Development and control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

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dc.contributor.advisorSpencer, Michael G.
dc.contributor.authorPorter, Robert D.
dc.contributor.departmentAeronautics and Astronautics
dc.contributor.secondreaderAgrawal, Brij N.
dc.dateDecember 2002
dc.date.accessioned2012-03-14T17:42:27Z
dc.date.available2012-03-14T17:42:27Z
dc.date.issued2002-09
dc.description.abstractThe objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS). The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control. The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment. It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control. A "star sensor" CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle. The on-board computer system leverages PXI technology and a single source, simplifying systems integration. The vehicle is powered by two lead-acid batteries for completely autonomous operation. A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.serviceLieutenant Commander, United States Navyen_US
dc.description.urihttp://archive.org/details/developmentndcon109454614
dc.format.extentxiv, 85 p. : ill. (some col.)en_US
dc.identifier.urihttps://hdl.handle.net/10945/4614
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.subject.authorRobotic armsen_US
dc.subject.authorRoboticsen_US
dc.subject.authorLabVIEWen_US
dc.subject.authorAutonomous dockingen_US
dc.subject.authorSatellite servicingen_US
dc.subject.authorMotion controlen_US
dc.subject.lcshSpace vehiclesen_US
dc.subject.lcshSpace roboticsen_US
dc.subject.lcshArtificial satellitesen_US
dc.subject.lcshAttitude control systemsen_US
dc.titleDevelopment and control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)en_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineAstronautical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameM.S. in Astronautical Engineeringen_US
etd.verifiednoen_US
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