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1
4時間で修了

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.

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13件のビデオ （合計154分）, 3 quizzes
13件のビデオ
Kinematics Course Introduction1 分
Module One: Particle Kinematics Introduction50
1: Particle Kinematics13 分
Optional Review: Vectors, Angular Velocities, Coordinate Frames16 分
2: Angular Velocity Vector9 分
3: Vector Differentiation25 分
3.1: Examples of Vector Differentiation25 分
3.2: Example of Planar Particle Kinematics with the Transport Theorem16 分
3.3: Example of 3D Particle Kinematics with the Transport Theorem14 分
Optional Review: Angular Velocities, Coordinate Frames, and Vector Differentiation19 分
Optional Review: Angular Velocity Derivative1 分
Optional Review: Time Derivatives of Vectors, Matrix Representations of Vector2 分
3の練習問題
Concept Check 1 - Particle Kinematics and Vector Frames10 分
Concept Check 2 - Angular Velocities4 分
Concept Check 3 - Vector Differentiation and the Transport Theorem1 時間 5 分
2
6時間で修了

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.

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18件のビデオ （合計210分）, 1 reading, 10 quizzes
18件のビデオ
1: Introduction to Rigid Body Kinematics18 分
2: Directional Cosine Matrices: Definitions18 分
3: DCM Properties7 分
4: DCM Addition and Subtraction5 分
5: DCM Differential Kinematic Equations8 分
Optional Review: Tilde Matrix Properties2 分
Optional Review: Rigid Body Kinematics and DCMs21 分
6: Euler Angle Definition17 分
7: Euler Angle / DCM Relation16 分
7.1: Example: Topographic Frame DCM Development9 分
8: Euler Angle Addition and Subtraction8 分
9: Euler Angle Differential Kinematic Equations25 分
10: Symmetric Euler Angle Addition20 分
Optional Review: Euler Angle Definitions4 分
Optional Review: Euler Angle Mapping to DCMs9 分
Optional Review: Euler Angle Differential Kinematic Equations1 分
Optional Review: Integrating Differential Kinematic Equations10 分
1件の学習用教材
Eigenvector Review10 分
10の練習問題
Concept Check 1 - Rigid Body Kinematics12 分
Concept Check 2 - DCM Definitions12 分
Concept Check 3 - DCM Properties10 分
Concept Check 4 - DCM Addition and Subtraction8 分
Concept Check 5 - DCM Differential Kinematic Equations (ODE)6 分
Concept Check 6 - Euler Angles Definitions12 分
Concept Check 7 - Euler Angle and DCM Relation30 分
Concept Check 8 - Euler Angle Addition and Subtraction10 分
Concept Check 9 - Euler Angle Differential Kinematic Equations45 分
Concept Check 10 - Symmetric Euler Angle Addition6 分
3
8時間で修了

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.

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

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.

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13件のビデオ （合計120分）, 6 quizzes
13件のビデオ
1: Attitude Determination Problem Statement17 分
2.1: TRIAD Method Numerical Example9 分
3: Wahba's Problem Definition11 分
4: Devenport's q-Method16 分
4.1: Example of Devenport's q-Method7 分
5: QUEST9 分
5.1: Example of QUEST3 分
6: Optimal Linear Attitude Estimator5 分
6.1: Example of OLAE2 分
Optional Review: Attitude Determination14 分
Optional Review: Attitude Estimation Algorithms10 分
5の練習問題
Concept Check 1 - Attitude Determination8 分
Concept Check 2 - TRIAD Method10 分
Concept Check 3, 4 - Devenport's q-Method15 分
Concept Check 5 - QUEST Method15 分
Concept Check 6 - OLAE Method12 分
4.8
21件のレビュー

人気のレビュー

by 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.

by 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

Hanspeter Schaub

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

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....

Spacecraft Dynamics and Controlの専門講座について

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....

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