課程信息
4.9
61 個評分
20 個審閱

第 1 門課程(共 4 門)

100% 在線

立即開始,按照自己的計劃學習。

可靈活調整截止日期

根據您的日程表重置截止日期。

高級

完成時間大約為39 小時

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

英語(English)

字幕:英語(English)

第 1 門課程(共 4 門)

100% 在線

立即開始,按照自己的計劃學習。

可靈活調整截止日期

根據您的日程表重置截止日期。

高級

完成時間大約為39 小時

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

英語(English)

字幕:英語(English)

教學大綱 - 您將從這門課程中學到什麼

1
完成時間為 4 小時

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 個視頻 (總計 154 分鐘), 3 個測驗
13 個視頻
Kinematics Course Introduction1分鐘
Module One: Particle Kinematics Introduction50
1: Particle Kinematics13分鐘
Optional Review: Vectors, Angular Velocities, Coordinate Frames16分鐘
2: Angular Velocity Vector9分鐘
3: Vector Differentiation25分鐘
3.1: Examples of Vector Differentiation25分鐘
3.2: Example of Planar Particle Kinematics with the Transport Theorem16分鐘
3.3: Example of 3D Particle Kinematics with the Transport Theorem14分鐘
Optional Review: Angular Velocities, Coordinate Frames, and Vector Differentiation19分鐘
Optional Review: Angular Velocity Derivative1分鐘
Optional Review: Time Derivatives of Vectors, Matrix Representations of Vector2分鐘
3 個練習
Concept Check 1 - Particle Kinematics and Vector Frames10分鐘
Concept Check 2 - Angular Velocities4分鐘
Concept Check 3 - Vector Differentiation and the Transport Theorem5分鐘
2
完成時間為 6 小時

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 個視頻 (總計 210 分鐘), 1 個閱讀材料, 10 個測驗
18 個視頻
1: Introduction to Rigid Body Kinematics18分鐘
2: Directional Cosine Matrices: Definitions18分鐘
3: DCM Properties7分鐘
4: DCM Addition and Subtraction5分鐘
5: DCM Differential Kinematic Equations8分鐘
Optional Review: Tilde Matrix Properties2分鐘
Optional Review: Rigid Body Kinematics and DCMs21分鐘
6: Euler Angle Definition17分鐘
7: Euler Angle / DCM Relation16分鐘
7.1: Example: Topographic Frame DCM Development9分鐘
8: Euler Angle Addition and Subtraction8分鐘
9: Euler Angle Differential Kinematic Equations25分鐘
10: Symmetric Euler Angle Addition20分鐘
Optional Review: Euler Angle Definitions4分鐘
Optional Review: Euler Angle Mapping to DCMs9分鐘
Optional Review: Euler Angle Differential Kinematic Equations1分鐘
Optional Review: Integrating Differential Kinematic Equations10分鐘
1 個閱讀材料
Eigenvector Review10分鐘
10 個練習
Concept Check 1 - Rigid Body Kinematics12分鐘
Concept Check 2 - DCM Definitions12分鐘
Concept Check 3 - DCM Properties10分鐘
Concept Check 4 - DCM Addition and Subtraction8分鐘
Concept Check 5 - DCM Differential Kinematic Equations (ODE)6分鐘
Concept Check 6 - Euler Angles Definitions12分鐘
Concept Check 7 - Euler Angle and DCM Relation30分鐘
Concept Check 8 - Euler Angle Addition and Subtraction10分鐘
Concept Check 9 - Euler Angle Differential Kinematic Equations45分鐘
Concept Check 10 - Symmetric Euler Angle Addition6分鐘
3
完成時間為 8 小時

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 個視頻 (總計 251 分鐘), 17 個測驗
29 個視頻
1: Principal Rotation Parameter Definition9分鐘
2: PRV Relation to DCM18分鐘
3: PRV Properties6分鐘
Optional Review: Principal Rotation Parameters6分鐘
4: Euler Parameter (Quaternion) Definition20分鐘
5: Mapping PRV to EPs1分鐘
6: EP Relationship to DCM16分鐘
7: Euler Parameter Addition10分鐘
8: EP Differential Kinematic Equations5分鐘
Optional Review: Euler Parameters and Quaternions16分鐘
9: Classical Rodrigues Parameters Definitions8分鐘
10: CRP Stereographic Projection9分鐘
11: CRP Relation to DCM8分鐘
12: CRP Addition and Subtraction1分鐘
13: CRP Differential Kinematic Equations1分鐘
14: CRPs through Cayley Transform9分鐘
Optional Review: CRP Properties6分鐘
15: Modified Rodrigues Parameters Definitions9分鐘
16: MRP Stereographic Projection5分鐘
17: MRP Shadow Set Property7分鐘
18: MRP to DCM Relation4分鐘
19: MRP Addition and Subtraction4分鐘
20: MRP Differential Kinematic Equation14分鐘
21: MRP Form of the Cayley Transform7分鐘
Optional Review: MRP Definitions8分鐘
Optional Review: MRP Properties8分鐘
22: Stereographic Orientation Parameters Definitions6分鐘
Optional Review: SOPs14分鐘
17 個練習
Concept Check 1 - Principal Rotation Definitions4分鐘
Concept Check 2 - Principal Rotation Parameter relation to DCM12分鐘
Concept Check 3 - Principal Rotation Addition12分鐘
Concept Check 4 - Euler Parameter Definitions15分鐘
Concept Check 5, 6 - Euler Parameter Relationship to DCM15分鐘
Concept Check 7 - Euler Parameter Addition10分鐘
Concept Check 8 - EP Differential Kinematic Equations20分鐘
Concept Check 9 - CRP Definitions10分鐘
Concept Check 10 - CRPs Stereographic Projection6分鐘
Concept Check 11, 12 - CRP Addition12分鐘
Concept Check 13 - CRP Differential Kinematic Equations20分鐘
Concept Check 15 - MRPs Definitions16分鐘
Concept Check 16 - MRP Stereographic Projection5分鐘
Concept Check 17 - MRP Shadow Set6分鐘
Concept Check 18 - MRP to DCM Relation8分鐘
Concept Check 19 - MRP Addition and Subtraction10分鐘
Concept Check 20 - MRP Differential Kinematic Equation30分鐘
4
完成時間為 5 小時

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 個視頻 (總計 120 分鐘), 6 個測驗
13 個視頻
1: Attitude Determination Problem Statement17分鐘
2: TRIAD Method Definition11分鐘
2.1: TRIAD Method Numerical Example9分鐘
3: Wahba's Problem Definition11分鐘
4: Devenport's q-Method16分鐘
4.1: Example of Devenport's q-Method7分鐘
5: QUEST9分鐘
5.1: Example of QUEST3分鐘
6: Optimal Linear Attitude Estimator5分鐘
6.1: Example of OLAE2分鐘
Optional Review: Attitude Determination14分鐘
Optional Review: Attitude Estimation Algorithms10分鐘
5 個練習
Concept Check 1 - Attitude Determination8分鐘
Concept Check 2 - TRIAD Method10分鐘
Concept Check 3, 4 - Devenport's q-Method15分鐘
Concept Check 5 - QUEST Method15分鐘
Concept Check 6 - OLAE Method12分鐘
4.9
20 個審閱Chevron Right

熱門審閱

創建者 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.

創建者 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.

講師

Avatar

Hanspeter Schaub

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

關於 科罗拉多大学波德分校

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....

關於 Spacecraft Dynamics and Control 專項課程

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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