报告人：Prof. Klaus Janschek
时间：2018-3-21（周三）下午15:30
地点：浙江大学玉泉校区教3-406室
报告主题：
Relative Navigation for In-orbit Servicing of Non-cooperative Spacecraft
Abstract:
Robotic servicing is a key technology for enabling autonomous on-orbit servicing and the manipulation (e.g. repair) of spacecraft. Moreover, it can be used as an assistance system on manned space missions releasing astronauts from performing difficult and dangerous operations. An indispensable subtask of on-orbit servicing is the rendezvous (RV) navigation between an approaching spacecraft (called chaser) and a target object (e. g. spacecraft or space debris). Due to the risk of collision the requirements for accuracy and robustness are very high. For rendezvous with damaged satellites or space debris further challenging conditions must be considered: the target is supposed to be passive (maybe tumbling), it must be assumed in general being non-cooperative or unprepared and its 3D structure is maybe even unknown. Vision based perception systems with cameras (visual, infrared) and laser distance sensors (LIDAR) offer promising capabilities for recovering both the target’s relative pose (position and orientation) and its geometrical structure from image data. Due to unfavorable environmental conditions (illumination, reflections, and thermal variations) the processing of the image data and the estimation of pose and 3D structure put several algorithmic challenges for realistic missions.
The lecture introduces the key drivers for algorithms development and reports on recent and current research results on the pose and geometric structure estimation of our TU Dresden Automation Engineering Lab, e.g. an ongoing project with European Space Agency for servicing the ENVISAT satellite (see Figure 1).
Figure 1: Proximity operation for servicing of ENVISAT satellite (synthetic image with ambient light)
Brief Biography:
Klaus Janschek received his Dipl.-Ing. degree in Electrical Engineering (1979) and PhD (Dr.techn.) in Control Systems Engineering (1982) from TechnischeUniversität Graz, Austria;1982 to 1995 industry affiliations in control systems development (fatigue and vehicle test systems, aerospace guidance, navigation and control); since 1995 to today full professor of Automation Engineering and Managing Director Institute of Automation at the Faculty of Electrical and Computer Engineering and affiliated faculty member to the Faculty of Mechanical Engineering, TechnischeUniversität Dresden, Germany; 2001-2006 Dean of Studies Mechatronics Engineering and 2009 to 2012 Dean of Faculty Electrical and Computer Engineering, TU Dresden.
Visiting positions (scholar/professor): Stanford University, USA, Aeronautics & Astronautics Department (2005); UniversidadeTecnológica Federal do Paraná, Campus Curitiba, Brasil (2007); Universidade Federal de Santa Catarina (UFSC), Florianópolis, Brazil (2009, 2012, 2014, 2016); Guest Professorship (2012-2015)and grant holder for 111-project 2017-2021 at East China University for Science and Technology (ECUST), Shanghai, China; Zhejiang University, Hangzhou, China (2017).
Scientific activities (selection):IFAC – International Federation of Automatic Control: Member of the Technical Board – Coordinating Committee Chair CC 4 “Mechatronics, Robotics & Components (2014-2017); Coordinating Chair of 21st IFAC World Congress 2020 in Berlin, Germany; Vice-Chair Technical Committee on Mechatronics (2009-2011, 2012-2014); Chair of Application Paper Prize Selection Committee (2012-2014); 4th IFAC Symposium on Mechatronic Systems 2006, Heidelberg, Germany: Chair of the International Program Committee.DFG – Deutsche Forschungsgemeinschaft (German Research Foundation): Elected Review Board Member (2008-2011, 2012-2015) for Automation, Control Systems, Robotics and Mechatronics; Head of Review Board on Systems Engineering (2012-2015).VDI – VereinDeutscherIngenieure, Measurement and Automation Engineering Society (GMA): Elected Board Member, Branch Chair of Mechatronics, Robotics and Actuators; Chairman of the Technical Committee on Mechatronics (1999-2010) German Mechatronics Conferences: Program-Co-Chair (biannual, since 2005).
Research interests: guidance-navigation-control, data fusion, mobile robotics, optical data processing and optomechatronics, systems design.
Klaus Janschek教授是机电系统控制与自动化领域国际著名专家，在先进控制系统理论及其航天机电系统应用领域取得了突出成就。他1982年于奥地利格拉茨工业大学（TU Graz, Austria）获控制系统工学博士学位。1982-1995年在德国戴姆勒奔驰等公司从事控制系统研发和技术管理工作。1995年起任德国德累斯顿工业大学（TU Dresden）电气与计算机工程学院自动化工程讲席教授、自动化研究所所长以及机械工程学院联合教授，2009-12年曾任该院院长。2005年在美国斯坦福大学做客座教授。他的研究专长包括视觉导航、数据融合、移动机器人、光学数据处理与光机电一体化、系统设计（系统辨识、性能评估、离散事件系统、机电系统）等。他至今已出版著作6部，在国际机电系统领域影响颇深，还在国际知名专业期刊和会议上发表论文百余篇。目前担任国际自动控制联合会（IFAC）技术局成员、IFAC应用论文评奖委员会主席、美国航空航天学会（AIAA）委员、德国航空航天学会（DGLR）委员。