Module overview
This module will be first offered in the 2020/21 academic year.
Robotics plays an important part in the development and operation of autonomous aerospace vehicles. The robotic element may consist of a complete vehicle either in outer space or on a planetary surface (e.g. a Martian rover) or a specific component (e.g. the ISS robotic arm).
The module will examine design, construction and operation of such system. The students will gain an understanding of the challenges involved developing such a system, as well as operating at significant distances from the earth.
Aims and Objectives
Learning Outcomes
Knowledge and Understanding
Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:
- Current and future trend in design and application.
- The challenges of developing robotic system for use in LEO or in deep space.
- Dynamics during a mission including launch, cruise and reentry.
- Consider developed systems, and their operation requirements.
- System architecture of robotic systems.
Subject Specific Intellectual and Research Skills
Having successfully completed this module you will be able to:
- Development of robotic simulations, when operating under zero gravity.
Syllabus
Introduction
Rational: Why robotics - advantages and disadvantages of robotics compared to humans.
Exemplar missions: LEO, lunar and planetary.
Challenges
Space and Planetary Environment
Launch; Lower earth orbit, including debris issues; Interplanetary Space
Lunar environment; Rocky planets; Gas giants and their moons; Other bodies
- Free–flyer applications
Manipulation
Introduction to manipulator kinematics, including DH transformations.
Low level control, velocity control
Arm dynamics; Newton–Euler dynamics
Grippers and other end effectors (drills, surface samplers)
In-orbit operations
ISS robotic provision; Robonaut; microgravity operation
Robotic support for EVA
Space craft capture and disposal.
Mobility of planetary surfaces
Mobility issues
Wheeled locomotion, vehicle–ground interface; forces; control; forces; required torque and power; suspension.
Non–wheeled options:Walking machines; other possible options.
Possible applications for swarm robotics.
Actuators, sensors and power
Linear and rotary actuators.
Sensors – forces, vision; chemical etc.
Power generation and distribution: Batteries, solar cells, nuclear.
Control
HCI
Tele-operation; Latency; Virtual reality Trajectory planning
Autonomous task planning
Artificial Intelligence
Learning and Teaching
Teaching and learning methods
Lecture notes will be provided as will be specific academic papers that will form part of the directed reading. Use will be made of Matlab together with specific robotic toolboxes to simulate specific systems.
| Type | Hours |
|---|---|
| Wider reading or practice | 36 |
| Lecture | 36 |
| Preparation for scheduled sessions | 18 |
| Completion of assessment task | 104 |
| Follow-up work | 18 |
| Revision | 10 |
| Total study time | 222 |
Resources & Reading list
Journal Articles
Yoshida, Kazuya (2009). Achievements in space robotics. IEEE Robot. Automat. Mag., 16.4, pp. 20-28.
W.W. Mendell (2004). The roles of humans and robots in exploring the solar system. Acta Astronautica, 55(2).
da Fonseca, I. M. & Pontuschka, M. N. (2015). The State-of-the-art in Space Robotics. Journal of Physics: Conference Series, 641.
S. Ahsan Badruddin and S. M. Dildar Ali (2014). Recent Developments in the Optimization of Space Robotics for Perception in Planetary Exploration. Presented in the International Conference on Space.
Textbooks
Peter Corke. Robotics, Vision and Control Fundamental: Algorithms in MATLAB.
Assessment
Summative
This is how we’ll formally assess what you have learned in this module.
| Method | Percentage contribution |
|---|---|
| Final Assessment | 75% |
| Continuous Assessment | 25% |
Referral
This is how we’ll assess you if you don’t meet the criteria to pass this module.
| Method | Percentage contribution |
|---|---|
| Set Task | 100% |
Repeat
An internal repeat is where you take all of your modules again, including any you passed. An external repeat is where you only re-take the modules you failed.
| Method | Percentage contribution |
|---|---|
| Set Task | 100% |
Repeat Information
Repeat type: Internal & External