1982 – 1987
H.-J. Wünsche: Concept of model plant for „Satellite-Docking“ with air cushion vehicle (laboratory experiment for aero-space-technology). Two pairs of air jets for reaction control of planar motion. Perturbation-free air supply from the top. Use as subject for dissertation „Docking by machine vision“; extraction of corner features for recognizing docking partners (white) and the relative pose with BVV1 (8-bit microprocessors) plus PDP-computer. Sequence of maneuvers: 1. Approach, 2. find docking direction by circular go-around, 3. rendezvous with mechanical lock-in [58; 59; 60].
Dissertation Wünsche 1987 [D3 Kurzfassg]
1989 – 1993
Project of the Deutsches Zentrum fuer Luft- und Raumfahrttechnik (Robotik im Weltraum, DLR-Oberpfaffenhofen) Prof. G. Hirzinger: Initial subcontract for the development of software for compensating the time delays in the tele-operation-loop „Robot-arm and cameras on board in orbit, and image evaluation in ground station on Earth“ (~ 6 to 7 sec. time lag).
The new transputer system with the 4-D approach allowed an alternative to the one chosen by DLR [DDInf Zusammenfassung]. After successful tests, the transputer-system got the first chance on May 2nd 1993 in the D2-Mission with Space-Shuttle Columbia. It became a full success (world-wide first) .
Dissertation Fagerer 1996 [D20 Kurzfassg].
See Video 1993 Rotex Grasping In Space.mp4