SPHERES Guest Scientist Program
 |
Welcome!
Welcome to the home page for the SPHERES Guest Scientist Program. The goal of the SPHERES Guest Scientist Program (GSP) is to enable remote investigators to independently design, code, and debug control, estimation, and autonomy algorithms for use on the SPHERES testbed. |
SPHERES Simulation
Documentation
| Title | Ver | Date | Description |
|---|
| GSP Interface Document [pdf] |
2.0 |
2009-04-23 |
Describes how to interface with the SPHERES program on all levels, from software APIs to the development process to delivery procedures. |
| SPHERES Specifications sheet [pdf] |
|
2007-05-20 |
Detailed information on the physical properties of the SPHERES hardware, such as inertia matrices, sensor calibration data |
| SPHERES Expansion Port Interface Control Document [pdf] |
0.9 |
|
Provides the mechanical and electrical specifications to interface with the SPHERES Expansion Dock. |
| SPHERES Communications Interface Document [pdf] |
4.0 |
2009-04-30 |
Details the design of the SPHERES communications system including the embedded RF hardware, its link layer, the TDMA protocol, the SPHERES packet scheme design, and the format & contents of standard packets. |
| Science CDR presentation [pdf] |
|
2002-11-11 |
The SPHERES science Critical Design Review presentation from November 11, 2002. |
| System ID [pdf] |
|
2003-03-06 |
Equations and procedures used for system identification, and results from testing in the laboratory and in micro-gravity aboard NASA's KC-135 in February 2003. |
| Thrust scaling [pdf] |
|
2003-03 |
Thruster calibration results from aboard NASA's KC-135 in February 2003. |
Additional documentation may be found in the library.
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since 2002-03-08.
Copyright © 2002 Massachusetts Institute of Technology
