ELEC6250 Robotic (Autonomous) Aerospace Vehicles
Robotics plays an important part in the development and operation of autonomous aerospace vehicles. The robotic element may consist of a complete vehicle either in outer space or on a planetary surface (e.g. a Martian rover) or a specific component (e.g. the ISS robotic arm). The module will examine design, construction and operation of such system. The students will gain an understanding of the challenges involved developing such a system, as well as operating at significant distances from the earth.
Aims and Objectives
To examine design, construction and operation of autonomous aerospace vehicles
Knowledge and Understanding
Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:
- The challenges of developing robotic system for use in LEO or in deep space.
- Dynamics during a mission including launch, cruise and reentry.
- Consider developed systems, and their operation requirements.
- System architecture of robotic systems.
- Current and future trend in design and application.
Subject Specific Intellectual and Research Skills
Having successfully completed this module you will be able to:
- Development of robotic simulations, when operating under zero gravity.
Introduction Rational: Why robotics - advantages and disadvantages of robotics compared to humans. Exemplar missions: LEO, lunar and planetary. Challenges Space and Planetary Environment Launch; Lower earth orbit, including debris issues; Interplanetary Space Lunar environment; Rocky planets; Gas giants and their moons; Other bodies • Free–flyer applications Manipulation Introduction to manipulator kinematics, including DH transformations. Low level control, velocity control Arm dynamics; Newton–Euler dynamics Grippers and other end effectors (drills, surface samplers) In-orbit operations ISS robotic provision; Robonaut; microgravity operation Robotic support for EVA Space craft capture and disposal. Mobility of planetary surfaces Mobility issues Wheeled locomotion, vehicle–ground interface; forces; control; forces; required torque and power; suspension. Non–wheeled options:Walking machines; other possible options. Possible applications for swarm robotics. Actuators, sensors and power Linear and rotary actuators. Sensors – forces, vision; chemical etc. Power generation and distribution: Batteries, solar cells, nuclear. Control HCI Tele-operation; Latency; Virtual reality Trajectory planning Autonomous task planning Artificial Intelligence
Learning and Teaching
Teaching and learning methods
Lecture notes will be provided as will be specific academic papers that will form part of the directed reading. Use will be made of Matlab together with specific robotic toolboxes to simulate specific systems.
|Preparation for scheduled sessions||18|
|Wider reading or practice||36|
|Completion of assessment task||104|
|Total study time||222|
Resources & Reading list
Yoshida, Kazuya (2009). Achievements in space robotics. IEEE Robot. Automat. Mag.. ,16.4 , pp. 20-28.
da Fonseca, I. M. & Pontuschka, M. N. (2015). The State-of-the-art in Space Robotics. Journal of Physics: Conference Series. ,641 , pp. 0.
S. Ahsan Badruddin and S. M. Dildar Ali (2014). Recent Developments in the Optimization of Space Robotics for Perception in Planetary Exploration. Presented in the International Conference on Space. ,0 , pp. 0.
W.W. Mendell (2004). The roles of humans and robots in exploring the solar system. Acta Astronautica. ,55(2) , pp. 0.
Peter Corke. Robotics, Vision and Control Fundamental: Algorithms in MATLAB.
|Examination (2 hours)||75%|
|Examination (2 hours)||75%|
Repeat type: Internal & External