Module Code: EEEM029 
Module Title: SPACE ROBOTICS 

Module Provider: Electronic Engineering

Short Name: EEM.ROB

Level: M

Module Coordinator: SAAJ CM Dr (Elec Eng)

Number of credits: 15

Number of ECTS credits: 7.5




Module Availability 
Autumn Semester 


Assessment Pattern 
Unit(s) of Assessment

Weighting Towards Module Mark( %)

Written examination (2hour unseen paper)

70%

Course work (Matlab/C coding assignment and 20003000 word technical report)

30%

Qualifying Condition(s)
A weighted aggregate mark of 50% is required to pass the module (same for parttime students).




Module Overview 
This module covers the techniques and challenges involved in space robotic missions for onorbit servicing and planetary exploration. A detailed mathematical analysis of the robotic arms will be provided. Control of robotic arm and traction control of planetary rovers will be taught. Various aspects and techniques of improving autonomy of space robotic systems will be introduced, including sensing, perception, localization, mapping, autonomous planning and navigation. 


Prerequisites/Corequisites 
Completion of the progress requirements of Level HE3. To study this subject successfully requires an interest in mechatronics and robotic space exploration. A good mathematical background and an adequate grasp of control engineering would be very helpful. Programming skill in either Matlab or C language is required to successfully complete the coding assignment. 


Module Aims 
To introduce the student to the key principles and techniques of spacecraft robotics. 


Learning Outcomes 
Upon sucessful completion of the module students should be able to:
 Describe the principles and techniques involved in the mechanical and electrical design of space robotic systems.
 analyse the kinematics and dynamics of robot manipulators and design control systems for manipulators.
 describe the key aspects and techniques involved in autonomy of space robots.
 demonstrate the implementation of traction control systems for planetary rovers.
 discuss various space robotic missions and describe the inevitable role played by robots for space exploration.



Module Content 
INTRODUCTION (DR. C. SAAJ)
Robotic Missions (3 hrs): Introduction to robotics, Space robotic vs terrestrial robotics, Robotic applications for Onorbit servicing and international space station, Robotic planetary exploration missions, Future robotic missions to Mars & Moon.
ROBOTIC KINEMATICS (DR. C. SAAJ)
Robotic Manipulator Kinematics (3 hrs): Fundamentals of robot manipulator, Introduction to Space Freeflyer, Homogeneous transformation, DenavitHartenburg (DH) transformation, Lab demonstration of robot arm.
Manipulator Inverse Kinematics (3 hrs): PUMA 560 configurations, DH matrix for PUMA, Analytic solution to inverse kinematics, Introduction to programming in Matlab.
AUTONOMY IN SPACE ROBOTICS (DR. Y. GAO)
AI Control Architectures (3 hrs): introduction to autonomous robotics, major control architectures (hieratical, reactive and hybrid).
Sensing & Perception: Classification of sensors (e.g. proprioceptive vs. exteroceptive; and passive vs. active), sensor properties, motor sensors, heading sensors, ranging sensors, vision sensors, stereovision, vision processing techniques.
Autonomous Navigation (3 hrs): major functions, localization challenges & strategies, map making and representation, metric path planning, topological path planning, planning algorithms such as A*/D*.
PLANETARY ROVERS, CONTROL & DYNAMICS OF ROBOT ARMS (DR. C. SAAJ)
Manipulator Differential Kinematics and Space Freeflyer Kinematics (3 hours): Manipulator redundancy, Singularity avoidance, Forward & inverse differential kinematics, Introduction to Space Freeflyer Kinematics.
Manipulator Dynamics (3 hrs): Mass distribution, Inertia tensor, Parallel axis theorem, Holonomic & nonholonomic systems, Introduction to LagrangeEuler method and NewtonEuler method.
Manipulator Motion Control (3 hrs): Robot control system, DC motor control of single joint, ProportionalDerivative control, Computed torque control.
Traction Control of Planetary Rovers (3 hrs): Planetary rover systems, Introduction to rover chassis, Ackermann steering, Bekker theory, Lab demonstration of mobile robot.



Methods of Teaching/Learning 
Lectures will be followed by problem solving sessions (30 hours: 3 hours lecture/tutorial per week for 10 weeks). Lecture notes will be provided and students are expected to do independent learning in addition to attending lectures and tutorials.
Course work: Brief technical report writing (20003000 words) and software coding – set after Week 3 and due in Week 10.
Labs: No labs



Selected Texts/Journals 
1. C. Saaj, Lecture Notes (A) 2. Y. Gao, Lecture Notes (A) 3. A. Ellery, An Introduction to Space Robotics, SpringerVerlag, 2000, ISBN 185233164X (B) 4. K.S. Fu, R.C. Gonzalez and C.S. Lee, Robotics, Control, Sensing, Vision and Intelligence, 1987, McGrawHill, ISBN 0071004211 (B) 5. R. Siegwart and I. R. Nourbakhsh, Introduction to Autonomous Mobile Robots, 2004, ISBN10:026219502X (B) 6. R. R. Murphy, Introduction to AI Robotics, MIT, 2000, ISBN 0262133830 (B) 7. J. J. Craig, Introduction to Robotics Mechanics and Control, 1986 (C)



Last Updated 
22nd September 2009 


