Title :
Umbilical positioning using ultrasonic sensors
Author :
Houshangi, Nasser
Author_Institution :
Dept. of Eng., Purdue Univ. Calumet, Hammond, IN, USA
Abstract :
The paper describes the development of an autonomous umbilical positioning system. The umbilical positioning system shall provide electrical power and fiber optic data cable connections between two simulated vehicles 100 meter apart. The Omnibot is used to provide the mobile base for the system. The mate-in umbilical plate is mounted on a three axis Cartesian manipulator, which is installed on the Omnibot mobile base. The Omnibot is controlled in a teleoperated mode. The operator using the vision system will guide the mobile base to get close to the mate-to plate. The information received from ultrasonic sensors is used to identify the position of mate-to plate and mate the umbilical plates autonomously. A successful experimentation verifies the approach
Keywords :
aerospace computing; aerospace control; aerospace robotics; ground support systems; optical cables; position control; power cables; sensors; space vehicles; ultrasonic devices; 100 m; Kennedy Space Center; Omnibot mobile base; automated ground support system laboratory; autonomous umbilical positioning system; electrical power connection; experiment; fiber optic data cable connection; global positioning; launch vehicles; mate-in umbilical plate; mobile base; simulated vehicles; teleoperated mode; three axis Cartesian manipulator; ultrasonic sensors; vision system; Automatic control; Automotive engineering; Communication cables; Costs; Machine vision; Optical fiber cables; Optical fibers; Power engineering and energy; Remotely operated vehicles; Space vehicles;
Conference_Titel :
Electrical and Computer Engineering, 2000 Canadian Conference on
Conference_Location :
Halifax, NS
Print_ISBN :
0-7803-5957-7
DOI :
10.1109/CCECE.2000.849759
