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Dulles Town Center, VA, United States

Glenn Creamer N.,U.S. Navy | Hartley R.L.,U.S. Navy | Hartley R.L.,Naval Center for Applied Research in Artificial Intelligence | Glen Henshaw C.,U.S. Navy | And 3 more authors.
AIAA Guidance, Navigation, and Control Conference 2012 | Year: 2012

This paper describes a novel concept of operations, payload hardware, terminal navigation strategy, and localized vision scheme for autonomous release of a snagged solar array using a robotic servicing spacecraft. The hardware suite on the servicer consists of two robot arms, end effector cameras, a scanning laser sensor, two local fixed lasers, an end effector fiducial tool, and various active light sources for long-range and localized target illumination. The concept of operations consists of a terminal approach phase, a servicer preparation phase, and an array release phase. The scanning laser sensor is utilized throughout all phases to determine target pose, while the end effector cameras are utilized during the approach phase for variable baseline stereo ranging and during the release phase for localized scene imaging and arm guidance. Realistic full-scale laboratory tests in a six degree-of-freedom relative navigation and control testbed demonstrate the complex integration and interaction of close-range autonomous relative navigation, cooperative dual-arm robotics, and localized machine vision necessary to perform such a task. Source


Creamer N.G.,U.S. Navy | Hartley R.L.,U.S. Navy | Hartley R.L.,Naval Center for Applied Research in Artificial Intelligence | Obermark J.L.,U.S. Navy | And 3 more authors.
Journal of Spacecraft and Rockets | Year: 2014

This paper describes a novel concept of operations, payload hardware, terminal navigation strategy, and localized vision scheme for autonomous release of a snagged solar array using a robotic servicing spacecraft. The hardware suite on the servicer consists of two robot arms, end effector cameras, a scanning laser sensor, two local fixed lasers, an end effector fiducial tool, and various active light sources for long-range and localized target illumination. The concept of operations consists of a terminal approach phase, a servicer preparation phase, and an array release phase. The scanning laser sensor is used throughout all phases to determine target pose, whereas the end effector cameras are used during the approach phase for variable baseline stereo ranging and during the release phase for localized scene imaging and arm guidance. Realistic full-scale laboratory tests in a six-degree-offreedom relative navigation and control testbed demonstrate the complex integration and interaction of close-range autonomous relative navigation, cooperative dual-arm robotics, and localized machine vision necessary to perform such a task. Source

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