Aerospace Robotics III

Description

This book includes extended versions of original works on aerospace robotics presented at the Conference on Aerospace Robotics (CARO) in Warsaw. It presents recent advances in aerospace robotics, such as manipulators, which are widely used in space for orbital operations, for example, the Mobile Servicing System on the International Space Station and the Shuttle Remote Manipulator System. Such manipulators are operated by astronauts and mounted on large platforms, making the influence of manipulator motion on the state of the platform insignificant. Application of manipulators for capture maneuvers in unmanned On-Orbit Servicing or Active Debris Removal missions requires reliable control algorithms that take into account the free-floating nature of the manipulator-equipped spacecraft. As such the book presents possibilities for using space manipulators for exploration and a variety of space operations. Further, it discusses new methods for the control of autonomous unmanned aerial vehicles (UAV) using vision systems and sensor fusion methodologies. Such autonomous flying vehicles could be used for materials deliveries and emergencies, as well as surveying and servicing. Front Matter ....Pages i-xv Parallel Hamiltonian Formulation for Forward Dynamics of Free-Flying Manipulators (Paweł Malczyk, Krzysztof Chadaj, Janusz Frączek)....Pages 1-15 Nonlinear Model Predictive Control (NMPC) for Free-Floating Space Manipulator (Tomasz Rybus, Karol Seweryn, Jurek Z. Sąsiadek)....Pages 17-29 Performance Control of a Spacecraft-Robotic Arm System-Desired Motion Tracking (Elżbieta Jarzębowska)....Pages 31-43 Detection and Decoding of AIS Navigation Messages by a Low Earth Orbit Satellite (Roman Wawrzaszek, Marcin Waraksa, Maciej Kalarus, Grzegorz Juchnikowski, Tomasz Górski)....Pages 45-62 Accurate Image Depth Determination for Autonomous Vehicle Navigation (Jurek Z. Sasiadek, Mark J. Walker)....Pages 63-81 Pose Estimation for Mobile and Flying Robots via Vision System (Malik M. A. Al-Isawi, Jurek Z. Sasiadek)....Pages 83-96 Control of Flexible Wing UAV Using Stereo Camera (Malik M. A. Al-Isawi, Jurek Z. Sasiadek)....Pages 97-120 The Dynamics Aspects of Modeling and Control of the Flying Robot with Attached Two Degree of Freedom Manipulator (Grzegorz Chmaj, Karol Seweryn, Tomasz Rybus, Tomasz Buratowski, M. Musioł, Marek Banaszkiewicz)....Pages 121-148 Prototype, Mathematical Model and Simulations of a Model-Making Rocket (Jacek Drewniak, Ignacy Duleba)....Pages 149-159 Space Mining Challenges: Expertise of the Polish Entities and International Perspective on Future Exploration Missions (Marta E. Wachowicz, Patrycja Frąk, Adam Węgłowski, Zbigniew Burdzy, Roger Bachtin, Joanna Bankiewicz et al.)....Pages 161-195 Space Mechatronics and Space Robotics Patent Inventions; the Way to Protect the Space Heritage in the Space Research Centre, Institute of the Polish Academy of Sciences (Marta E. Wachowicz, Marek Bury)....Pages 197-203