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Niveau avancé

Approx. 39 heures pour terminer

Recommandé : Best completed in 4 weeks, with a commitment of between 3 and 6 hours of work per week....

Anglais

Sous-titres : Anglais

100 % en ligne

Commencez dès maintenant et apprenez aux horaires qui vous conviennent.

Dates limites flexibles

Réinitialisez les dates limites selon votre disponibilité.

Niveau avancé

Approx. 39 heures pour terminer

Recommandé : Best completed in 4 weeks, with a commitment of between 3 and 6 hours of work per week....

Anglais

Sous-titres : Anglais

Programme du cours : ce que vous apprendrez dans ce cours

Semaine
1
4 heures pour terminer

Introduction to Kinematics

This module covers particle kinematics. A special emphasis is placed on a frame-independent vectorial notation. The position velocity and acceleration of particles are derived using rotating frames utilizing the transport theorem....
13 vidéos (Total 154 min), 3 quiz
13 vidéos
Kinematics Course Introduction1 min
Module One: Particle Kinematics Introduction50s
1: Particle Kinematics13 min
Optional Review: Vectors, Angular Velocities, Coordinate Frames16 min
2: Angular Velocity Vector9 min
3: Vector Differentiation25 min
3.1: Examples of Vector Differentiation25 min
3.2: Example of Planar Particle Kinematics with the Transport Theorem16 min
3.3: Example of 3D Particle Kinematics with the Transport Theorem14 min
Optional Review: Angular Velocities, Coordinate Frames, and Vector Differentiation19 min
Optional Review: Angular Velocity Derivative1 min
Optional Review: Time Derivatives of Vectors, Matrix Representations of Vector2 min
3 exercices pour s'entraîner
Concept Check 1 - Particle Kinematics and Vector Frames10 min
Concept Check 2 - Angular Velocities4 min
Concept Check 3 - Vector Differentiation and the Transport Theorem5 min
Semaine
2
6 heures pour terminer

Rigid Body Kinematics I

This module provides an overview of orientation descriptions of rigid bodies. The 3D heading is here described using either the direction cosine matrix (DCM) or the Euler angle sets. For each set the fundamental attitude addition and subtracts are discussed, as well as the differential kinematic equation which relates coordinate rates to the body angular velocity vector. ...
18 vidéos (Total 210 min), 1 lecture, 10 quiz
18 vidéos
1: Introduction to Rigid Body Kinematics18 min
2: Directional Cosine Matrices: Definitions18 min
3: DCM Properties7 min
4: DCM Addition and Subtraction5 min
5: DCM Differential Kinematic Equations8 min
Optional Review: Tilde Matrix Properties2 min
Optional Review: Rigid Body Kinematics and DCMs21 min
6: Euler Angle Definition17 min
7: Euler Angle / DCM Relation16 min
7.1: Example: Topographic Frame DCM Development9 min
8: Euler Angle Addition and Subtraction8 min
9: Euler Angle Differential Kinematic Equations25 min
10: Symmetric Euler Angle Addition20 min
Optional Review: Euler Angle Definitions4 min
Optional Review: Euler Angle Mapping to DCMs9 min
Optional Review: Euler Angle Differential Kinematic Equations1 min
Optional Review: Integrating Differential Kinematic Equations10 min
1 lecture
Eigenvector Review10 min
10 exercices pour s'entraîner
Concept Check 1 - Rigid Body Kinematics12 min
Concept Check 2 - DCM Definitions12 min
Concept Check 3 - DCM Properties10 min
Concept Check 4 - DCM Addition and Subtraction8 min
Concept Check 5 - DCM Differential Kinematic Equations (ODE)6 min
Concept Check 6 - Euler Angles Definitions12 min
Concept Check 7 - Euler Angle and DCM Relation30 min
Concept Check 8 - Euler Angle Addition and Subtraction10 min
Concept Check 9 - Euler Angle Differential Kinematic Equations45 min
Concept Check 10 - Symmetric Euler Angle Addition6 min
Semaine
3
8 heures pour terminer

Rigid Body Kinematics II

This module covers modern attitude coordinate sets including Euler Parameters (quaternions), principal rotation parameters, Classical Rodrigues parameters, modified Rodrigues parameters, as well as stereographic orientation parameters. For each set the concepts of attitude addition and subtraction is developed, as well as mappings to other coordinate sets. ...
29 vidéos (Total 251 min), 17 quiz
29 vidéos
1: Principal Rotation Parameter Definition9 min
2: PRV Relation to DCM18 min
3: PRV Properties6 min
Optional Review: Principal Rotation Parameters6 min
4: Euler Parameter (Quaternion) Definition20 min
5: Mapping PRV to EPs1 min
6: EP Relationship to DCM16 min
7: Euler Parameter Addition10 min
8: EP Differential Kinematic Equations5 min
Optional Review: Euler Parameters and Quaternions16 min
9: Classical Rodrigues Parameters Definitions8 min
10: CRP Stereographic Projection9 min
11: CRP Relation to DCM8 min
12: CRP Addition and Subtraction1 min
13: CRP Differential Kinematic Equations1 min
14: CRPs through Cayley Transform9 min
Optional Review: CRP Properties6 min
15: Modified Rodrigues Parameters Definitions9 min
16: MRP Stereographic Projection5 min
17: MRP Shadow Set Property7 min
18: MRP to DCM Relation4 min
19: MRP Addition and Subtraction4 min
20: MRP Differential Kinematic Equation14 min
21: MRP Form of the Cayley Transform7 min
Optional Review: MRP Definitions8 min
Optional Review: MRP Properties8 min
22: Stereographic Orientation Parameters Definitions6 min
Optional Review: SOPs14 min
17 exercices pour s'entraîner
Concept Check 1 - Principal Rotation Definitions4 min
Concept Check 2 - Principal Rotation Parameter relation to DCM12 min
Concept Check 3 - Principal Rotation Addition12 min
Concept Check 4 - Euler Parameter Definitions15 min
Concept Check 5, 6 - Euler Parameter Relationship to DCM15 min
Concept Check 7 - Euler Parameter Addition10 min
Concept Check 8 - EP Differential Kinematic Equations20 min
Concept Check 9 - CRP Definitions10 min
Concept Check 10 - CRPs Stereographic Projection6 min
Concept Check 11, 12 - CRP Addition12 min
Concept Check 13 - CRP Differential Kinematic Equations20 min
Concept Check 15 - MRPs Definitions16 min
Concept Check 16 - MRP Stereographic Projection5 min
Concept Check 17 - MRP Shadow Set6 min
Concept Check 18 - MRP to DCM Relation8 min
Concept Check 19 - MRP Addition and Subtraction10 min
Concept Check 20 - MRP Differential Kinematic Equation30 min
Semaine
4
5 heures pour terminer

Static Attitude Determination

This module covers how to take an instantaneous set of observations (sun heading, magnetic field direction, star direction, etc.) and compute a corresponding 3D attitude measure. The attitude determination methods covered include the TRIAD method, Devenport's q-method, QUEST as well as OLAE. The benefits and computation challenges are reviewed for each algorithm....
13 vidéos (Total 120 min), 6 quiz
13 vidéos
1: Attitude Determination Problem Statement17 min
2: TRIAD Method Definition11 min
2.1: TRIAD Method Numerical Example9 min
3: Wahba's Problem Definition11 min
4: Devenport's q-Method16 min
4.1: Example of Devenport's q-Method7 min
5: QUEST9 min
5.1: Example of QUEST3 min
6: Optimal Linear Attitude Estimator5 min
6.1: Example of OLAE2 min
Optional Review: Attitude Determination14 min
Optional Review: Attitude Estimation Algorithms10 min
5 exercices pour s'entraîner
Concept Check 1 - Attitude Determination8 min
Concept Check 2 - TRIAD Method10 min
Concept Check 3, 4 - Devenport's q-Method15 min
Concept Check 5 - QUEST Method15 min
Concept Check 6 - OLAE Method12 min
4.8
21 avisChevron Right

Meilleurs avis

par SMOct 19th 2017

Brilliant classes! Absolutely brilliant, enjoyed every bit of it. All you need is that you should love Physics and Maths to attend these classes. If you do, it is an enriching experience for you.

par MBOct 19th 2017

This is a great course for beginners in kinematics, I enjoy it and learn so much. However, you need to have a good math background.

Enseignant

Avatar

Hanspeter Schaub

Glenn L. Murphy Chair of Engineering, Professor
Department of Aerospace Engineering Sciences

À propos de Université du Colorado à Boulder

CU-Boulder is a dynamic community of scholars and learners on one of the most spectacular college campuses in the country. As one of 34 U.S. public institutions in the prestigious Association of American Universities (AAU), we have a proud tradition of academic excellence, with five Nobel laureates and more than 50 members of prestigious academic academies....

À propos de la Spécialisation Spacecraft Dynamics and Control

Spacecraft Dynamics and Control covers three core topic areas: the description of the motion and rates of motion of rigid bodies (Kinematics), developing the equations of motion that prediction the movement of rigid bodies taking into account mass, torque, and inertia (Kinetics), and finally non-linear controls to program specific orientations and achieve precise aiming goals in three-dimensional space (Control). The specialization invites learners to develop competency in these three areas through targeted content delivery, continuous concept reinforcement, and project applications. The goal of the specialization is to introduce the theories related to spacecraft dynamics and control. This includes the three-dimensional description of orientation, creating the dynamical rotation models, as well as the feedback control development to achieve desired attitude trajectories....
Spacecraft Dynamics and Control

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