README.md

ADCS Toolbox

High performance Spacecraft Attitude Dynamics and Control System toolbox with exposed python extention. Scalable toolbox uses Eigen3 for linear algebra and Boost for integration of system ODE . Currently there are three sample systems and more can be added provided that new systems are inherited from IBaseSystem base interface class and follow same structure. The pyadcs extention expose C++ classes and functions of ADCS library to python.

1. Compiled final report in pdf format tessi_DEORE_1823670.pdf
2. Thesis Report repository VSCMGThesisReport
3. System URDF vscmg_description

Systems

• Rigid Body - Simple free floating rigid body.
• VSCMG - Variable Speed Control Moment Gyroscope
• RW4 - Satellite with tripod configration of 4 reaction wheels

Build

Install Linux dependencies

sudo apt-get install -y libboost-all-dev 
sudo apt-get install -y libeigen3-dev
sudo apt-get install -y python3 python3-pip

Make and install

mkdir build && cd build
cmake ..
make
make install

Uninstall adcs library

make uninstall

Examples

Executable targets are located in bin directory

# Rigid Body 
cd build/bin
./TestRigidBody

# Variable Speed Control Moment Gyroscope
cd build/bin
./TestVSCMG

Python Interface

Build with python interface wrapper library. Following comand executed in build directory shall build python interface library pyadcs.so in bin directory on linux or pyadcs.dll on windows.

cmake .. -DBUILD_PYTHON_LIB=True
make

To install python interface library with pip, in projecto root directory

pip install .

To uninstall python interface library

pip uninstall adcs

Run python samples

To use library modules in python install library with make install, and navigate to bin directory and run sample scripts rigid_body.py or vscmg.py, eg.

python rigid_body.py

Source Tree

.
├── include
│   └── ADCS                     # ADCS Core utils and interface
│       ├── Core
│       │   ├── Controllers.h
│       │   ├── IBaseSystem.h
:       :         :
│       │
│       └── Systems             # Public headers for Systems
│           ├── RigidBody.h
│           ├── RW4.h
│                 :
└── src
    └── ADCS
        ├── py_controller.cpp    # Python wrapper for controller
        └── Systems              # targets in Systems are classes 
            ├── RigidBody.cpp    # inherited from IBaseSystem
            ├── RW4.cpp
            └── VSCMG.cpp

Requirements

• C++ 14
• Boost
• Eigen3
• Python 2.7+

Docker

# Pull latest image from dockerhub
docker pull siddharthdeore/vscmgcpp:latest

# run container in iteractive mode
docker run --rm -it  siddharthdeore/vscmgcpp:latest


# Build image from source
docker build --pull --rm -f "Dockerfile" -t vscmgcpp:latest "."
# or
# docker compose -f "docker-compose.yml" down


# run python examples e.g. vscmg
python3 vscmg.py

⚠️ Note : This toolbox was written for MSc Thesis titled Neural Network based steering and Hardware in Loop Simulation of Variable Speed Control Moment Gyroscope

Cite

1. Attitude control of a fast-retargeting agile nanosatellite using Neural Network based steering for Variable Speed Control Moment Gyroscopes}

@inproceedings{inproceedings,
author = {Deore, Siddharth and Santoni, Fabio and Piergentili, Fabrizio and Marzioli, Paolo},
year = {2021},
month = {06},
pages = {},
title = {Attitude control of a fast-retargeting agile nanosatellite using Neural Network based steering for Variable Speed Control Moment Gyroscopes}
}

2. Design and Manufacturing of Hardware in Loop simulation testbed equipped with Variable Speed Control Moment Gyroscopes

@inproceedings{inproceedings,
author = {Deore, Siddharth and Santoni, Fabio and Piergentili, Fabrizio and Marzioli, Paolo},
year = {2021},
month = {06},
pages = {},
title = {Design and Manufacturing of Hardware in Loop simulation testbed equipped with Variable Speed Control Moment Gyroscopes}
}

Maintainers

This repository is maintained by:

	siddharth deore