Space and Planetary Robotics
Juan Diego Florez Castillo, Novel Bidirectional Elastic Nonlinear Element (BENE) for Robotic Antagonistic Actuation, Worcester Polytechnic Institute, Worcester, Massachusetts, 2020.
Felix Sanchez, Trans-Gravitational Robot (TGR) with Linear and Angular Momentum Control, Worcester Polytechnic Institute, Worcester, Massachusetts, 2020.
Lecture notes and practice problems: AE 2550 and PH 2550 Atmospheric and Space Environments
Power point format: Course Introduction. Grand Themes: (1) Blue Sky, (2) Sun, (3) Magneto, (4) Atmosphere, (5) Near, (6) Rest.
PDF file format: Course Introduction. Grand Themes: (1) Blue Sky, (2) Sun, (3) Magneto, (4) Atmosphere, (5) Near, (6) Rest.
Homework 1, Homework 2, Homework 3, Midterm Exam, Homework 4, Homework 5, Homework 6, Final Exam
HW 1 Solutions, HW 2 Solutions, HW 3 Solutions, Midterm Exam Solutions, HW 4 Solutions, HW 5 Solutions, HW 6 Solutions, Final Exam Solutions
Old, outdated, lecture notes: RBE 595 Space and Planetary Robotics
Definitions, Big Picture, Brief Overview of Space Robots, Cosmic Journeys, Quick Facts about the Solar System, Kepler's Laws
Van Allen Radiation Belts, Satellites, Geostationary and other orbits, Low Earth Orbit (LEO), Earth Atmosphere / Magnetic Field / Aurora, Solar Storms, Space Debris
Propulsion, Rocket Equation, Specific Impulse, Rocket Engines, High-bypass Turbofan Engines, Ramjets, Scramjets
Homework 1: Reusable Rocket Vertical Landing (VL)
Spacecraft dynamics, Thrust, Lift, Drag, Gravity, Linear and Angular Momentum, Hints for Homework 1, PID Control
Space Robotics historical highlights, Robotic Manipulators, Space Shuttle program, Canadarm, International Space Station (ISS), Canadarm 2, Mir Space Station, Lyappa arms
Homework 2: Freeflyer Arm Dynamics (without load), end effector trajectory and joint torques
Soyuz (un)docking, Dextre, Mobile Base System (MBS), Remote Manipulator System (JEMRMS), Robonaut, Robonaut 2
Rovers, Lunar Rovers, Lunokhod 1, Lunokhod 2, Lunar Roving Vehicle (LRV), Lunar Soil / Regolith, Dust Atmosphere, 'Moon fountain', Mars Rovers, Viking Missions to Mars, Mariner, Olympus Mons, Sojourner, Spirit, Opportunity
Homework 3: Dynamics of autonomous Moon rover and biped robot
Curiosity, Old Moon Missions, Ranger, Lunar Orbiter, Surveyor, Apollo 1, Apollo 7, Apollo 8, Apollo 9, Apollo 10, Apollo 11, Space Suits, Extravehicular Mobility Unit (EMU)
Homework 4: Big Asteroid on Collision Path with Earth. Can you save us?
What's happening next (5 years), Fast-forward to Interstellar, Special Theory of Relativity: Earth and Cabin Time, Ideal Propulsion