éléments, la thèse développe finalement une méthodologie complète pour la modélisation d'une mission d'assemblage en orbite impliquant un robot à bras multiples construisant une grande structure flexible. Ce travail aborde également la dynamique de couplage entre le robot et la structure évolutive tout en considérant les changements significatifs d'inertie et de flexibilité au cours du processus d'assemblage. Un algorithme d'optimisation de planification de tâches est finalement proposé pour assurer des opérations robotiques stables et efficaces, mettant en évidence l'efficacité de l'approche de modélisation basée sur la représentation LFRSpace missions have grown exponentially in complexity, with increasing demands for performance, precision and robustness. This evolution is driven by both technological advancements and the need for spacecraft to support diverse mission objectives, such as spinning spacecraft, on-orbit assembly and on-orbit servicing. These missions require the integration of large and complex designs, including dynamic fuel tanks, precise pointing systems and flexible structures that typically exhibit low-frequency, closely spaced and poorly damped modes. As spacecraft become more modular with multiple interconnected components like antennas and payloads, accurately modeling and controlling these complex multibody systems is crucial. The interactions between flexible structures and control systems can significantly impact mission-critical tasks such as attitude control and pointing accuracy, making it essential to address the coupled dynamics and external disturbances to ensure successful mission outcomes.In order to tackle these problems, this thesis presents a unified approach to the modeling and control of flexible multibody systems in space missions. It utilizes linear fractional representation (LFR) models to effectively capture the complex dynamics and uncertainties inherent in these scenarios. The research begins with the derivation of an LFR model for a flexible and spinning extsc{Euler}- extsc{Bernoulli} beam, fully accounting for centrifugal forces and their dependence on the angular velocity. This six degrees of freedom model integrates bending, traction and torsion dynamics and is designed to be compatible with the Two-Input-Two-Output Ports (TITOP) approach, enabling the modeling of complex multibody systems. This manuscript also introduces a multibody model for a spinning spacecraft mission scenario, followed by the design of a control system.The thesis further extends the application of LFR models to an on-orbit servicing mission, focusing on the robust control of attitude dynamics despite uncertainties and varying system parameters. A novel modeling approach for a docking mechanism is introduced, capturing the dynamic stiffness and damping properties of the closed-loop kinematic chain formed by the chaser and target spacecraft. The design of a feedback control system ensuring robust stability and performance across all mission phases is proposed, validated through structured singular value analysis.Building on this foundation, the thesis finally develops a comprehensive methodology for modeling an on-orbit assembly mission involving a multi-arm robot constructing a large flexible structure. This work also addresses the coupling dynamics between the robot and the evolving structure while considering significant changes in inertia and flexibility during the assembly process. A path optimization algorithm is ultimately proposed to ensure stable and efficient robotic operations, highlighting the effectiveness of the LFR-based modeling approach
Book chapters on the topic "On-Orbit Servicing/Assembly"
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Rupp, Cory J., and Trevor Hunt. "Robot-Driven Modal Testing for On-Orbit Servicing, Assembly, and Manufacturing." In Topics in Modal Analysis & Parameter Identification, Volume 8, 15–26. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-05445-7_3.
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Rupp, Cory J. "A Technique for Minimizing Robot-Induced Modal Excitations for On-Orbit Servicing, Assembly, and Manufacturing Structures." In Conference Proceedings of the Society for Experimental Mechanics Series, 89–94. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-34942-3_10.
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Blakey-Milner, Byron, Anton du Plessis, Paul Gradl, Leilani Cooper, Christopher Roberts, Darren Tinker, Curtis Hill, and Alison Park. "Metal Additive Manufacturing in the Space Industry." In Additive Manufacturing Design and Applications, 438–58. ASM International, 2023. http://dx.doi.org/10.31399/asm.hb.v24a.a0006983.
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Abstract This article presents the use of additive manufacturing (AM) in the space industry. It discusses metal AM processes and summarizes metal AM materials, including their relevant process categories and references. It also presents the design for AM for spacecraft. The article also provides an overview of in-space manufacturing and on-orbit servicing, assembly, and manufacturing. It presents some of the specific areas that must be understood for the qualification of AM. The article also discusses future trends, challenges, and opportunities for aerospace.
Conference papers on the topic "On-Orbit Servicing/Assembly"
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Lillie, Charles. "On-Orbit Assembly and Servicing for Future Space Observatories." In Space 2006. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2006. http://dx.doi.org/10.2514/6.2006-7251.
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Lillie, C. F. "On-orbit assembly and servicing of future space observatories." In SPIE Astronomical Telescopes + Instrumentation, edited by John C. Mather, Howard A. MacEwen, and Mattheus W. M. de Graauw. SPIE, 2006. http://dx.doi.org/10.1117/12.672528.
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Ramdass, Tyler J., Ninad Munshi, Richard Kim, and Gregory Falco. "Cybersecurity of On-Orbit Servicing, Assembly, and Manufacturing (OSAM) Systems." In ASCEND 2022. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2022. http://dx.doi.org/10.2514/6.2022-4379.
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Patane, Simon, Kari Abromitis, German Acosta Quiros, Paul Shestople, Dash Kieler, and Michael P. Snyder. "On-orbit Servicing, Assembly, and Manufacturing (OSAM) Enhancing Climate Research." In ASCEND 2021. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2021. http://dx.doi.org/10.2514/6.2021-4189.
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Brannan, Justin C., Craig R. Carignan, and Brian J. Roberts. "Hybrid Strategy for Evaluating On-orbit Servicing, Assembly, and Manufacturing Technologies." In ASCEND 2020. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2020. http://dx.doi.org/10.2514/6.2020-4194.
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Friz, Jessica S., Nathan Perreau, Iok M. Wong, Jason Neuhaus, Grace Zimmerman, and Isabella Gomez. "On-orbit/On-surface Servicing, Assembly, and Manufacturing (OSAM) Architecture Simulation System (OASiS)." In ASCEND 2022. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2022. http://dx.doi.org/10.2514/6.2022-4336.
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Gordon, Nathaniel G., and Gregory Falco. "Reference architectures for autonomous on-orbit servicing, assembly and manufacturing (OSAM) mission resilience." In 2022 IEEE International Conference on Assured Autonomy (ICAA). IEEE, 2022. http://dx.doi.org/10.1109/icaa52185.2022.00024.
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Caon, A. "AUTOMA project: technologies for autonomous in orbit assembly operations." In Aeronautics and Astronautics. Materials Research Forum LLC, 2023. http://dx.doi.org/10.21741/9781644902813-111.
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Abstract. The possibility of manipulating objects in space is at the basis of the In-Orbit Servicing missions with the purpose to extend or improve the life of existing satellites. This can be obtained by equipping a target satellite with additional modules capable of providing additional basic functions, like power, thrust or communication. One of the most promising technologies to accomplish to these purposes is presented by space robots (satellites with one or more robotic manipulators) equipped with dedicated tool. The manipulators have the dual purposes to capture the additional module and to manipulate and attach it to the target satellite. In order to advance in IOS technologies, the Department of Industrial Engineer has funded the AUTOMA (AUtonomous Technologies for Orbital servicing and Modular Assembly) project . The project aims to (1) upgrade an autonomous capture tool, (2) develop the additional module (EAU), and (3) execute tests in relevant laboratory scenarios. The autonomous tool is represented by SMACK (SMArt Capture Kit). SMACK is a capture system equipped with (1) different types of sensors to measure the relative pose during the entire approach for the capture and for the assembly; (2) a set of actuators to capture the module and keep a rigid connection during the manipulation; (3) a computer to execute locally the required software like guidance and navigation algorithms. The external module (Elementary Assembly Unit, EAU) is equipped with three features to be captured and manipulated by SMACK and a docking system to allow the assembly on the target structure. In order to test the assembly phase, SMACK has been mounted on the end-effector of a 6 degrees of freedom robotic arm in laboratory environment, while the target has been fixed on a frame. These tests proved the ability of SMACK to manage assembly tasks such as the control of a robotic arm with sufficient accuracy.
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Grande, Melanie L., and Daniel A. DeLaurentis. "Evaluating Designs for an On-Orbit Servicing, Assembly, and Manufacturing Platform with System-of-Systems Methodologies." In AIAA Scitech 2021 Forum. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2021. http://dx.doi.org/10.2514/6.2021-0304.
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Jewison, Christopher M., Bryan McCarthy, David C. Sternberg, Daniel Strawser, and Cheng Fang. "Resource Aggregated Reconfigurable Control and Risk-Allocative Path Planning for On-orbit Servicing and Assembly of Satellites." In AIAA Guidance, Navigation, and Control Conference. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2014. http://dx.doi.org/10.2514/6.2014-1289.
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