Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Entire DC Network
Structural Emergence And The Collaborative Behavior Of Autonomous Nano-Satellites, Daniel J. Petrovich
Structural Emergence And The Collaborative Behavior Of Autonomous Nano-Satellites, Daniel J. Petrovich
Theses and Dissertations
The collaborative behavior of nano-satellites in a zero-gravity environment is explored, and satellite characteristics are proposed that maximize constellation robustness and minimize manufacturing costs. Behavioral algorithms are proposed to facilitate both swarming and structural formation and are validated using the Structural Emergence Simulator (STEMS) Graphical User Interface (GUl). A payload of multiple satellites is placed in a zero-gravity environment and released to re-configure autonomously into a pre-designed structure. Data transmission between satellites is not permitted during the swarming phase of the structure formation mission. A binary behavior algorithm is invented that produces a direction and magnitude solution to the satellite …
Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus
Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus
Theses and Dissertations
Control concepts for satellite mounted manipulators (SMM) are examined. The primary focus is on base actuated concepts, which eliminate singularity problems associated with free floating SMMs. A new form of the equations of motion for an n-link SMM is developed using a quasi coordinate form of Lagrange's Equation. Alternative free floating SMM designs are presented which eliminate dynamic singularities, but still experience difficulties due to the unactuated base. A new generic SMM controller is developed as a framework for various control concepts with and without base actuation. Momentum constrained Jacobians are shown to produce better SMM tracking than fixed base …