Videos of SPHERES in action
Below are the video clips taken during the SPHERES control experiments conducted at the Flat Floor Facility of the NASA Marshall Space Flight Center (MSFC), the MIT Space Systems Laboratory and the International Space Station.Test Sessions aboard the International Space Station
Pictures available HERE.
-
Spiral Maneuver
-
Decentralized formation control
more: - TS-14 Two-SPHERES Simple Spiral wmv (2.2MB)
- TS-12 Docking to hidden docking port avi (26.0MB)
Tethered Formation Flight at MSFC 9/25-9/29/2006
Pictures available HERE.
-
All videos include experimental validation of decentralized control law without any inter-satellite communication.
- Three-SPHERES Triangular Configuration, Decentralized Reaction-Wheel-Only Attitude Control mpg (16.7MB)
- Tethered Spacecraft Origami (Slow down-Folding-Unfolding-Change the direction mpg
- Three-SPHERES Inline Configuration, Decentralized Nonlinear Adaptive Control 1 mpg (17MB)
- Three-SPHERES Inline Configuration, Decentralized Nonlinear Adaptive Control 2 mpg (9.89MB)
- Three-SPHERES Inline Configuration, Decentralized Reaction-Wheel-Only Attitude Control with Damper/Spring mpg (13.6MB)
- Three-SPHERES Inline Configuration, Decentralized Reaction-Wheel-Only Attitude Control mpg (16.2MB)
- Two-SPHERES Inline Configuration, Spin-Up and Deployment using only reaction wheelsmpg (16.2MB)
- Three-SPHERES Inline Configuration, Spin-Up and Deployment using only reaction wheels mpg (18.5MB)
Please also check out the dancing SPHERES video below.
New Tethered Formation Flight Videos, 2006
New Videos, 2005
- Docking with new vision-based relative attitude sensor in September 2005 mpg(100Mb)
- Test of a new docking mechanism performed at MIT SSL 2-D laboratory
in March 2005 AVI
(7Mb)
- SWARM Docking Experiment at MSFC in April 2005 AVI (24Mb)
Test at NASA MSFC 12/6/2004-12/10/2004
- Five vehicle formation flight: mov (17Mb)
- Three SPHERES Golay-3 Tethered Formation Flight (decentralized nonlinear control): mpg (6.2Mb)
- Two SPHERES Tethered Formation Flight with Array Resizing (decentralized nonlinear control): mpg (13.4Mb)
- Single Tethered SPHERES Rotation with Nonlinear Adaptive Control: mpg (7.5Mb)
- Two SPHERES Docking Experiment: mpg (5.2Mb)
Test at NASA MSFC June 2004
- 3 Spacecraft Rotation (MSFC):
wmv (12,309 kB)
- Docking with drifting Sphere
(MSFC): mpg (21,045 kB)
- Docking with freely rotating
Sphere (MSFC): mpg (18,841 kB)
- Docking with freely rotating Sphere (2X Speed): AVI (8 Mb)
MIT News Office Release - CDIO Capstone Class 1999-2000- Quicktime: 40kbps (1.5MB) 300kbps (10MB) 712kbps (18MB)
- Real video: 40kbps (1.2MB) 300kbps (8.6MB)
- Windows AVI:300kbps (21MB) 712kbps (70MB)
June 2003-September 2004- beacon_tracking.mpg: mpg (15,746 kB)
zip
(5,353 kB)
- docking2.mpg: mpg (31,328 kB)
zip (11,133
kB)
- docking3.mpg: mpg (22,835 kB)
zip (8,040
kB)
- lost_in_space.mpg: mpg (25,905 kB)
- lost_in_space_annotated.mpg:
mpg (25,905 kB) zip (9,120
kB)
- rate_damper.mpg: mpg (8,402 kB)
zip (2,953
kB)
- glideslope_docking.mpg: mpg (19,658
kB)
- short_tether_demo.mpg: mpg (10,710
kB)
- CircTrajec - 1 sc.wmv: wmv (5,907
kB)
- CircTrajec - 2 sc.wmv: wmv
(14,684 kB)
- Reel out/in single Sphere
tether experiment (SSL): wmv
(7,033 kB)
- SPHERES-MOSR Demonstration
(SSL): SPHERES-MOSR Demo.wmv (2,846 kB)
Copyright © 2005 Massachusetts Institute of Technology