Design, Development, and Testing of Embedded Computing on AFIT's Control and Autonomy Space Proximity Robot (CASpR)

Abstract

This thesis reviews RPO algorithm testbeds and discusses the development of the Control and Autonomy Space proximity Robot (CASpR) kinematic testbed housed at the Air Force Institute of Technology (AFIT). CASpR operates on a rail system to propagate the trajectories of two satellites using the Hill-Clohessy-Wiltshire (HCW) Equations of Motion (EOMs). In this study, the implementation of a Jetson TX2i as an onboard flight computer is discussed and accomplished. Each hardware component used in the process of adding embedded computing as well as the software and paths of communication are all discussed in detail. Tests are conducted to assess the reliability of CASpR and the embedded computer.

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Document Details

Document Type
Technical Report
Publication Date
Dec 23, 2021
Accession Number
AD1166540

Entities

People

  • Collin Gwaltney

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Air Force
  • Artificial Satellites
  • Brushless Dc Motors
  • Computers
  • Control Systems
  • Equations
  • Equations Of Motion
  • Ground Based
  • Human Factors Engineering
  • Low Earth Orbits
  • Network Protocols
  • Relative Motion
  • Reliability
  • Simulators
  • Space Based
  • Spacecraft

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Exercise and Sports Science.
  • Parallel and Distributed Computing.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Orbital Debris
  • Space - Satellites
  • Space - Spacecraft Maneuvers