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Prototype for an Ultra Large Structure Assembly Robot

Deliverables

D34.1-Detailed Design Document of Large Structure Assembly in Free-Floating Environment (dLSAFFE)

"This document presents the detailed design of the demonstrator ""Large Structure Assembly in Free Floating Environment"". It focuses on the design of demonstration means and the integration of core components described in D31.1. "

D31.1-Detailed Design Document of Core Components

This document presents the detailed design of core components of the project and in particular key algorithms for perception, planning, execution and control.

D34.2-dLSAFFE Demonstration Procedures

This document details the test and validation procedure that will be implemented on dLSAFFE demonstration means. It will provide a clear view of the validation perimeter with respect to other demonstrators.

D21.2-Test/Demonstration Specification

This document completes the PDD and focus on the requirement that are specific to test and validation scenarios.

D11.1-System Requirement Document (SRD)

The system requirements document will contain, a state-of-the-art in the field of robotics assembly for terrestrial and space use, a review of the common building blocks with respect to PULSAR needs, and a set of requirements capturing PULSAR needs at the system level.

D51.2-Test/Demonstration Report

This document is a report on the demonstrations done. It will describe the demonstrations that have been conducted and the first results obtained.

D03.1c-Dissemination plan

This document presents the dissemination that will be implemented during PULSAR lifetime. It is composed of three releases at M3, M9 and M24. They will first focus on the dissemination roadmap to end up with a detailed description of dissemination activities implemented during the PULSAR project.

D03.4-Publications

This set of documents will complete the dissemination plan, as it consists of scientific publications produced on the project.

D32.2-dISAS Demonstration Procedures

This document details the test and validation procedure that will be implemented on simulation means. It will provide a clear view of the validation perimeter with respect to other demonstrators.

D33.1-Detailed Design Document of Precision Assembly of Mirror Tiles Demonstrator (dPAMT)

"This document presents the detailed design of the demonstrator ""Precision Assembly of Mirror Tiles"". It focuses on the design of demonstration means and the integration of core components described in D31.1. "

D03.1a-Dissemination plan

This document presents the dissemination that will be implemented during PULSAR lifetime. It is composed of three releases at M3, M9 and M24. They will first focus on the dissemination roadmap to end up with a detailed description of dissemination activities implemented during the PULSAR project.

D51.4-Final report and Final Presentation

The deliverable is composed of a final report on demonstrations and the analysis of collected data, and the final presentation of the project providing the status of PULSAR with respect to its objectives.

D21.1-Preliminary Design Document (PDD)

The preliminary design document will complete the SRD. It will first provide a description of the application scenarios and a description of the test and validation scenarios forseen in PULSAR. From these scenarios and in particular the latter, the architecture of the demonstrators will be detailed. The analysis will allow identifying how common building blocks will be reused and what needs to be developed.

D03.1b-Dissemination plan

This document presents the dissemination that will be implemented during PULSAR lifetime. It is composed of three releases at M3, M9 and M24. They will first focus on the dissemination roadmap to end up with a detailed description of dissemination activities implemented during the PULSAR project.

D33.2-dPAMT Demonstration Procedures

This document details the test and validation procedure that will be implemented on dPAMT demonstration means. It will provide a clear view of the validation perimeter with respect to other demonstrators.

D51.1-Software Manual

This document is the software manual for the three demonstrators and in particular common buuilding blocks.

D32.1-Detailed Design Document of In-Space Assembly in Simulation Demonstrator (dISAS)

"This document presents the detailed design of the demonstrator ""In-Space Assembly in Simulation"". It focuses on the design of simulation means and the integration of core components described in D31.1."

D03.3-Videos

This deliverable is a video describing the PULSAR project objectives and achievements. It should target as well the general public (first part of the movie) and experts in the domain (second part of the movie).

D03.5-Website

This deliverable is the website that will describe the project as well as its progress and status. The website will be one of the main dissemination tools.

D51.3-Datasets

This deliverable contains the dataset collected during the demonstrations or created for the validation of the demonstrators. They will contain measurements and ground-truth when available.

Publications

HOTDOCK: Design and Validation of a New Generation of Standard Robotic Interface for On-Orbit Servicing

Author(s): P. Letier, T. Siedel, M. Deremetz, E. Pavlovskis, B. Lietaer, K. Nottensteiner, M.A. Roa, J. Sanchez, J. Corella, J. Gancet
Published in: 70th Int. Astronautical Congress - IAC, 2019

PULSAR: Development of an AM flexure-based tripod mechanism for the fine positioning of segmented telescope mirror tiles

Author(s): F. Cosandier, D.Nguyen, B.Nussbaumer, J. Rouvinet, V.Schaffter, A.Ummel
Published in: 19th European Space Mechanisms and Tribology Symposium (ESMATS), 2021

PULSAR: development of a mirror tile prototype for future large telescopes robotically assembled in space

Author(s): Julien Rouvinet, Antoine Ummel, Florent Cosandier, David Nguyen, Virginien Schaffter
Published in: Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation IV, 2020, Page(s) 272
DOI: 10.1117/12.2576237

PULSAR: Technology Demonstrators for On-Orbit Assembly of Very Large Structures

Author(s): V.Bissonnette, M. Rognant, M. Roa, C. Koch
Published in: 71st Int. Astronautical Congress - IAC, 2021

Underwater Demonstrator for Autonomous In-Orbit Assembly of Large Structures

Author(s): Koch, Jankovic, Natarajan, Vyas, Brinkmann, Bissonnette, Germa, Turetta, Kirchner
Published in: International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), 2020

In-Space Robotic Assembly of Large Telescopes

Author(s): M.A. Roa, K. Nottensteiner, G. Grunwald, P. Lopez, A. Cuffolo, S. Andiappane, M. Rognant, A. Verhaeghe, V. Bissonnette
Published in: 15th symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), Issue 2, 2019

Control of rotation-floating space robots with flexible appendages for on-orbit servicing

Author(s): S. Kraiem, M. Rognant, J.-M. biannic, Y. Briere
Published in: 19th European Control Conference (ECC), 2021

A Simulation Tool for On-Orbit Assembly of Large Structures

Author(s): V. Bissonnette, T. Germa, C. Bazerque, S. Trinh, C. Porte, G.Arcin, M. Rognant, J.-M. Biannic, C. Cumer, T. Loquen, X. Pucel
Published in: IROS workshop on Robotic In-situ manufacturing, structural assembly and servicing, 2020

A simulation tool for in-orbit assembly of large structures

Author(s): V. Bissonnette, C. Bazerque, S. Trinh, C. Porte, G.Arcin, M. Rognant, J.-M. Biannic, C. Cumer, T. Loquen, X. Pucel
Published in: International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), 2020

Modular robotic assets and technologies for future on-orbit applications

Author(s): M. Dermetz, P. Letier
Published in: IROS workshop on Robotic In-situ manufacturing, structural assembly and servicing, 2020

Hybrid Planning System for In-Space Robotic Assembly of Telescopes using Segmented Mirror Tiles

Author(s): J. Martinez, I. Rodriguez, K. Nottensteiner, J. Lutze, P. Lehner, M. A. Roa.
Published in: IEEE Aerospace Conference (AEROCONF), 2021

Modelling and attitude control design for autonomous in-orbit assembly

Author(s): C. Cumer, M. Rognant, J.-M. biannic, Cl. Roos
Published in: 11th International ESA Conference on Guidance, Navigation and Control Systems (ESA GNC), 2021