Validation results of satellite mock-up capturing experiment using nets

• Published in: Acta astronautica 2017-05, Vol.134, p.314-332
• Main Authors: Medina, Alberto, Cercós, Lorenzo, Stefanescu, Raluca M., Benvenuto, Riccardo, Pesce, Vincenzo, Marcon, Marco, Lavagna, Michèle, González, Iván, Rodríguez López, Nuria, Wormnes, Kjetil
• Format: Article
• Language: English
• Subjects: Architecture; Cameras; Circumferences; Color; Color matching; Containers; Detritus; Ejection; Experiments; Fabrics; High resolution; High speed; Image acquisition; Image resolution; Image segmentation; Initial conditions; Launching; Microgravity; Missions; Parabolic flight; Projectiles; Reconstruction; Recording; Satellites; Simulation; Space debris; Three dimensional models; Tracking; Velocity
• ISSN: 0094-5765; 1879-2030
• DOI: 10.1016/j.actaastro.2017.02.019

The PATENDER activity (Net parametric characterization and parabolic flight), funded by the European Space Agency (ESA) via its Clean Space initiative, was aiming to validate a simulation tool for designing nets for capturing space debris. This validation has been performed through a set of different experiments under microgravity conditions where a net was launched capturing and wrapping a satellite mock-up. This paper presents the architecture of the thrown-net dynamics simulator together with the set-up of the deployment experiment and its trajectory reconstruction results on a parabolic flight (Novespace A-310, June 2015). The simulator has been implemented within the Blender framework in order to provide a highly configurable tool, able to reproduce different scenarios for Active Debris Removal missions. The experiment has been performed over thirty parabolas offering around 22s of zero-g conditions. Flexible meshed fabric structure (the net) ejected from a container and propelled by corner masses (the bullets) arranged around its circumference have been launched at different initial velocities and launching angles using a pneumatic-based dedicated mechanism (representing the chaser satellite) against a target mock-up (the target satellite). High-speed motion cameras were recording the experiment allowing 3D reconstruction of the net motion. The net knots have been coloured to allow the images post-process using colour segmentation, stereo matching and iterative closest point (ICP) for knots tracking. The final objective of the activity was the validation of the net deployment and wrapping simulator using images recorded during the parabolic flight. The high-resolution images acquired have been post-processed to determine accurately the initial conditions and generate the reference data (position and velocity of all knots of the net along its deployment and wrapping of the target mock-up) for the simulator validation. The simulator has been properly configured according to the parabolic flight scenario, and executed in order to generate the validation data. Both datasets have been compared according to different metrics in order to perform the validation of the PATENDER simulator. •Development of a simulator tool for thrown-nets capturing space debris.•Modelling of net dynamics with discretized Kelvin-Voigt formulation.•Fast and accurate contact dynamics between the net and the target mock-up.•Experimental validation on Novespace parabolic flight (30