用近中性浮力水下环境验证太空机器人抗扰能力，确保地面测试等效于太空任务。
Validation of Space Robotics in Underwater Environments via Disturbance Robustness Equivalency
- 通过信号时序逻辑定义任务，使水下与太空任务具备相同抗扰鲁棒性。
- 水下实验测得扰动值，与理论鲁棒度对比，验证控制策略有效性。
- 适合航天器控制、机器人验证领域的研究人员参考。
我们提出一种实验验证框架，利用水下环境模拟微重力下的空间机器人动力学。尽管中性浮力条件使水下机器人成为空间机器人验证的理想平台，但仍存在动力学和环境差异需克服。基于高层空间任务规范（以信号时序逻辑表达），我们通过最大扰动鲁棒性概念来解决这些差异。将运动规划问题建模为：原空间任务与验证任务达到相同的扰动鲁棒性程度。验证平台采用与空间任务近乎一致的控制策略，闭环控制器考虑航天器动力学。评估依赖于执行过程中扰动的估计，并与扰动鲁棒性程度进行比较，提供在空间环境中运行的实际证据。我们的评估采用双实验设置：一个水下机器人在近中性浮力条件下运行，验证实验平面航天器平台或立方星在高保真空间动力学仿真器中的规划与控制策略。
原文摘要 · Abstract (English)
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions make underwater robotics an excellent platform for space robotics validation, there are still dynamical and environmental differences that need to be overcome. Given a high-level space mission specification, expressed in terms of a Signal Temporal Logic specification, we overcome these differences via the notion of maximal disturbance robustness of the mission. We formulate the motion planning problem such that the original space mission and the validation mission achieve the same disturbance robustness degree. The validation platform then executes its mission plan using a near-identical control strategy to the space mission where the closed-loop controller considers the spacecraft dynamics. Evaluating our validation framework relies on estimating disturbances during execution and comparing them to the disturbance robustness degree, providing practical evidence of operation in the space environment. Our evaluation features a dual-experiment setup: an underwater robot operating under near-neutral buoyancy conditions to validate the planning and control strategy of either an experimental planar spacecraft platform or a CubeSat in a high-fidelity space dynamics simulator.
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