Abstract
CubeSats have become versatile platforms for various space missions (e.g., on-orbit servicing and debris removal) owing to their low cost and flexibility. Many space tasks involve proximity operations that require precise guidance, navigation, and control (GNC) algorithms. Vision-based navigation is attracting interest for such operations. However, extreme lighting conditions in space challenge optical techniques. The on-ground validation of such navigation systems for orbital GNC becomes crucial to ensure their reliability during space operations. These systems undergo rigorous testing within their anticipated operational parameters, including the exploration of potential edge cases. The ability of GNC algorithms to function effectively under extreme space conditions that exceed anticipated scenarios is crucial, particularly in space missions where the scope of errors is negligible. This paper presents the ground validation of a GNC algorithm designed for autonomous satellite rendezvous by leveraging hardware-in-the-loop experiments. This study focuses on two key areas. First, the rationale underlying the augmentation of the robot workspace (six-degree-of-freedom UR10e robot + linear rail) is investigated to emulate relatively longer trajectories with complete position and orientation states. Second, the control algorithm is assessed in response to uncertain pose observations from a vision-based navigation system. The results indicate increased control costs with uncertain navigation and exemplify the importance of on-ground testing for system validation before launch, particularly in extreme cases that are typically difficult to assess using software-based testing.
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Acknowledgements
This work is supported by the Luxembourg National Research Fund: INTER20/EUROSTARS/15254521/VBN/Olivares Mendez. The project, E115088 - VBN, has received funding from the Eurostars-2 Joint Programme with cofunding from the European Union’s Horizon 2020 Research and Innovation Programme.
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Vivek Muralidharan, now serving as a flight dynamics engineer at ICEYE in Finland, previously held the position of a research associate at the Interdisciplinary Centre for Security, Reliability & Trust (SnT), University of Luxembourg from 2021 to 2023. He graduated with a bachelor degree in mechanical engineering from the National Institute of Technology Karnataka (NITK), India in 2015. He then received his M.S. and Ph.D. degrees in aeronautics and astronautics from Purdue University, USA, in 2017 and 2021, respectively. While at Purdue University, Dr. Muralidharan worked at the Multi-Body Dynamics Research Group investigating stationkeeping strategies and transfer trajectory design within the framework of cislunar orbits. His research focus includes orbital dynamics, the circular-restricted three-body problem, stationkeeping strategies, orbit determination, as well as guidance, navigation, and control. He has previously worked at the Indian Institute of Space Science and Technology in Thiruvananthapuram, India, and Mitsubishi Electric Research Laboratories (MERL) in Massachusetts, USA. Dr. Muralidharan featured in the 2022 list of “20 under 35” published by Space and Satellite Professionals International (SSPI) and was a finalist for the Luigi G. Napolitano Award at the 73rd International Astronautical Congress (IAC) 2022.
Mohatashem Reyaz Makhdoomi is a doctoral researcher at the University of Luxembourg, affiliated with the Space Robotics Research Group. Coming from a background as a robotics engineer, he actively contributes to ongoing research at the ZeroG Lab, particularly focusing on on-orbit emulation using robotic manipulators. Holding a master degree in biomedical engineering and a bachelor degree in mechatronics, he brings a diverse skill set to the field, emphasizing practical applications in robotics and automation. His interests also encompass interaction control of robotics, showcasing a commitment to exploring and contributing to the intersection of engineering and research in the realm of space exploration.
Augustinas Žinys received his Master of Science degree in embedded systems with specialization of artificial intelligence from Technology University of Eindhoven, the Netherlands, in 2021. During his studies, his research focus was on object recognition using WiFi CSI data with artificial intelligence. After 4 years, currently, he is an AI specialist with a focus on computer vision and anomaly detection. His current research interests are AI system domain generalization and data efficiency.
Bronislovas Razgus received his Master of Science degree in aerospace engineering, spaceflight track from Technology University of Delft, the Netherlands in 2016. Throughout his work and research experience at ESA and DLR, his focus was on AOCS and GNC systems, in particular navigation hardware, algorithms, estimation, and filtering. Currently, he is pursuing a doctoral degree in a joint-Ph.D. program between Vilniustech in Vilnius and Polytechnic University of Milan on GNC algorithms for Active Debris Removal (ADR) missions.
Marius Klimavičius received his M.Eng. degree in space systems engineering from the University of Southampton. During the first 10 years of his technical career, he has worked for various organizations in the aerospace sector including General Electric, NanoAvionics, and the European Space Agency where he was developing novel autonomous navigation and space robotics technologies. Over the past 5 years he has been leading Blackswan Space, a space software startup with the goal of automating the current processes and developing better mission design and operation tools used in the space industry. His core expertise lies in space systems engineering, technical leadership, and building global partnerships.
Miguel Olivares-Mendez is a professor on space robotics at the Interdisciplinary Centre for Security, Reliability and Trust of the University of Luxembourg. He leads the Space Robotics Research Group (SpaceR), the LunaLab, and the Zero-gravity Lab. In addition, he is the program director of the Interdisciplinary Space Master (ISM) at the University of Luxembourg and the founder and General Chair of the International Conference on Space Robotics (iSpaRo). Dr. Olivares-Mendez received his Eng. degree in computer science from the University of Malaga in 2006, and his M.Sc. and Ph.D. degrees in robotics and automation from the Technical University of Madrid in 2009 and 2013 respectively. During his Ph.D., he was visitor researcher at EPFL (Switzerland) and ARCAA-QUT (Australia). He was awarded with the 2013 Best Ph.D. Thesis award by the European Society for Fuzzy Logic and Technology (EUSFLAT). In May 2013 he joined the Interdisciplinary Center for Security Reliability and Trust (SnT) at the University of Luxembourg (Uni.Lu), as associate researcher in the Automation & Robotics Research Group. In November 2019, he became an assistant professor on space robotics, and in January 2020 head of the SpaceR research group. He is currently the main supervisor of 11 Ph.D. students and 7 PostDocs. He has published over 120 peer-reviewed publications. His main research interests are extreme environment, planetary and orbital robotics for autonomous navigation, situational awareness, perception, machine learning, and multi-robot interaction in autonomous exploration, inspection, and operations.
Carol Martinez received her M.Sc. and Ph.D. degrees in robotics and automation from Universidad Politecnica de Madrid (UPM), in 2009 and 2013, respectively, with a focus on computer vision for unmanned aerial vehicles (visual tracking, pose estimation, and control), for which she received the outstanding Ph.D. thesis award by UPM. As a Ph.D. candidate, she was a visiting researcher with the Queensland University of Technology and the University of Bristol, UK, where she developed algorithms for tracking and pose estimation using cameras on-board aerial vehicles. She held positions as a postdoctoral researcher with UPM, and an assistant professor with PUJ, Bogotá, Colombia, from 2015 to 2020. She has led and conducted interdisciplinary research in computer vision, machine learning, and deep learning for process automation (industry and health) and robotics (aerial, industrial, and space). Since 2020, she has been a research scientist with SnT, Space Robotics Research Group, University of Luxembourg (UniLu), where she leads projects in orbital robotics (space debris removal and vision-based navigation), robotic manipulation (control, perception, and learning), and on-ground testing environment (ZeroGLab facility). She is currently a lecturer of the Interdisciplinary Space Master (ISM) Program with UniLu and provides guidance and supervision to master and Ph.D. researchers (as a co and a main supervisor). She is a mechatronics engineer with UPM. Her research interests include perception approaches for the autonomous operation of robots in space and multi-purpose manipulation tasks for planetary and orbital robotics applications.
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Muralidharan, V., Makhdoomi, M.R., Žinys, A. et al. On-ground validation of orbital GNC: Visual navigation assessment in robotic testbed facility. Astrodyn (2024). https://doi.org/10.1007/s42064-024-0198-4
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DOI: https://doi.org/10.1007/s42064-024-0198-4