This module will be first offered in the 2020/21 academic year.
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
Knowledge and Understanding
Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:
- Dynamics during a mission including launch, cruise and reentry.
- Current and future trend in design and application.
- Consider developed systems, and their operation requirements.
- System architecture of robotic systems.
- The challenges of developing robotic system for use in LEO or in deep space.
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.
Rational: Why robotics - advantages and disadvantages of robotics compared to humans.
Exemplar missions: LEO, lunar and planetary.
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
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)
ISS robotic provision; Robonaut; microgravity operation
Robotic support for EVA
Space craft capture and disposal.
Mobility of planetary surfaces
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.
Tele-operation; Latency; Virtual reality Trajectory planning
Autonomous task planning
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.
|Completion of assessment task||104|
|Wider reading or practice||36|
|Preparation for scheduled sessions||18|
|Total study time||222|
Resources & Reading list
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.
da Fonseca, I. M. & Pontuschka, M. N. (2015). The State-of-the-art in Space Robotics. Journal of Physics: Conference Series, 641.
Yoshida, Kazuya (2009). Achievements in space robotics. IEEE Robot. Automat. Mag., 16.4, pp. 20-28.
W.W. Mendell (2004). The roles of humans and robots in exploring the solar system. Acta Astronautica, 55(2).
Peter Corke. Robotics, Vision and Control Fundamental: Algorithms in MATLAB.
This is how we’ll formally assess what you have learned in this module.
This is how we’ll assess you if you don’t meet the criteria to pass this module.
An internal repeat is where you take all of your modules again, including any you passed. An external repeat is where you only re-take the modules you failed.
Repeat type: Internal & External