Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 12 of 12 for “"Autonomous docking"”.
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A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules
Active docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of larger robotic systems. This feature enables reconfigurable modular robotic systems to bridge the gap between small agile …
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Development of a guidance, navigation and control architecture and validation process enabling autonomous docking to a tumbling satellite
The capability to routinely perform autonomous docking is a key enabling technology for future space exploration, as well as assembly and servicing missions for spacecraft and commercial satellites. Particularly, in more challenging situations where the target spacecraft or satellite is tumbling, …
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Trajectory design and vehicle guidance for a mid-air rendezvous between tow autonomous aircraft
… observation from a distance using a low cost autonomous system. After defining the concept for the two first years, the PCUAV team focused on a key enabler of the system, the autonomous docking of two aircraft in mid-air. This thesis presents the work done by the author regarding the …
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Deriving a Closed-Form Solution for Over-Actuated Surface Vessels with Actuator Constraints
… robust foundation for precision station keeping, autonomous docking, and fault-tolerant maneuvering of future over-actuated surface vessels operating under stringent actuator constraints.</p>
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Development of a verification and validation framework for autonomous soft-docking of spacecraft with uncertain dynamic properties
Although soft-docking in space has been demonstrated in the past, these missions have required detailed information about the target vehicle for success, and often relied on manual control during the final stages. Autonomous docking, however, shows the potential to greatly reduce operation costs …
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A Systems Approach to Low-Cost, Modular Autonomous Surface Vehicle and Autonomous Underwater Vehicle Integration
This thesis investigates the utility of docking low-cost Autonomous Underwater Vehicles (AUVs) with low-cost Autonomous Surface Vehicles (ASVs) through the application of the systems process. With the decreasing cost and increasing functionality of consumer electronics, systems integrating …
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Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle
Improving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the vehicles' maneuvering precision and battery life. These goals can be …
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Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle
mproving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the vehicles' maneuvering precision and battery life. These goals can be …
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Development of control and autonomy algorithms for docking to complex tumbling satellites
The capability of automated rendezvous and docking is a key enabling technology for many government and commercial space programs. Future space systems will employ a high level of autonomy to acquire, repair, refuel, and reconfigure satellites. Several programs have demonstrated a subset of the …
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Design and integration of a three degrees-of freedom robotic vehicle with control moment gyro for the Autonomous Multiagent Physically Interacting Spacecraft (AMPHIS) testbed
… Spacecraft Robotics Laboratory, to simulate autonomous guidance, navigation and control (GNC) for spacecraft proximity operations and assembly within the framework of the Autonomous Multi-Agent Physically Interacting Spacecraft project. The new spacecraft simulator includes several key …
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Polynomial motion planning in spacecraft attitude and docking to tumbling debris
… as well as translational motions in the frame of docking to a tumbling satellite for Active Debris Removal missions (in which the detumbling case is also studied). In the case of attitude slew manoeuvres, quaternions are shaped with polynomials and normalised.Issues such as numerical stability of …
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An autonomous self-reconfigurable modular robotic system with optimised docking connectors
… of a number of self-contained modules that can autonomously interconnect in different positions and orientations thereby varying the shape and size of the overall modular robot. This ground breaking capability is what in theory, makes self-reconfigurable modular robots more suitable for use in …