AER 0506H Spacecraft Dynamics And Control I
C. J. Damaren Lecture Course
Rigid body kinematics and dynamics. Orbital dynamics and control: the two-body problem, orbital perturbations, orbital maneuvers, interplanetary trajectories, the restricted three-body problem. Attitude dynamics and control: torque-free motion, spin stabilization, dual-spin stabilization, disturbance torques, gravity-gradient stabilization, active spacecraft attitude control, bias-momentum stabilization.
AER 0525H Robotics
M. R. Emami Lecture Course
This course extends the fundamentals of analytical robotics to design and control of industrial and aerospace robots and their instrumentation. Topics include forward, inverse, and differential kinematics, screw representation, statics, inverse and forward dynamics, motion and force control of robot manipulators, actuation schemes, task-based and workspace design, position and force sensors, tactile sensing, and vision and image processing in robotic systems. Course instruction benefits from the courseware technology that involves a Java-based on-line simulation and other multimedia means for presenting realistic demonstrations and case studies in the context of teaching advanced notions. A series of experiments in the Robotics Laboratory will also enhance the practical notions of the course content.
C. J. Damaren Lecture Course
Advanced topics in spacecraft dynamics and control. Course includes a project. Topics include input-output stability analysis and Lyapunov stability analysis with applications to spacecraft attitude control; feedforward, feedback, and adaptive controller design. Quaternion feedback. Linear state-space analysis and observer-based compensator design. Flexible spacecraft dynamics: equations of motion, spatial discretization, modal equations, constrained and unconstrained modes. Flexible spacecraft control: spillover, controller discretization, LQG, H-infinity, and positive real design.
Prerequisite:
AER 0506H , "Spacecraft Dynamics and Control I"
AER 1512H Multibody Dynamics
G.M.T. D'Eleuterio Lecture Course
This is a seminar course designed to introduce students to the fundamentals of multibody dynamics with particular emphasis on the dynamics of robotic systems. Each student, in consultation with the course coordinator, will be required to select two topics in the area, investigate them thoroughly and present a seminar on each to the other members of the class. Students may choose topics well-treated in the mechanical literature or ones which are more research-oriented, perhaps requiring some original input on the part of the student.
AER 1513H State Estimation for Aerospace Vehicles
T.D. Barfoot
Lecture Course
This course introduces the fundamentals of state estimation for aerospace vehicles. Knowing the state (e.g., position, orientation, velocity) of a vehicle is a basic problem faced by both manned and autonomous systems. State estimation is relevant to aircraft, satellites, rockets, landers, and rovers. This course teaches some of the classic techniques used in estimation including least squares and Kalman filtering. It also examines some cutting edge techniques for nonlinear systems including unscented Kalman filtering and particle filtering. Emphasis is placed on the ability to carry out state estimation for vehicles in three- dimensional space, which is complicated by vehicle attitude and often handled incorrectly. Students will have a chance to work with datasets from real sensors in assignments and will apply the principles of the course to a project of their choosing.
M. R. Emami Lecture Course
The course addresses theoretical and practical notions of “Intelligent Robotics.” Topics include cognitive models and learning schemes for robotic systems, design issues for biologically-inspired robots, fuzzy-logic and neural-network control of intelligent robots at both planning and execution levels, instrumentation of intelligent robots and sensor fusion, multi-agent robotic systems, and human-robot interaction. The theme of the applications discussed in the course is service and aerospace robotics.
Prerequisite:
AER 0525H , "Robotics"
AER 1520H Microsatellite Design I
R. E. Zee Design Course
This is the first of a series of two courses, which are intended to provide graduate students with practical space systems engineering experience. Through two consecutive courses, students can participate in a real Canadian Space Agency 'MicroSat' mission, gaining a year's worth of training under some of the leading spacecraft designers in North America. This two-term apprenticeship allows students to learn and play an active role in spacecraft design, prototyping, assembly, integration, and test. Depending on the stage of the project when students join, they will be exposed to anything from preliminary subsystem design to actual on-orbit operations of a real satellite. Depending on when the student takes the course, he or she will join a coordinated team involved in spacecraft design, prototyping, assembly, integration or test. Students will be exposed to one or more of the following areas: Systems Engineering; Mission Analysis; Power; Communications; Telemetry/Telecommand; Thermal Control; Structure; Attitude Control; On-Board Computers.
Prerequisite:
AER 407 [undergraduate course on 'Space Systems Design'] or some suitable equivalent
Students will be admitted if they can demonstrate sufficient background in one of the relevant subsystem areas.
For assessment of prerequisite courses, students should contact the course instructor.
R. E. Zee Design Course
The second course permits the student to obtain new and in-depth experience in a particular spacecraft area. In addition, the student is exposed to more elements of the project, considerably increasing the value of the student's training with time. This course builds on experience gained in AER 1520, and broadens the student's understanding of practical spacecraft development. Depending on what the student contributed in AER 1520, the student will take his or her work to the next level of maturity.
Course assignments may include the following tasks: Building of Prototypes; Prototype Testing and/or Test Planning; Detailed Design; Assembly, Integration and Test; Launch preparations; On-orbit commissioning of satellites; Satellite operations.
Prerequisite:
AER 1520H , "Microsatellite Design I"