2018

[80] Flores-Abad, A., and Ulrich, S.,”Force Sensorless Impedance Controller for a Space Robot to Capture an Object in Orbit,” IEEE Aerospace Conference, Big Sky, MT, 3-10 Mar, 2018, accepted.
[79] Shi, J-F., Ulrich, S., and Ruel, S., “Spacecraft Detection and Extraction from a Monocular Thermal Camera Image using Convolutional Neural Network,” AIAA Guidance, Navigation, and Control Conference, Kissimmee, FL, 8-12 Jan, 2018, accepted.
[78] Flores-Abad, A., Crain, A., Nandayapa, M., Hernandez, G., and Ulrich, S., “Disturbance Observer-based Impedance Control for a Compliant Capture of an Object in Space,” AIAA Guidance, Navigation, and Control Conference, Kissimmee, FL, 8-12 Jan, 2018, accepted.

2017

[77] Hovell, K., and Ulrich, S., “Postcapture Dynamics and Experimental Validation of Subtethered Space Debris,” AIAA Journal of Guidance, Control, and Dynamics, 2017, accepted, in press.
[76] Shi, J-F., Ulrich, S., and Ruel, S., “International Space Station Image Extraction from a Dynamic Environment using Deep Learning,” 4th International Conference on Control, Dynamic Systems, and Robotics, Toronto, Canada, 22-23 Aug, 2017.
[75] Kuiack, B., and Ulrich, S., “Orbital Element-Based Relative Motion Guidance on J2-Perturbed Eccentric Orbits,” AAS/AIAA Astrodynamics Specialist Conference, Stevenson, WA, 20-24 Aug, 2017.
[74] Shi, J-F., Ulrich, S., and Ruel, S., “yBRIEF: A Study in Non-Gaussian Binary Elementary Feature,” International Conference on Image, Vision and Computing, Chengdu, China, 2-4 Jun, 2017. Best Paper in Session Award.
[73] Shi, J-F., Ulrich, S., and Ruel, S., “A Comparison of Feature Descriptors Using Monocular Thermal Camera Images,” International Conference on Control, Automation and Robotics, Nagoya, Japan, 22-24 Apr, 2017.
[72] Hovell, K., and Ulrich, S., “Experimental Validation for Tethered Capture of Spinning Space Debris,” AIAA Guidance, Navigation, and Control Conference, Grapevine, TX, 9-13 Jan, 2017, AIAA Paper 2017-1049, Best Presentation in Session.
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[71] Ulrich, S., and Hovell, K., “Iterative Learning Control of Spacecraft Proximity Operations Based on Confidence Level,” AIAA Guidance, Navigation, and Control Conference, Grapevine, TX, 9-13 Jan, 2017, AIAA Paper 2017-1046.
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[70] Shi, J.-F., Ulrich, S., and Ruel, S., “Spacecraft Pose Estimation using Principal Component Analysis and a Monocular Camera,” AIAA Guidance, Navigation, and Control Conference, Grapevine, TX, 9-13 Jan, 2017, AIAA Paper 2017-1034.
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2016

[69] Ulrich, S., Saenz-Otero, A., Barkana, I., “Passivity-Based Adaptive Control of Robotic Spacecraft for Proximity Operations under Uncertainties,” AIAA Journal of Guidance, Control, and Dynamics, Vol 39., No. 6, 2016, pp. 1444–1453.
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[68] Chamitoff, G. E., Saenz-Otero, A., Katz, J. G., Ulrich, S., Morrell, B. J., Gibbens, P., ” Real-time Maneuver Optimization of Space-Based Robots in a Dynamic Environment: Theory and On-Orbit Experiments,” Acta Astronautica, under review.
[67] Shi, J.-F., Ulrich, S., and Ruel, S., “Spacecraft Pose Estimation Using a Monocular Camera,” 64th International Astronautical Congress, Guadalajara, Mexico, 26-30 Sep, 2016.
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[66] Crain, A., and Ulrich, S., “Nonlinear Optimal Trajectory Planning for Free-Floating Space Manipulators Using a Gauss Pseudospectral Method,” AIAA/AAS Astrodynamics Specialist Conference, Long Beach, CA, 12-15 Sep, 2016, AIAA Paper 2016-5272.
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[65] Shi, J.-F., Ulrich, S., Chamitoff, G. E., Morrell, B. J., Allen, A., “Trajectory Optimization for Proximity Operations Around Tumbling Geometrical Constraints via Legendre Polynomials,” AIAA/AAS Astrodynamics Specialist Conference, Long Beach, CA, 12-15 Sep, 2016, AIAA Paper 2016-5270.
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[64] Shi, J.-F., and Ulrich, S., “SoftPOSIT Enhancements for Monocular Camera Spacecraft Pose Estimation,” 21st International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 29 Aug – 1 Sep, 2016.
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[63] Yazdkhasti, S, Sasiadek J. Z., and Ulrich, S., “GPS/INS Integration Performance Enhancement by Using a Fuzzy Adaptive Unscented Kalman Filter,” 21st International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 29 Aug – 1 Sep, 2016.
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[62] Ulrich, S., “Nonlinear Passivity-Based Adaptive Control for Spacecraft Formation Flying,” American Control Conference, Boston, MA, 6-8 Jul, 2016, pp. 7432-7437
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[61] Kuiack, B., and Ulrich, S., “Nonlinear Analytical Equations of Relative Motion on J2-Perturbed Eccentric Orbits,” 26th AAS/AIAA Space Flight Mechanics Meeting, Napa Valley, CA, 14-18 Feb, 2016, AAS Paper 16-495; also Advances in the Astronautical Sciences Series, Univelt, Vol. 158, 2016, pp. 4479-4492.
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[60] Hovell, K., and Ulrich, S., “Attitude Stabilization of an Uncooperative Spacecraft in an Orbital Environment using Visco-Elastic Tethers,” AIAA Guidance, Navigation, and Control Conference, San Diego, CA, 4-8 Jan, 2016, AIAA Paper 2016-0641.
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[59] Kedare, S. S., and Ulrich, S., “Formulation of Torque-Optimal Guidance Trajectories for a CubeSat with Degraded Reaction Wheels,” AIAA Guidance, Navigation, and Control Conference, San Diego, CA, 4-8 Jan, 2016, AIAA Paper 2016-0088. Best Presentation in Session.
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[58] Kedare, S. S., and Ulrich, S., “Extending the SPeAD-M86 Model: Incorporating the Effects of F10.7 Variations on Atmospheric Density,” AIAA Modeling and Simulation Technologies Conference, San Diego, CA, 4-8 Jan, 2016, AIAA Paper 2016-1188.
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2015

[57] Ulrich, S., and Sasiadek, J. Z., “On the Simple Adaptive Control of Flexible-Joint Space Robots with Uncertainties,” Aerospace Robotics II, Sasiadek, J. Z. (Ed.), Series on GeoPlanet: Earth and Planetary Sciences, Springler-Verlag, 2015, ISBN 978-3-319-13852-7, pp. 13–23.
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[56] Shi, J.-F., Ulrich, S., Ruel, S., and Anctil, M., “Uncooperative Spacecraft Pose Estimation Using an Infrared Camera During Proximity Operations,” AIAA Space and Astronautics Forum and Exposition, Pasadena, CA, 31 Aug-2 Sep, 2015, AIAA Paper 2015-4429.
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[55] Yazdkhasti, S, Ulrich, S., and Sasiadek J. Z., “Laboratory Experimentation of Stereo Vision-Based Relative Navigation with Unknown Spinning Spacecraft,” 20th International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 24-27 Aug, 2015.
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[54] Kedare, S. S., and Ulrich, S., “Undamped Passive Attitude Stabilization and Orbit Management of a 3U CubeSat with Drag Sails,” AAS/AIAA Astrodynamics Specialist Conference, Vail, CO, 9-13 Aug, 2015, AAS Paper 15-502; also Advances in the Astronautical Sciences Series, Univelt, 2015.
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[53] Shi, J.-F., Ulrich, S., and Allen, A., “Optimal Trajectory Guidance for Spacecraft Robotic Servicing Missions,” 13th Symposium on Advanced Space Technologies in Robotics and Automation, Noordwijk, The Netherlands, 11-13 May, 2015.
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[52] Hovell, K., and Ulrich, S. “Attitude Stabilization of an Unknown and Spinning Target Spacecraft Using a Visco-Elastic Tether,” 13th Symposium on Advanced Space Technologies in Robotics and Automation, Noordwijk, The Netherlands, 11-13 May, 2015.
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[51] Yazdkhasti, S., Ulrich, S., and Sasiadek, J. Z., “Computer Vision for Real-Time Relative Navigation with a Non-Cooperative and Spinning Target Spacecraft,” 13th Symposium on Advanced Space Technologies in Robotics and Automation, Noordwijk, The Netherlands, 11-13 May, 2015.
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[50] Shi, J.-F., Ulrich, S., and Allen, A., “Spacecraft Adaptive Attitude Control with Application to Space Station Free-Flyer Robotic Capture,” AIAA Guidance, Navigation, and Control Conference, Kissimmee, FL, 5-9 Jan, 2015, AIAA Paper 2015-1780.
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[49] Kedare, S. S., and Ulrich, S., “Design and Evaluation of a Semi-Empirical Piece-wise Exponential Atmospheric Density Model for CubeSat Applications,” AIAA Modeling and Simulation Technologies Conference, Kissimmee, FL, 5-9 Jan, 2015, AIAA Paper 2015-1589.
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2014

[48] Fourie, D., Tweddle, B. E., Ulrich, S., and Saenz-Otero, A., “Flight Results of Vision-Based Navigation and Control for Autonomous Spacecraft Inspection of an Unknown Object,” AIAA Journal of Spacecraft and Rockets, Vol. 51, No. 6, 2014, pp. 2016–2026.
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[47] Ulrich, S., Sasiadek, J. Z., and Barkana, I., “Nonlinear Adaptive Output Feedback Control of Flexible-Joint Space Manipulators with Joint Stiffness Uncertainties,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 37, No. 6, 2014, pp. 1961–1975.
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[46] Flores-Abad, A., Ma, O., Pham, K., and Ulrich, S., “A Review of Space Robotics Technologies for On-Orbit Servicing,” Progress in Aerospace Sciences, Vol. 68, 2014, pp. 1–26.
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[45] Ulrich, S. and Sasiadek, J. Z., “Decentralized Simple Adaptive Control of Nonlinear Systems,” International Journal of Adaptive Control and Signal Processing, Vol. 28, No. 7, 2014, pp. 750–763.
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[44] Shi, J.-F., and Ulrich, S., “A Direct Adaptive Control Law using Modified Rodrigues Parameters for ISS Attitude Regulation During Free-flyer Capture Operations,” 65th International Astronautical Congress, Toronto, Canada, 29 Sep-3 Oct, 2014.
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[43] Sasiadek, J. Z., Green A., Ulrich, S., and Krzyzak, A., “Nonparametric Identification and Control of Flexible-Joint Robot Manipulators,” 18th International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 2-5 Sep, 2014.
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[42] Tweddle, B. E., Ulrich, S., Setterfield, T., Saenz-Otero, A., and Miller, D. W., “The SPHERES-VERTIGO Goggles: An Overview of Vision-Based Navigation Research Results from the International Space Station,” 12th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Montreal, Canada, 17-19 Jun, 2014.
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[41] Ulrich, S., Hayhust, D. L., Saenz-Otero, A., Miller, D. W., and Barkana, I., “Simple Adaptive Control for Spacecraft Proximity Operations,” AIAA Guidance, Navigation, and Control Conference, National Harbor, MD, 13-17 Jan, 2014, AIAA Paper 2014-1288.
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[40] Chamitoff, G. E., Saenz-Otero, A., Katz, J. G., and Ulrich, S., “Admissible Subspace TRajectory Optimizer (ASTRO) for Autonomous Robot Operations on the Space Station,” AIAA Guidance, Navigation, and Control Conference, National Harbor, MD, 13-17 Jan, 2014, AIAA Paper 2014-1290.
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2013

[39] Ulrich, S. and Sasiadek, J. Z., “Direct Fuzzy Adaptive Control of a Manipulator with Elastic Joints,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 36, No. 1, 2013, pp. 311–319.
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[38] Fourie, D., Tweddle, B. E., Ulrich, S., and Saenz-Otero, A., “Vision-Based Relative Navigation and Control for Autonomous Spacecraft Inspection of an Unknown Object,” AIAA Guidance, Navigation, and Control Conference, Boston, MA, 19-22 Aug, 2013, AIAA Paper 2013-4759.
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[37] Ulrich, S., Sasiadek, J. Z., and Barkana, I., “Nonlinear Adaptive Output Feedback Control of Flexible-Joint Space Robot Manipulators,” AIAA Guidance, Navigation, and Control Conference, Boston, MA, 19-22 Aug, 2013, AIAA Paper 2013-4523.
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[36] Ulrich, S., “Synchronized Position, Hold Engage and Reorient Experimental Satellites,” ISS Increment 33/34 – 30 Day Operational Accomplishments Report, prepared for NASA Johnson Space Center, April 2013.

2012

[35] Ulrich S., “Direct Adaptive Control Methodologies for Flexible-Joint Space Manipulators with Uncertainties and Modeling Errors,” Ph.D. Thesis, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada, August, 2012. Senate Medal for Outstanding Achievement at the PhD Level. E.Y. and J.W. Research Award in Mechanical/Aerospace Engineering.
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[34] Ulrich, S., Sasiadek, J. Z., and Barkana, I., “Modeling and Direct Adaptive Control of a Flexible-Joint Manipulator,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 35, No. 1, 2012, pp. 25–39.
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[33] Ulrich, S. and Sasiadek, J. Z., “Trajectory-Tracking Control for Flexible-Joint Space Manipulators,” Canadian Aeronautics and Space Journal, Vol. 58, No. 1, 2012, pp. 47–59.
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[32] Ulrich, S., Sasiadek, J. Z., and Barkana, I., “On a New Class of Direct Adaptive Output Feedback Controllers for Nonlinear Square Systems,” 51st IEEE Conference on Decision and Control, Maui, HI, 10-13 Dec, 2012, pp.4139-4144.
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[31] Krzyzak, A., Sasiadek, J. Z., and Ulrich, S., “Nonparametric Identification of Flexible-Joint Space Robot Manipulators,” 17th International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 27-30 Aug, 2012.
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[30] Ulrich, S. and Sasiadek, J. Z., “Direct Fuzzy Adaptive Control of a Manipulator with Elastic Joints,” AIAA Guidance, Navigation, and Control Conference, Minneapolis, MN, 13-16 Aug, 2012, AIAA Paper 2012-4620. Best Presentation in Session.
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[29] Ulrich, S., Sasiadek, J. Z., and Barkana, I., “Decentralized Simple Adaptive Control for Nonsquare Euler-Lagrange Systems,” American Control Conference, Montreal, Canada, 27-29 Jun, 2012, pp. 232-237.
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2011

[28] Ulrich, S. and Sasiadek, J. Z., “Methods of Trajectory Tracking for Flexible Joint Space Manipulators,” 18th IFAC World Congress, Milan, Italy, 28 Aug-2 Sep, 2011, pp. 10307-10312.
[27] Ulrich, S. and Sasiadek, J. Z., “Direct Adaptive Fuzzy Control for a Two-Link Robot,” 16th International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 22-25 Aug, 2011.
[26] Ulrich, S. and Sasiadek, J. Z., “Control Strategies for Flexible Joint Manipulators,” AIAA Guidance, Navigation, and Control Conference, Portland, OR, 8-11 Aug, 2011, AIAA Paper 2011-6297.
[25] Ulrich, S. and Sasiadek, J. Z., “Extended Kalman Filtering for Flexible Joint Space Robot Control,” American Control Conference, San Francisco, CA, 29 Jun-1 Jul, 2011, pp. 1021-1026.
[24] Ulrich, S. and Sasiadek, J. Z., “Real-Time Estimation and Adaptive Control of Flexible Joint Space Manipulators,” 8th International Workshop on Robot Motion and Control, Bukowy Dworek, Poland, 15-17 Jun, 2011; also Robot Motion and Control, Kozlowski, K. (Ed.), Series on Lecture Notes in Control and Information Sciences, Springer-Verlag, Vol. 442, 2012, ISBN 978-1-4471-2342-2, pp. 215–224.

2010

[23] Ulrich, S. and Côté, J., “Onboard Attitude Perturbation Estimation for Gyroless Spacecraft,” 61st International Astronautical Congress, Prague, Czech Republic, 27 Sep-1 Oct, 2010.
[22] Ulrich, S. and Sasiadek, J. Z., “Direct Model Reference Adaptive Control of a Flexible Joint Robot,” AIAA Guidance, Navigation and Control Conference and Exhibit, Toronto, Canada, 2-5 Aug, 2010, AIAA Paper 2010-7844.
[21] Ulrich, S. and Sasiadek, J. Z., “Modified Simple Adaptive Control for a Two-Link Space Robot,” American Control Conference, Baltimore, MD, 30 Jun-2 Jul, 2010, pp. 3654-3659.
[20] Ulrich, S. and Sasiadek, J. Z., “Control of a Robot Manipulator with Rigid and Flexible Joints,” 15th CASI Conference on Astronautics, Toronto, Canada, 4-6 May, 2010.

2009

[19] Ulrich, S., Côté, J., and de Lafontaine, J., “In-Flight Attitude Perturbation Estimation for Earth-Orbiting Spacecraft,” The Journal of the Astronautical Sciences, Vol. 57, No. 3, 2009, pp. 633–665.
[18] Ulrich, S., Landry Corbin, F., and Veilleux, J.-F., “Power System Design for ESMO,” Acta Astronautica, Vol. 64, Nos. 2-3, 2009, pp. 244–255.
[17] Ulrich, S. and Sasiadek, J. Z., “Autonomous Control for Flexible Joint Space Robotic Manipulators,” 60th International Astronautical Congress, Daejeon, Republic of Korea, 12-16 Oct, 2009.

2008

[16] Ulrich, S. et al., “Development of On-Orbit Servicing Concepts, Technology Options, and Roadmap (Part II): Technical Design,” Journal of the British Interplanetary Society, Vol. 61, No. 6, 2008, pp. 213–223.
[15] Ulrich, S., Rasheed, A., Jones, J., and Clement, G., “Adaptation of the Vestibulo-Ocular Reflex to High g Accelerations and Pitching Motions,” Aviation, Space and Environmental Medicine, Vol. 79, No. 3, 2008, pp. 312–313.
[14] Ulrich, S., Kron, A., and de Lafontaine, J., “Attitude Guidance and Control for Synchronized Maneuvers About a Fixed Rotation Axis,” AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, HI, USA, 18-21 Aug, 2008, AIAA Paper 2008-7018.
[13] de Lafontaine, J., Kron, A., Ulrich, S., and Clerc, S., “Navigation and Guidance Strategies for High-Velocity Impact of a Near Earth Asteroid,” 7th International ESA Conference on Guidance, Navigation and Control Systems, Tralee, Ireland, 2-5 Jun, 2008.
[12] Ulrich, S., Rasheed, A., Jones, J., and Clement, G., “Adaptation of the Vestibulo-Ocular Reflex to High g Accelerations and Pitching Motions,” 79th Aerospace Medical Association Annual Scientific Meeting, Boston, Massachusetts, USA, 11-15 May, 2008.
[11] Kron, A., de Lafontaine, J., and Ulrich, S., “Formation Flying Static Output Feedback Control: Evaluating the Need of Scheduling for Eccentricity,” 3rd International Symposium on Formation Flying, Missions and Technologies, Noordwijk, The Netherlands, 23-25 Apr, 2008.
[10] Kron, A., Ulrich, S., and de Lafontaine, J., “Performance Demonstration of Autonomous Guidance and Control for Formation Flight on Eccentric Orbits,” 14th CASI Conference on Astronautics, Montreal, Canada, 29 Apr – 1 May, 2008.

2007

[9] Ulrich, S. and de Lafontaine, J., “Autonomous Atmospheric Entry on Mars: Performance Improvement Using a Novel Adaptive Control Algorithm,” The Journal of the Astronautical Sciences, Vol. 55, No. 4, 2007, pp. 431–449.
[8] Ulrich, S., Landry Corbin, F., and Veilleux, J.-F., “Power System Design for ESMO,” 58th International Astronautical Congress, Hyderabad, India, 24-28 Sep, 2007.
[7] Ulrich, S. and de Lafontaine, J., “Development of a Novel Adaptive Control Algorithm for a Fighter Aircraft,” AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Head, SC, USA, 20-23 Aug, 2007, AIAA Paper 2007-6649.
[6] Ulrich, S., Landry Corbin, F., and Veilleux, J.-F., “Preliminary Design of the Electrical Power Subsystem for the European Student Moon Orbiter Mission,” 21st Annual AIAA/USU Conference on Small Satellites, Logan, UT, USA, 13-16 Aug, 2007.
[5] Ulrich, S. and de Lafontaine, J., “Mars Entry Robustness Improvement Using a Novel Adaptive Control Algorithm,” 30th Annual AAS Guidance and Control Conference, Breckenridge, CO, USA, 3-7 Feb, 2007, AAS Paper 07-001; also Advances in the Astronautical Sciences Series, Hallowell H. E. and Culp, R. D. (Eds. ), Univelt, Vol. 128, 2007, ISBN 978-0-87703-542-8, pp. 1-18.

2006

[4] Ulrich S., “Guidance and Adaptive Control for Precision Landing on Mars,” M.A.Sc. Thesis, Department of Electrical and Computer Engineering, Université de Sherbrooke, Sherbrooke, Québec, Canada, December, 2006. Leonardo Da Vinci Medal.
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[3] Ulrich, S., Landry Corbin, F., and Nolet Côté, H., “Conceptual Design of the Electrical Power Subsystem for the European Student Moon Orbiter Mission,” 57th International Astronautical Congress, Valencia, Spain, 2-6 Oct, 2006.
[2] Dagfinn Krøvel, T. and Ulrich, S., “Overview of the European Student Moon Orbiter Mission,” 57th International Astronautical Congress, Valencia, Spain, 2-6 Oct, 2006.

2005

[1] Dagfinn Krøvel, T., Jerpetjøn, K., and Ulrich, S., “The European Student Moon Orbiter Project,” 7th International Lunar Conference, Toronto, Canada, 18-23 Sep, 2005.