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@PhDThesis{Nardin:2021:OpBeMa,
               author = "Nardin, Anderson Brazil",
                title = "Optimization in berthing maneuvers of satellites endowed with 
                         robotic manipulators",
               school = "Instituto Nacional de Pesquisas Espaciais (INPE)",
                 year = "2021",
              address = "S{\~a}o Jos{\'e} dos Campos",
                month = "2020-08-07",
             keywords = "manobras de espa{\c{c}}onaves, simula{\c{c}}{\~a}o com hardware 
                         na malha, rob{\'o}tica, servi{\c{c}}os em {\'o}rbita, 
                         otimiza{\c{c}}{\~a}o, spacecraft maneuvers, hardware-in-the-loop 
                         simulation, robotics, orbital servicing, optimization.",
             abstract = "The study of On-Orbit Servicing (OOS) missions has shown the 
                         necessity for developing a methodology able to provide solutions 
                         for berthing maneuvers of artificial satellites, being the chaser 
                         endowed with a robotic manipulator, applying the multi-objective 
                         optimization of conflicting objectives. This work aspires to 
                         develop a multi-objective optimization approach that aims to find 
                         a balanced solution among conflicting objectives. Movement 
                         accuracy, attitude maintenance, maneuver time, and energy 
                         consumption from different sources are going to be the selected 
                         criteria for optimization due to their great importance, despite 
                         the inherent difficulty for simultaneous optimization that they 
                         impose on berthing maneuvers of artificial satellites. The 
                         approach of this work focuses on the disturbances the robotic arm 
                         and base satellite cause to each other. Such disturbances are 
                         considered torques generated by the coupling between the robotic 
                         manipulator and its base satellite through their distinct control 
                         systems. The robotic arm configuration allows diverse applications 
                         and notable usefulness in the accomplishment of OOS. The results 
                         showed that it was possible to test and validate the developed 
                         simulation environment for berthing maneuvers through real-time 
                         and hardware-in-the-loop (HIL) simulations using the European 
                         Proximity Operations Simulator (EPOS) at German Aerospace Center 
                         (DLR). In this scenario, two physical robots play the role of 
                         chaser and target satellites involved in the maneuver, while a 
                         virtual robotic manipulator coupled to the chaser satellite is 
                         simulated by software. This work was successful in creating 
                         reliable software for tests of berthing maneuvers since the 
                         developed algorithms found balanced solutions among conflicting 
                         objectives. RESUMO: O estudo de miss{\~o}es de On-Orbit Servicing 
                         (OOS) tem mostrado a necessidade de desenvolver uma metodologia 
                         capaz de fornecer solu{\c{c}}{\~o}es para manobras de 
                         atraca{\c{c}}{\~a}o de sat{\'e}lites artificiais, sendo o 
                         perseguidor dotado de um manipulador rob{\'o}tico, aplicando a 
                         otimiza{\c{c}}{\~a}o multiobjetivo de objetivos conflitantes. 
                         Este trabalho aspira a desenvolver uma abordagem de 
                         otimiza{\c{c}}{\~a}o multiobjetivo que visa encontrar uma 
                         solu{\c{c}}{\~a}o equilibrada entre objetivos conflitantes. A 
                         precis{\~a}o do movimento, a manuten{\c{c}}{\~a}o da atitude, o 
                         tempo de manobra e o consumo de energia de diferentes fontes 
                         ser{\~a}o os crit{\'e}rios selecionados para 
                         otimiza{\c{c}}{\~a}o devido {\`a} sua grande import{\^a}ncia, 
                         apesar da dificuldade inerente {\`a} otimiza{\c{c}}{\~a}o 
                         simult{\^a}nea que eles imp{\~o}em {\`a}s manobras de 
                         atraca{\c{c}}{\~a}o de sat{\'e}lites artificiais. A abordagem 
                         deste trabalho enfoca os dist{\'u}rbios que o bra{\c{c}}o 
                         rob{\'o}tico e o sat{\'e}lite base causam um ao outro. Tais 
                         dist{\'u}rbios s{\~a}o considerados torques gerados pelo 
                         acoplamento entre o manipulador rob{\'o}tico e seu sat{\'e}lite 
                         base por meio de seus distintos sistemas de controle. A 
                         configura{\c{c}}{\~a}o do bra{\c{c}}o rob{\'o}tico permite 
                         diversas aplica{\c{c}}{\~o}es e not{\'a}vel utilidade na 
                         realiza{\c{c}}{\~a}o de OOS. Os resultados mostraram que foi 
                         poss{\'{\i}}vel testar e validar o ambiente de 
                         simula{\c{c}}{\~a}o desenvolvido para manobras de 
                         atraca{\c{c}}{\~a}o por meio de simula{\c{c}}{\~o}es real-time 
                         e com hardware-in-the-loop (HIL) usando o European Proximity 
                         Operations Simulator (EPOS) no Centro Aeroespacial Alem{\~a}o 
                         (DLR). Nesse cen{\'a}rio, dois rob{\^o}s f{\'{\i}}sicos 
                         desempenham o papel de sat{\'e}lites ca{\c{c}}ador e alvo 
                         envolvidos na manobra, enquanto um manipulador rob{\'o}tico 
                         virtual acoplado ao sat{\'e}lite ca{\c{c}}ador {\'e} simulado 
                         por software. Este trabalho foi bem-sucedido na 
                         cria{\c{c}}{\~a}o de software confi{\'a}vel para testes de 
                         manobras de atraca{\c{c}}{\~a}o, uma vez que os algoritmos 
                         desenvolvidos encontraram solu{\c{c}}{\~o}es equilibradas entre 
                         objetivos conflitantes.",
            committee = "Ricci, Mario Cesar (presidente) and Rocco, Evandro Marconi 
                         (orientador) and Benninghoff, Heike (orientador) and Fonseca, Ijar 
                         Milagre da and Costa Filho, Aguinaldo Cardozo da and Leite, 
                         Alexandre Carvalho",
         englishtitle = "Otimiza{\c{c}}{\~a}o em manobras de atraca{\c{c}}{\~a}o de 
                         sat{\'e}lites dotados de manipuladores rob{\'o}ticos",
             language = "en",
                pages = "129",
                  ibi = "8JMKD3MGP3W34R/432UMHP",
                  url = "http://urlib.net/ibi/8JMKD3MGP3W34R/432UMHP",
           targetfile = "publicacao.pdf",
        urlaccessdate = "28 mar. 2024"
}


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