Developmental Research on Autonomous Space Docking System Using Intelligent Adaptive Structures

智能自适应结构自主空间对接系统的发展研究

• 批准号: 05555262
• 负责人: MUROTSU Yoshisada
• 金额: $ 11.58万
• 依托单位: Osaka Prefecture University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research (B)
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 1995
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-05555262/
• 关键词: Intelligent Adaptive Structures; VGT (Variable Geometry Truss); Docking; Autonomy; Micro-gravity; Redundant system; Dynamics; Hardware Experiment

Concerning the autonomous docking system using the intelligent adaptive structures, the following results have been obtained.1. Formulation of a planar docking system model and development of a numerical simulation program (1) Numerical simulation program formulated by Kane' s method (2) Efficient formulation of inverse dynamics by Lagrangian method2. Position measurement and recognition of a target satellite using visual information : (1) Development of a real time position measurement system using a stereo vision (2) Corresponding method for stereo vision and studies of object recognition3. Control of docking (1) Optimal posture of docking system based on virtual mass criteria (2) PD-impedance control (3) Impedance control for redundant systems4. Hardware experiment (1) Construction of hardware model of target satellite and docking system -Planar VGT with six variable length members and end effector -Stereo vision system using visual processing system (2)Verification of hardware model

针对采用智能自适应结构的自主对接系统，得到了如下结果.平面对接系统模型的建立和数值模拟程序的开发（1）Kane方法数值模拟程序的建立（2）Lagrangian方法逆动力学的有效建立2.利用视觉信息对目标卫星进行位置测量和识别：（1）立体视觉真实的时间位置测量系统的研制;（2）立体视觉的相应方法和目标识别的研究;对接控制（1）基于虚拟质量准则的对接系统最优姿态（2）PD-阻抗控制（3）冗余系统阻抗控制4.硬件实验（1）目标卫星和对接系统的硬件模型的构建-具有六个可变长度构件和末端执行器的平面VGT-使用视觉处理系统的立体视觉系统（2）硬件模型的验证

项目成果

Wada, K., Izumi, M., and Fukunaga, K: "A method of 3-D Object Recognition and Pose Estimation (in Japanese)" Trans.IEE Japan. Vol.115-C,No.11. 1325-1331 (1995)

Wada, K.、Izumi, M. 和 Fukunaga, K：“3-D 对象识别和姿势估计的方法（日语）” Trans.IEE Japan。

Senda,K.: "Impedance Control of a Redundant VGT Using an Efficient Formulation of Inverse Dynamics" Proceedings of Fifth International Conference on Adaptive Structures. (1995)

Senda,K.：“使用逆动力学的有效公式对冗余 VGT 进行阻抗控制”第五届国际自适应结构会议论文集。

Matsumoto,T.,Izumi,M.,and Fukunaga,K.: "Object Recognition Based on an Active Vision" Proc.of ACCV'95 Second Asian Conf.on Computer Vision. I. 141-145 (1995)

Matsumoto,T.、Izumi,M. 和 Fukunaga,K.：“基于主动视觉的对象识别”ACCV95 第二届亚洲计算机视觉会议论文集。

Senda,K.,Murotsu,Y.,Kawano,H.,and Sakaguchi,S.: "Impedance Control of a Redundant VGT Using an Efficient Formulation of inverse Dynamics" Fifnh International Conference on Adaptive Structures (Tani,J. et al.(eds.),Technomic Publishing). 120-129 (1995)

Senda,K.、Murotsu,Y.、Kawano,H. 和 Sakaguchi,S.：“使用逆动力学的有效公式对冗余 VGT 进行阻抗控制”Fifnh 国际自适应结构会议（Tani,J. 等，2017）

Nishimura, K., Izumi, M., and Fukunaga, K: "Object Recognition in Image Sequences with Hopfield Neural Network" IEICE Transactions on Information and Systems. Vol.E78-D,No.8. 1058-1064 (1995)

Nishimura, K.、Izumi, M. 和 Fukunaga, K：“使用 Hopfield 神经网络进行图像序列中的对象识别”IEICE Transactions on Information and Systems。