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dc.contributor.authordu~Bois, J.
dc.contributor.authorThomas, Peter R.
dc.contributor.authorBullock, S.
dc.contributor.authorBhandari, U.
dc.contributor.authorRichardson, T. S.
dc.date.accessioned2017-06-23T09:28:30Z
dc.date.available2017-06-23T09:28:30Z
dc.date.issued2012
dc.identifier.citationdu~Bois , J , Thomas , P R , Bullock , S , Bhandari , U & Richardson , T S 2012 , ' Control Methodologies for Relative Motion Reproduction in a Robotic Hybrid Test Simulation of Aerial Refuelling ' , Paper presented at AIAA Guidance, Navigation and Control Conference , Minneapolis , United States , 13/08/12 - 16/08/12 .
dc.identifier.citationconference
dc.identifier.otherBibtex: urn:dc1eeb90bb5c22fcf3fc10738de271e5
dc.identifier.otherORCID: /0000-0003-3834-0847/work/64667917
dc.identifier.urihttp://hdl.handle.net/2299/18492
dc.descriptionJ. du-Bois, Peter R. Thomas, S Bullock, U. Bhandari, T.S. Richardson, ’Control Methodologies for Relative Motion Reproduction in a Robotic Hybrid Test Simulation of Aerial Refuelling’, paper presented at the AIAA Guidance, Navigation, and Control (GNC) Conference, Hyatt Regency, Minneapolis, USA, 13-16 August, 2012.
dc.description.abstractIn many applications it is advantageous to simulate the relative motion of two bodies in a laboratory environment. This permits the testing of sensors and systems critical to the safety of equipment and personnel with reduced risk, and facilitates stage-gate management of large projects to mitigate financial risks. The University of Bristol is collaborating with Cobham Mission Equipment to develop a large-scale facility for relative motion simulation, primarily for the purpose of testing automated air-to-air refuelling systems. The facility incorporates two 6DOF articulated robotic arms whose motion is dictated by real-time numerical simulations of the physical environment. Sensors on the robot-mounted equipment feed back into the numerical simulation to perform closed loop simulations with real hardware. This paper discusses the development of the facility and the different approaches considered for achieving real-time control of the robotic hardware. It then goes on to focus on aspects of the control topologies and motion optimisation which are used to maximise the performance of the facility. The current capabilities are demonstrated with respect to an aerial refuelling exercise and future challenges are explored.en
dc.format.extent1712040
dc.language.isoeng
dc.subjectAerial refuelling, Simulation, HIL
dc.titleControl Methodologies for Relative Motion Reproduction in a Robotic Hybrid Test Simulation of Aerial Refuellingen
dc.contributor.institutionMaterials and Structures
dc.contributor.institutionSchool of Physics, Engineering & Computer Science
dc.contributor.institutionDepartment of Engineering and Technology
dc.contributor.institutionCentre for Engineering Research
dc.description.statusNon peer reviewed
rioxxterms.typeOther
herts.preservation.rarelyaccessedtrue


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