NDLI: Virtual testbeds for on-orbit servicing design and implementation of space robotics applications

Content Provider	IEEE Xplore Digital Library
Author	Priggemeyer, M. Kaigom, E.G. Robmann, J.
Copyright Year	2015
Description	Author affiliation: Inst. for Man-Machine Interaction, RWTH Aachen Univ., Aachen, Germany (Priggemeyer, M.; Kaigom, E.G.; Robmann, J.)
Abstract	The robotic servicing of satellites on-orbit will play an important role in extending their lifespan and mitigating space debris expansion. However, most maneuvers related to these goals present a set of unique challenges which are hard to assess in reality. On the other hand, a reliable prediction of the feasibility of servicing maneuvers is increasingly required. This paper presents a simulation-driven framework in which satellites approaching for servicing purposes is first decomposed in heterogeneous system components fulfilling specific mission critical objectives. These include vision-based tracking and estimation of the state of target satellites as well as robotic motion planning and control to reach a desired point on the satellite. A subsequent integration of these components allows to systematically capture key processes behind satellites approaching on-orbit in a holistic fashion. The high modularization and systematical interplays between the constituting system components enable a flexible and gradual enhancement of simulation fidelity. The significance of simulation results has been evaluated with respect to real setups. These results substantiate the effectiveness of the approach to facilitate complex and hazardous space activities while cutting down costs.
Starting Page	124
Ending Page	129
File Size	3725926
Page Count	6
File Format	PDF
e-ISBN	9781479919208
DOI	10.1109/SysEng.2015.7302744
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Solid modeling Satellites Tracking Computational modeling Trajectory Joints Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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