CRII: RI: Robotic cable-based de-tumbling of demised spacecraft
CRII:RI:报废航天器基于电缆的机器人防翻滚
基本信息
- 批准号:2105011
- 负责人:
- 金额:$ 17.5万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Standard Grant
- 财政年份:2021
- 资助国家:美国
- 起止时间:2021-09-01 至 2024-08-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
Technologies based on satellites are nowadays ubiquitous and essential to our everyday life. However, they are continuously threatened by the possibility of collisions between operational satellites and space debris, formed of all non-functional objects in orbit around the Earth. Robotic missions to dispose of large debris are currently being proposed to reduce the risk of such collisions. The objective of this research is to develop knowledge to put in practice autonomous cable-based de-tumbling of uncooperative space objects. Tether-net systems will be considered, which are thrown toward debris, entangle it or close around it, and provide a link to tug it to a disposal orbit. Focus of this research will be the modeling, analysis, and control of the chaser-net-target spacecraft system after capture, when the relative motion of the two satellites is particularly dangerous. Cable-based robots provide innovative solutions not only to applications such as debris capture and on-orbit servicing, but also asteroid deflection and drone interception. The advancements brought about by this research have the potential to positively impact national defense, increase the economic competitiveness of spacecraft solutions, and advance national prosperity. Activities to broaden participation in STEM will include research experiences for undergraduates, integration of research results in the curriculum, and outreach in underprivileged elementary schools.The objective of this research will be attained by (1) high-fidelity modeling and analysis of the interactions between the cable-based robot and the target, and (2) control of the cable-based robot. In one thrust of the proposed work, high fidelity models will be developed to represent the dynamics of the cable-based robot as well as frictional interactions with the target. Reduced order but dynamically equivalent models will be created to provide an efficient but accurate alternative. A methodology to estimate the inertial parameters of the unknown, uncooperative target will also be proposed. The other research component aims to leverage the limited control authority of the cable-based robot to synthesize reliable and robust control methods. Options related to the winching of the main tether as well as to the thrusters of the chaser will be considered. Feedback control will be employed to stabilize at the same time the relative translational and attitude dynamics of the chaser and the target spacecraft. The robustness of the control to uncertainties will also be verified. These contributions are expected to enable important technological advancements of autonomous cable-based systems for space applications, while advancing the knowledge of nonlinear systems dynamics, model-based estimation, and control of complex nonlinear systems with limited authority.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.
基于卫星的技术如今无处不在,对我们的日常生活至关重要。然而,它们不断受到运行中的卫星与空间碎片碰撞的可能性的威胁,空间碎片是由环绕地球轨道的所有无功能物体构成的。目前正在提议由机器人执行处理大型碎片的任务,以减少这类碰撞的风险。这项研究的目的是积累知识,以便对不合作的空间物体实施自主的基于电缆的防翻滚。将考虑使用绳网系统,这种系统被抛向碎片,将碎片缠绕或靠近碎片,并提供一个连接,将碎片拖到弃星轨道。本文的研究重点是在双星相对运动特别危险的情况下,对捕获后的追网目标航天器系统进行建模、分析和控制。基于电缆的机器人不仅为碎片捕获和在轨服务等应用提供了创新解决方案,而且还为小行星偏转和无人驾驶飞机拦截提供了创新解决方案。这项研究所带来的进步有可能对国防产生积极影响,提高航天器解决方案的经济竞争力,促进国家繁荣。为了扩大STEM的参与度,将开展面向本科生的研究体验、将研究成果融入课程、面向贫困小学的拓展等活动。本研究的目的是通过(1)对缆索机器人与目标物之间的相互作用进行高精度建模和分析,(2)实现缆索机器人的控制。在所提出的工作的一个推力,高保真度模型将被开发来表示电缆为基础的机器人的动力学以及与目标的摩擦相互作用。将创建降阶但动态等效的模型,以提供高效但准确的替代方案。还将提出一种估计未知非合作目标惯性参数的方法。另一个研究部分的目的是利用有限的控制权的电缆为基础的机器人合成可靠和鲁棒的控制方法。将考虑与主系缆的绞盘以及猎空艇的推进器有关的备选方案。将采用反馈控制来同时稳定追踪器和目标航天器的相对平移和姿态动力学。还将验证控制对不确定性的鲁棒性。这些贡献有望推动空间应用自主电缆系统的重要技术进步,同时推进非线性系统动力学知识、基于模型的估计和有限权限的复杂非线性系统控制。该奖项反映了NSF的法定使命,通过使用基金会的知识价值和更广泛的影响审查标准进行评估,被认为值得支持。
项目成果
期刊论文数量(2)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Estimation of uncooperative space debris inertial parameters after tether capture
- DOI:10.1016/j.actaastro.2022.07.041
- 发表时间:2022-08
- 期刊:
- 影响因子:3.5
- 作者:Derek Bourabah;Liam Field;E. M. Botta
- 通讯作者:Derek Bourabah;Liam Field;E. M. Botta
Inertia tensor estimation of tethered debris through tether tracking
- DOI:10.1016/j.actaastro.2023.08.021
- 发表时间:2023-08
- 期刊:
- 影响因子:3.5
- 作者:Derek Bourabah;Chris Gnam;E. M. Botta
- 通讯作者:Derek Bourabah;Chris Gnam;E. M. Botta
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
数据更新时间:{{ journalArticles.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ monograph.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ sciAawards.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ conferencePapers.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ patent.updateTime }}
Eleonora Botta其他文献
Eleonora Botta的其他文献
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
{{ truncateString('Eleonora Botta', 18)}}的其他基金
Collaborative Research: A holistic human-in-the-loop framework for optimizing a personalized prosthetic arm
协作研究:用于优化个性化假肢的整体人机交互框架
- 批准号:
2221979 - 财政年份:2022
- 资助金额:
$ 17.5万 - 项目类别:
Continuing Grant
Modeling, Design and Operation of Robotic Tether-Net Systems for Reliable Capture of Targets
用于可靠捕获目标的机器人系绳网系统的建模、设计和操作
- 批准号:
2128578 - 财政年份:2021
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant
相似国自然基金
醒脑静多靶点调控PI3K/Akt通路抑制CI/RI氧化应激—基于网络药理学及体内、外实验研究
- 批准号:2025JJ90117
- 批准年份:2025
- 资助金额:0.0 万元
- 项目类别:省市级项目
IgA-FcαRI介导的Syk/NLRP3/caspase-1通路在线状IgA大疱性皮病
中的机制研究
- 批准号:
- 批准年份:2024
- 资助金额:0.0 万元
- 项目类别:省市级项目
基于双修饰ANG-RNH1系统阻抑RI复合物生成机制建立口腔黏膜等效物血管化稳态
- 批准号:82401112
- 批准年份:2024
- 资助金额:30 万元
- 项目类别:青年科学基金项目
跨膜蛋白LRP5胞外域调控膜受体TβRI促钛表面BMSCs归巢、分化的研究
- 批准号:82301120
- 批准年份:2023
- 资助金额:30 万元
- 项目类别:青年科学基金项目
基于“免疫-神经”网络探讨眼针活化CI/RI大鼠MC靶向H3R调节“免疫监视”的抗炎机制
- 批准号:82374375
- 批准年份:2023
- 资助金额:51 万元
- 项目类别:面上项目
Dectin-2通过促进FcεRI聚集和肥大细胞活化加剧哮喘发作的机制研究
- 批准号:82300022
- 批准年份:2023
- 资助金额:30 万元
- 项目类别:青年科学基金项目
藏药甘肃蚤缀β-咔啉生物碱类TβRI抑制剂的发现及其抗肺纤维化作用机制研究
- 批准号:
- 批准年份:2022
- 资助金额:30 万元
- 项目类别:青年科学基金项目
nCs通过TβRI结合并磷酸化Axin促进颌骨成骨反应的作用及机制研究
- 批准号:2022J011347
- 批准年份:2022
- 资助金额:10.0 万元
- 项目类别:省市级项目
TβRI的UFM化修饰调控TGF-β信号通路和乳腺癌转移的作用及机制研究
- 批准号:
- 批准年份:2022
- 资助金额:30 万元
- 项目类别:青年科学基金项目
基于 FcεRI 信号通路介导的肥大细胞脱颗粒过程研究支气管哮喘的机制及中药干预
- 批准号:2022JJ70115
- 批准年份:2022
- 资助金额:0.0 万元
- 项目类别:省市级项目
相似海外基金
RI: Small: Robotic Path Planning to Reveal Wireless Rays - A New Foundation for the Optimization of Networked Robotic Operations
RI:小型:揭示无线射线的机器人路径规划 - 优化网络机器人操作的新基础
- 批准号:
2008449 - 财政年份:2020
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant
Mid-scale RI-2 Consortium: Biogeochemical-Argo: A global robotic network to observe changing ocean chemistry and biology
中型 RI-2 联盟:生物地球化学-Argo:观察不断变化的海洋化学和生物学的全球机器人网络
- 批准号:
1946578 - 财政年份:2020
- 资助金额:
$ 17.5万 - 项目类别:
Cooperative Agreement
RI: CAREER: Task-Oriented Model Identification for Robust Robotic Manipulation
RI:职业:鲁棒机器人操作的面向任务的模型识别
- 批准号:
1846043 - 财政年份:2019
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant
RI: Small: Collaborative Research: Vision-guided Control of Robust Perching: From Biological to Robotic Flyers
RI:小型:协作研究:视觉引导的稳健栖息控制:从生物到机器人传单
- 批准号:
1815476 - 财政年份:2018
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant
RI: Small: Collaborative Research: Vision-guided Control of Robust Perching: From Biological to Robotic Flyers
RI:小型:协作研究:视觉引导的稳健栖息控制:从生物到机器人传单
- 批准号:
1815519 - 财政年份:2018
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant
CRII: RI: Joint Models of Language and Context for Robotic Language Acquisition
CRII:RI:机器人语言习得的语言和语境联合模型
- 批准号:
1657469 - 财政年份:2017
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant
CRII: RI: Assignment, Routing, and Coordination of Diverse Robotic Sensors
CRII:RI:各种机器人传感器的分配、路由和协调
- 批准号:
1566247 - 财政年份:2016
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant
RI: Small: Dynamic Payload Transport and Manipulation by Teams of Cooperating Mobile Robotic-Cranes
RI:小型:协作移动机器人起重机团队的动态有效负载运输和操纵
- 批准号:
1710898 - 财政年份:2016
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant
RI: Small: Dynamic In-Hand Robotic Manipulation
RI:小型:动态手持机器人操作
- 批准号:
1527921 - 财政年份:2015
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant
RI: Medium: Robotic Assistance with Dressing using Simulation-Based Optimization
RI:中:使用基于模拟的优化进行穿衣机器人辅助
- 批准号:
1514258 - 财政年份:2015
- 资助金额:
$ 17.5万 - 项目类别:
Standard Grant