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SSSL/CAVE Undergraduate Research 5/7/03

SSSL/CAVE Undergraduate Research 5/7/03. AOE 4994 Alternative Methods of Spacecraft Control Using Space Systems Simulation Lab and VT-CAVE Final Presentation by Michael Shoemaker. SSSL/CAVE Undergraduate Research 5/7/03. Organization of presentation. - Introduction

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SSSL/CAVE Undergraduate Research 5/7/03

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  1. SSSL/CAVE Undergraduate Research 5/7/03 AOE 4994 Alternative Methods of Spacecraft Control Using Space Systems Simulation Lab and VT-CAVE Final Presentation by Michael Shoemaker

  2. SSSL/CAVE Undergraduate Research 5/7/03 Organization of presentation - Introduction - Literature review results - CAVE simulation 1: orbit - CAVE simulation 2: fake Whorl1 - CAVE simulation 3: real Whorl1 - Looking ahead - Conclusions

  3. SSSL/CAVE Undergraduate Research 5/7/03 Introduction Overall Goal: - to control the spacecraft simulator(s) from within a Virtual Environment (VE), such as the CAVE. Why? - take advantage of both systems - achieve new results

  4. SSSL/CAVE Undergraduate Research Literature review results Original topics - manual satellite control - CG displays used to control spacecraft - other non-conventional display methods Expanded to include - more than just manual control - other fields besides spacecraft

  5. SSSL/CAVE Undergraduate Research Literature review results

  6. SSSL/CAVE Undergraduate Research Literature review results • Classifications for VEs • - Direct Control:human directly in the loop • - Supervisory Control:human assigns automatic tasks • - Planning:no hardware to control, more like design • - Observation:non-controlling humans get to watch • Lessons learned: • - VEs can use human senses to fill gaps in the system • space systems should be “field” tested as much as possible • VEs not just helpful to users but also to 3rd parties • control system should take advantage of human perception

  7. SSSL/CAVE Undergraduate Research DIVERSE “Rosetta Stone” DIVERSE – long acronym - allows easy development of VE’s for many different display types. - allows neat stuff to be done with I/O devices. DPF – DIVERSE graphics interface to Performer - the graphics part - allows a Performer scene to be displayed as a VE on many different displays types DTK – DIVERSE Tool Kit - the I/O part - makes programming easy for novices like me

  8. SSSL/CAVE Undergraduate Research CAVE simulation 1: orbit Goals: - test Performer capabilities - practice loading files into CAVE - early evaluation of astrodynamics expressed in 3D environment

  9. SSSL/CAVE Undergraduate Research CAVE simulation 2: fake Whorl1 • Goals: • simple Performer model • animate using pre-generated Euler angles • early evaluation of attitude dynamics expressed in 3D environment

  10. MATLAB “W1Driver.m” “RHS.m” SSSL/CAVE Undergraduate Research CAVE simulation 2: fake Whorl1 Whorl1 attitude dynamics

  11. MATLAB “W1Driver.m” DTK “writeEuler.C” “RHS.m” DPF dtkSharedMem “attitude” VT-CAVE or desktopCaveSim “dynCaveSim.C” “attitudeDTKtoDPF.C” dtk-floatSliders “attitude” Performer “refFrame.pfb” “whorl1.pfb” SSSL/CAVE Undergraduate Research MS Windows Local CAVE SGI system “Euler312.txt”

  12. SSSL/CAVE Undergraduate Research CAVE simulation 3: real Whorl1 • Goals: • same Performer model • animate using data from rate gyros • show actual motion of simulator

  13. SSSL/CAVE Undergraduate Research CAVE simulation 3: real Whorl1 • System description: • Whorl1 • Typhon • CAVE • why so much?

  14. SSSL/CAVE Undergraduate Research CAVE simulation 3: real Whorl1

  15. SSSL/CAVE Undergraduate Research CAVE simulation 3: real Whorl1

  16. SSSL/CAVE Undergraduate Research CAVE simulation 3: real Whorl1

  17. SSSL/CAVE Undergraduate Research CAVE simulation 3: real Whorl1

  18. SSSL/CAVE Undergraduate Research CAVE simulation 3: real Whorl1

  19. SSSL/CAVE Undergraduate Research Looking ahead Modify code: - better byte-order fix - fewer programs/shared memory Manipulate Whorl1: - control with thrusters from CAVE - what about constraints?

  20. SSSL/CAVE Undergraduate Research Conclusion Topics covered: - Motivations - Literature Review - Various CAVE simulations, with experiments - Future Ideas

  21. SSSL/CAVE Undergraduate Research References Grunwald, AJ., and Ellis, SR. “Visual Display Aid for Orbital Maneuvering: Design Considerations.” Journal of Guidance, Control, and Dynamics, Vol. 16, No. 1, Jan-Feb 1993. Grunwald, AJ., and Ellis, SR. “Visual Display Aid for Orbital Maneuvering: Experimental Evaluation.” Journal of Guidance, Control, and Dynamics, Vol. 16, No. 1, Jan-Feb 1993. Museth, K., et al. “Semi-Immersive Space Mission Design and Visualization: Case Study of the ‘Terrestrial Planet Finder’ Mission.” Proceedings Visualization 2001, IEEE SIGGRPAH, 21-26 Oct, 2001 pp. 501-509. Nguyen, LA., et al. “Virtual Reality Interfaces for Visualization and Control of Remote Vehicles.” Autonomous Robots 11, Kluwer Academic Publishers, pp 56-68, 2001. Stoker, Carol. “From Antarctica to Space: Use of Telepresence and Virtual Reality in Control of a Remote Underwater Vehicle.” SPIE, Vol. 2352, Mobile Robots IX, pp. 288-299, 1994. Plus many more….

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