@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"
}