关于此课程： The movement of bodies in space (like spacecraft, satellites, and space stations) must be predicted and controlled with precision in order to ensure safety and efficacy. Kinematics is a field that develops descriptions and predictions of the motion of these bodies in 3D space. This course in Kinematics covers four major topic areas: an introduction to particle kinematics, a deep dive into rigid body kinematics in two parts (starting with classic descriptions of motion using the directional cosine matrix and Euler angles, and concluding with a review of modern descriptors like quaternions and Classical and Modified Rodrigues parameters). The course ends with a look at static attitude determination, using modern algorithms to predict and execute relative orientations of bodies in space. After this course, you will be able to... * Differentiate a vector as seen by another rotating frame and derive frame dependent velocity and acceleration vectors * Apply the Transport Theorem to solve kinematic particle problems and translate between various sets of attitude descriptions * Add and subtract relative attitude descriptions and integrate those descriptions numerically to predict orientations over time * Derive the fundamental attitude coordinate properties of rigid bodies and determine attitude from a series of heading measurements
此课程适用人群： This class is for working engineering professionals looking to add to their skill sets, graduate students in engineering looking to fill gaps in their knowledge base, and enterprising engineering undergraduates looking to expand their horizons.
制作方： University of Colorado Boulder
教学方： Hanspeter Schaub, Glenn L. Murphy Chair of Engineering, Professor
Department of Aerospace Engineering Sciences
| 级别 | 高级设置 |
| 承诺学习时间 | Best completed in 4 weeks, with a commitment of between 3 and 6 hours of work per week. |
| 语言 | English |
| 如何通过 | 通过所有计分作业以完成课程。 |
| 用户评分 |
授课大纲
第 1 周
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 个视频
- 视频: Kinematics Course Introduction
- 视频: Module One: Particle Kinematics Introduction
- 视频: 1: Particle Kinematics
- 视频: Optional Review: Vectors, Angular Velocities, Coordinate Frames
- 视频: 2: Angular Velocity Vector
- 视频: 3: Vector Differentiation
- 视频: 3.1: Examples of Vector Differentiation
- 视频: 3.2: Example of Planar Particle Kinematics with the Transport Theorem
- 视频: 3.3: Example of 3D Particle Kinematics with the Transport Theorem
- 视频: Optional Review: Angular Velocities, Coordinate Frames, and Vector Differentiation
- 视频: Optional Review: Angular Velocity Derivative
- 视频: Optional Review: Time Derivatives of Vectors, Matrix Representations of Vector
已评分: Concept Check 1 - Particle Kinematics and Vector Frames
已评分: Concept Check 2 - Angular Velocities
已评分: Concept Check 3 - Vector Differentiation and the Transport Theorem
第 2 周
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 个视频, 1 个阅读材料
- 视频: 1: Introduction to Rigid Body Kinematics
- 视频: 2: Directional Cosine Matrices: Definitions
- Leyendo: Eigenvector Review
- 视频: 3: DCM Properties
- 视频: 4: DCM Addition and Subtraction
- 视频: 5: DCM Differential Kinematic Equations
- 视频: Optional Review: Tilde Matrix Properties
- 视频: Optional Review: Rigid Body Kinematics and DCMs
- 视频: 6: Euler Angle Definition
- 视频: 7: Euler Angle / DCM Relation
- 视频: 7.1: Example: Topographic Frame DCM Development
- 视频: 8: Euler Angle Addition and Subtraction
- 视频: 9: Euler Angle Differential Kinematic Equations
- 视频: 10: Symmetric Euler Angle Addition
- 视频: Optional Review: Euler Angle Definitions
- 视频: Optional Review: Euler Angle Mapping to DCMs
- 视频: Optional Review: Euler Angle Differential Kinematic Equations
- 视频: Optional Review: Integrating Differential Kinematic Equations
已评分: Concept Check 1 - Rigid Body Kinematics
已评分: Concept Check 2 - DCM Definitions
已评分: Concept Check 3 - DCM Properties
已评分: Concept Check 4 - DCM Addition and Subtraction
已评分: Concept Check 5 - DCM Differential Kinematic Equations (ODE)
已评分: Concept Check 6 - Euler Angles Definitions
已评分: Concept Check 7 - Euler Angle and DCM Relation
已评分: Concept Check 8 - Euler Angle Addition and Subtraction
已评分: Concept Check 9 - Euler Angle Differential Kinematic Equations
已评分: Concept Check 10 - Symmetric Euler Angle Addition
第 3 周
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 个视频
- 视频: 1: Principal Rotation Parameter Definition
- 视频: 2: PRV Relation to DCM
- 视频: 3: PRV Properties
- 视频: Optional Review: Principal Rotation Parameters
- 视频: 4: Euler Parameter (Quaternion) Definition
- 视频: 5: Mapping PRV to EPs
- 视频: 6: EP Relationship to DCM
- 视频: 7: Euler Parameter Addition
- 视频: 8: EP Differential Kinematic Equations
- 视频: Optional Review: Euler Parameters and Quaternions
- 视频: 9: Classical Rodrigues Parameters Definitions
- 视频: 10: CRP Stereographic Projection
- 视频: 11: CRP Relation to DCM
- 视频: 12: CRP Addition and Subtraction
- 视频: 13: CRP Differential Kinematic Equations
- 视频: 14: CRPs through Cayley Transform
- 视频: Optional Review: CRP Properties
- 视频: 15: Modified Rodrigues Parameters Definitions
- 视频: 16: MRP Stereographic Projection
- 视频: 17: MRP Shadow Set Property
- 视频: 18: MRP to DCM Relation
- 视频: 19: MRP Addition and Subtraction
- 视频: 20: MRP Differential Kinematic Equation
- 视频: 21: MRP Form of the Cayley Transform
- 视频: Optional Review: MRP Definitions
- 视频: Optional Review: MRP Properties
- 视频: 22: Stereographic Orientation Parameters Definitions
- 视频: Optional Review: SOPs
已评分: Concept Check 1 - Principal Rotation Definitions
已评分: Concept Check 2 - Principal Rotation Parameter relation to DCM
已评分: Concept Check 3 - Principal Rotation Addition
已评分: Concept Check 4 - Euler Parameter Definitions
已评分: Concept Check 5, 6 - Euler Parameter Relationship to DCM
已评分: Concept Check 7 - Euler Parameter Addition
已评分: Concept Check 8 - EP Differential Kinematic Equations
已评分: Concept Check 9 - CRP Definitions
已评分: Concept Check 10 - CRPs Stereographic Projection
已评分: Concept Check 11, 12 - CRP Addition
已评分: Concept Check 13 - CRP Differential Kinematic Equations
已评分: Concept Check 15 - MRPs Definitions
已评分: Concept Check 16 - MRP Stereographic Projection
已评分: Concept Check 17 - MRP Shadow Set
已评分: Concept Check 18 - MRP to DCM Relation
已评分: Concept Check 19 - MRP Addition and Subtraction
已评分: Concept Check 20 - MRP Differential Kinematic Equation
第 4 周
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 个视频
- 视频: 1: Attitude Determination Problem Statement
- 视频: 2: TRIAD Method Definition
- 视频: 2.1: TRIAD Method Numerical Example
- 视频: 3: Wahba's Problem Definition
- 视频: 4: Devenport's q-Method
- 视频: 4.1: Example of Devenport's q-Method
- 视频: 5: QUEST
- 视频: 5.1: Example of QUEST
- 视频: 6: Optimal Linear Attitude Estimator
- 视频: 6.1: Example of OLAE
- 视频: Optional Review: Attitude Determination
- 视频: Optional Review: Attitude Estimation Algorithms
已评分: Concept Check 1 - Attitude Determination
已评分: Concept Check 2 - TRIAD Method
已评分: Concept Check 3, 4 - Devenport's q-Method
已评分: Concept Check 5 - QUEST Method
已评分: Concept Check 6 - OLAE Method
已评分: Kinematics Final Assignment
常见问题解答
运作方式
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Certificados
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制作方
University of Colorado 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.
价格
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| 访问课程材料 | 可用 |
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评分和审阅
Awesome Course,Professor Hanspeter Schaub is simply awesome, he delivers the concept so perfectly.Course is superb. It was wonderful to take this course. Hoping to take the follow-up courses.Thank you for the course.
Awesome course! Gave a strong theoretical base.
Good way to teach the course.
Could have been better if the professor could stop the urge to use vectricx notation.
K
The course is absolutely amazing! You can learn a huge amount of mathematics and applications in classical mechanics on these 4 weeks, which is crucial for me as a physicist, and there are a lot of challenging exercises so you can fully understand this. The only (for my point of view) disadvantage of this course is that in the last week you need to use/learn some programming skilles which I was not interested in learning (I only wanted to study the physics and math of this course even if programming is also useful in the field of physics).