Automated Rendezvous and Capture

loutclankedIA et Robotique

13 nov. 2013 (il y a 4 années et 9 mois)

73 vue(s)

July 19, 2002

Aeroscience & Flight Mechanics Division


Automated Rendezvous and Capture

Tools and Demonstrations

Karl H. Siebold, Thomas B. Moody,

Brian H. Rishikof, David F. Strack



Titan Systems Corporation


Astronautics Engineering Unit

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


AR&C Tools

Environment

Shuttle

ATV

HTV

CRV

Progress

Soyuz

AERCam

X
-
38

Operational Vehicles

Vehicles in Development

Tech. Demonstrators

ISS


Proposed Future Vehicles

Generic Vehicles and Systems


GNC and Flight Systems

Current, Planned, and Generic Robotic Systems


Docking/Berthing

Mechanism

Models

Crew
-
in
-
the
-
loop

Support Tools

-

Collision Detection

-

Monte
-
Carlo

-

Math Libraries

-

Communications

-

Synchronization

-

Multi
-
Process

-

Multi
-
Computer

-

Pre/Post Process

-

Multi Body

-

Rigid Body

-

Flex Body

-

Orbital

-

Robotics

-

Multi
-
Vehicle

-

Contact

Kinematics & Dynamics

Visualization

Crew Displays

Sim Control, Monitor & Fault Insertion

Hardware
-
in
-
the
-
loop

GPS

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Shuttle

ATV

HTV

CRV

Progress

Soyuz

AERCam

X
-
38

Operational Vehicles

Vehicles in Development

Tech. Demonstrators

ISS


Proposed Future Vehicles

Generic Vehicles and Systems


GNC and Flight Systems


Targeting Algorithms


Guidance Algorithms


Navigation Algorithms


Control Algorithms


Mission & Vehicle Manager Capabilities


Sensors (Gyro, Accel., GPS, Laser, etc.)


Effectors (Jets, Momentum Gyros, etc.)


Propellant Systems (blow
-
down, slosh, etc.)


Communication Systems


Solar Array Tracking


FDIR Logic


Abort Logic


Direct and Remote Piloting Capabilities


Crew Interfaces


Generic Systems (e.g. perfect nav & effector)

AR&C Tools

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Current, Planned, and Generic Robotic Systems


Generic Robotics Arm Creation Capabilities


ISS & Shuttle Arms Implemented: SRMS, SSRMS, SPDM


Used in Multiple Facilities:


JSC: MRMDF, NBL, SSTF, SES, VR
-
Lab


JSC & KSC: DST


JSC & On
-
orbit: ROBOT (on
-
orbit)


Control Algorithms


Hardware Modeling


Rigid body, Joint flex, Boom flex


CSA Ada Flight Software & JSC modeled FSW


Error Insertion Capabilities

AR&C Tools

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Environment

High and Low Fidelity


Atmosphere


Geo
-
potential


Ionosphere


RNP


Sun/Moon Ephemeris


Lighting

AR&C Tools

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6

July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Hardware
-
in
-
the
-
loop

Mechanical Hardware


MRMDF


NBL Arm


SDTS


EVA Mass Handling


AERCam

Autonomous EVA Robotic Camera Sprint

MRMDF

Multi
-
use Remote Manipulator Development Facility

NBL


Neutral Buoyancy Laboratory

SAFER


Simplified Aid for EVA Rescue

SDTS


Six
-
Degree
-
of
-
Freedom Dynamic Test System

Avionics


X
-
38 Avionics


SAFER Avionics


AERCam Avionics


Shuttle Simulators


Numerous Boards


GPS


Signal Generator


Hand
-
Controllers


Button/Switch Boxes


Displays

Avionics
-
in
-
the
-
loop

Mechanical Hardware
-
in
-
the
-
loop

AR&C Tools

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7

July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Crew
-
in
-
the
-
loop


Shuttle Simulators


CRV Simulators


Russian TORU Simulator


SAFER Backpack


AERCam Vehicle


ATV Monitoring


HTV Monitoring and Capture


Shuttle Robotic Arm Simulator


Space Station Robotic Arm Simulator


EVA Mass Handling Simulator


Combination EVA/Robotics


Combination Robotics/GNC


Ground Control Systems

AR&C Tools

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


GPS


Constellation


Receiver


Antennas


Atmospheric Effects


Multi
-
path & Blockage


Interface with H/W


Models to Drive Signal Generator

AR&C Tools

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Sim Control, Monitor & Fault Insertion


Architecture Designed to Support Simulation Control


Numerous Methods for Simulation Monitoring


Numerous Post Processing Capabilities


Generic Real Time Fault Insertion


Manual Input Fault Insertion


Event Driven Simulation Control and Fault Insertion


Distributed Simulation using High Level Architecture (HLA)


AR&C Tools

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Crew Displays


Simulate Hardware Crew Displays


Simulate Crew Computer Displays


Drive Crew Laptops


Used On
-
orbit for Training

AR&C Tools

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Support Tools

-

Collision Detection

-

Monte
-
Carlo

-

Math Libraries

-

Communications

-

Synchronization

-

Multi
-
Process

-

Multi
-
Computer

-

Pre/Post Process

Numerous Support Tools


Orbital


Proximity Operations


Robotics


H/W Support


Simulation Support

AR&C Tools

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Visualization


Very High Fidelity Graphics


Graphics Independent of Simulation


Multiple Platforms:


Silicon Graphics


Sun Unix


PC Linux


PC Windows

AR&C Tools

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


-

Multi Body

-

Rigid Body

-

Flex Body

-

Orbital

-

Robotics

-

Multi
-
Vehicle

-

Contact

Kinematics & Dynamics

Dynamics Key Aspect of Simulations

AR&C Tools

Page
14

July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Docking/Berthing

Mechanism

Models


Most Capture Mechanisms from ISS and Shuttle


Supports Docking and Berthing

AR&C Tools

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit



Trick is a “Generic” Simulation Toolkit


Uses Code Generation Technologies for Automated Development


Provides Automated I/O


Common Executive with Math Model Plug
-
Ins


Distributed and Inter
-
process Mechanisms


Highly Configurable with Data Driven Capabilities


Scheduling


Multiprocessing


Real
-
time Control


Over 200,000 Lines of “C” Source Code


Executive, Dynamics, Math Libraries, Utilities, and GUIs


Portable Across Many UNIX Operating Systems


RedHat, IRIX, Solaris,
etc.



Trick


A Simulation Construction Tool

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


VrTool & DOUG


3D Graphics Tools


VrTool Is…


Display Builder


Graphics Renderer


Simulation Display Driver


Situational Awareness Display


Dynamic On
-
board Ubiquitous Graphics (DOUG) Is…


Simulation Display Driver


Situational Awareness Display


Commonality Across Different Facilities and Computer System Platforms


The Tools Are:


Multi
-
Platform


“C” and OpenGL (Widely Supported Computer Graphics Standards)


DOUG: SGI, Linux (PC), Windows (PC)


VrTool: SGI, Sun, Linux(PC)


Multi
-
Facility


Used in Rendezvous Proximity Operations and Capture Simulation (ATV, HTV, CRV, X
-
38,
Russian Vehicle, AERCam)


Used in the Shuttle Mission Simulator, Systems Engineering Simulator, Space Station Training
Facility, Dynamic Skills Trainer and the Virtual Reality (VR) Laboratory


Used In
-
Orbit Onboard the Space Station and the Space Shuttle


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17

July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


DOUG View of Space Station

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Trick/DOUG/VrTool Applications & Facilities


Trick and DOUG Facilitate Rapid Development


Real
-
Time Human
-
in
-
the
-
Loop / Hardware
-
in
-
the
-
Loop Simulations


Non
-
Real
-
Time or Batch Analysis Simulations


Applications /
JSC Facilities

(See Next Page for Acronym Definitions)


Robotics /
SES, NBL, MRMDF, SDTS, DST, SSTF, ROBOT, & EVA
-
VR


Shuttle /
SMS


SAFER /
EVA
-
VR


EVA Mass Handling /
EVA
-
VR


Shuttle and Space Station Docking /
SES


RPOC /
Desktop Analysis and CRV Laboratory


CRV /
CRV Laboratory


X38 /
SITF


AERCam /

NSTL


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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Application and NASA JSC Facility Acronyms

CRV


Crew Return Vehicle

DST


Dynamic Skills Trainer

EVA
-
VR


Extravehicular Vehicle Activity


Virtual Reality Laboratory

MRMDF


Multi
-
use Remote Manipulator Development Facility

NBL


Neutral Buoyancy Laboratory

NSTL


Navigation Systems Technology Laboratory

ROBOT


Robotic On
-
board Trainer

SAFER


Simplified Aid for EVA Rescue

SDTS


Six
-
Degree
-
of
-
Freedom Dynamic Test System

SES


Systems Engineering Simulator (Dome)

SITF


Software Integration & Test Facility

SMS


Shuttle Mission Simulator

SSTF


Space Station Training Facility

RPOC


Rendezvous, Proximity Operations, and Capture

X38


CRV Prototype Vehicle


Simulation Demonstration

Examples of Demonstration Views

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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


GN&C/AR&C Demos


CRV Expedited Separation


HTV Monitoring and Capture Support


ATV State Monitoring


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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Demo
-

CRV Expedited Departure

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23

July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Demo
-

HTV Monitoring and Capture Support

Page
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July 19, 2002

Titan Systems Corporation


Astronautics Engineering Unit


Demo
-

ATV State Monitoring