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1
Liu, Jinguo, Pengyuan Zhao, Keli Chen, Xin Zhang, and Xiang Zhang. "1U-Sized Deployable Space Manipulator for Future On-Orbit Servicing, Assembly, and Manufacturing." Space: Science & Technology 2022 (September 7, 2022): 1–14. http://dx.doi.org/10.34133/2022/9894604.
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Miniaturized, multifunctional, and economical on-orbit service satellites have been increasingly used with the continuous increase of space exploration missions. In this paper, an innovative deployable manipulator is designed, named Cubot, which can be stowed in 1 U-sized (10 cm×10 cm×10 cm) space. With CubeSat as the carrier, the deployable Cubot aims to achieve a variety of on-orbit operation tasks including space debris removal and space station on-orbit maintenance, for future on-orbit servicing, assembly, and manufacturing (OSAM). A kinematics modeling method of a space manipulator with passive joints is proposed, and the motion equation of the manipulator is derived. Considered the elastic potential energy stored in the passive joint during deployment, the momentum change of Cubot is simulated and analyzed. As the main forced element, the end effector is analyzed using FEA. Dynamic stress response with respect to the force distribution and the clamping angle is analyzed to evaluate mechanical performances of the end-effector component. Deployment tests are conducted to verify the feasibility of Cubot based on a principled prototype, which aims to provide engineering and practical experience for the development of this field.
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Ellery. "Tutorial Review on Space Manipulators for Space Debris Mitigation." Robotics 8, no. 2 (April 26, 2019): 34. http://dx.doi.org/10.3390/robotics8020034.
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Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.
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Orlov, Vladislav, Uliana Monakhova, Mikhail Ovchinnikov, and Danil Ivanov. "Fuelless On-Orbit Assembly of a Large Space Truss Structure Using Repulsion of the Service Spacecraft by Robotic Manipulators." Aerospace 11, no. 8 (August 2, 2024): 635. http://dx.doi.org/10.3390/aerospace11080635.
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A servicing spacecraft motion control approach for the problem of on-orbit truss structure assembly is developed in this paper. It is considered that a cargo container with a rod set and servicing spacecraft are in orbit initially. The assembly procedure is based on spacecraft free-flight motion between the structure’s specified points. The spacecraft is equipped with two robotic manipulators capable of attaching to the structure and holding rods. In addition, the spacecraft can repulse from the structure with a given relative velocity using a manipulator, so the spacecraft and the structure receive impulses. The repulsion velocity vector is calculated in order to reach the structure target point to deliver and install the rod into the truss structure, or to reach the cargo container and take a rod. The problem of searching the repulsion velocity is formulated as an optimization problem with constraints, taking into account the limited value of the repulsion velocity, collision avoidance with structure, restrictions on the angular velocity and translational motion of the structure in the orbital reference frame. This problem is solved numerically with an initial guess vector obtained analytically for simplified motion cases. The application of the proposed control scheme to the assembly of a truss-based antenna is demonstrated. It is shown that the servicing spacecraft is successfully transferred between the structure points by means of manipulator repulsion. Main features and limitations of the assembly problem using a spacecraft with two manipulators are discussed.
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Mulsow, Niklas Alexander, Adam Dabrowski, Martin Mallwitz, and Leonard Maisch. "Design and testing of mechanical gripping tools for On Orbit assembling." Journal of Physics: Conference Series 2716, no. 1 (March 1, 2024): 012093. http://dx.doi.org/10.1088/1742-6596/2716/1/012093.
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Abstract On-orbit servicing, assembly and manufacturing (OSAM) opens a new frontier for robotic systems. A gripping tool for such applications must meet several requirements of space mechanics, such as safety, precision and reliability, while functioning in space conditions. This paper presents a development cycle of such tools designed for the assembly of a small satellite antenna on the International Space Station. Two different grippers, driven by a common drive unit, are presented, conforming to a Multi-Purpose-Tool (MPT) for orbital robotic systems and meeting the requirements of a defined OSAM mission. Both design drivers and concepts and specific component selection are described. Proposed mechanical solutions for safe gripping of objects including space tribology aspects are covered. To adapted to operations not foreseen, the grippers and the drive unit can be reconfigured. The tool architecture presented promotes modularity, scalability, reusability and convertibility of designs, thus facilitating rapid integration in similar missions. A test campaign for critical requirements will be in place to ensure reliable performance of the tools for use in the space environment.
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PhD, Stella Alexandrova. "Future trends of commercial In- Orbit Satellite Servicing, Active Debris Removal and End-Of Life services." Journal of Physics: Conference Series 2255, no. 1 (April 1, 2022): 012014. http://dx.doi.org/10.1088/1742-6596/2255/1/012014.
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Abstract Space debris growth has become a major threat not only to satellites as well as to the safe operations of the International Space Station (ISS). In September 2021, there were more than 4,700 operational satellites, 36,5000 space debris objects larger than 10 cm and 1 000 000 pieces in the 1cm to 10 cm range. The total mass of all space objects in Earth Orbit is 9,600 tonnes[1]. The launches of Starlink, Amazon Kuiper and OneWeb satellite constellations will increase the threat of space debris collisions. Satellite owners, operators, space agencies and commercial players owning the mega-constellations will need to find economically viable ways to inspect, refuel, augment, extend and manage the lifetime of their satellites. Some of the emerging trends taking place in the space industry are on- orbit satellite servicing, active debris removal services and end-of life services. With the technology demonstrations on orbit of Mission Extension Vehicles (MEV-1), MEV-2 and ELSA-d missions promising In Orbit Satellite (IOS), markets are emerging and expected to reach up to $ 6.2 bln by 2030[2]. The objective of this paper is to identify the role of Bulgarian organisations in the future emerging of in- orbital satellite (IOS) and space situational services markets. Bulgaria’s historical space competencies can contribute to the development of user-driven services/ solutions for space debris inspection, collision avoidance, space robotics and in- orbit servicing and assembly. By encouraging the creation of a new space eco-system in the domain of space debris and space situational awareness in South-Eastern Europe, Bulgarian companies and research organisations are bound to play an important role in the future space robotics markets.
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Chihi, Mohamed, Chourouk Ben Hassine, and Quan Hu. "Segmented Hybrid Impedance Control for Hyper-Redundant Space Manipulators." Applied Sciences 15, no. 3 (January 23, 2025): 1133. https://doi.org/10.3390/app15031133.
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Hyper-redundant space manipulators (HRSMs), with their extensive degrees of freedom, offer a promising solution for complex space operations such as on-orbit assembly and manipulation of non-cooperative objects. A critical challenge lies in achieving stable and effective grasping configurations, particularly when dealing with irregularly shaped objects in microgravity. This study addresses these challenges by developing a segmented hybrid impedance control architecture tailored to multi-point contact scenarios. The proposed framework reduces the contact forces and enhances object manipulation, enabling the secure handling of irregular objects and improving operational reliability. Numerical simulations demonstrate significant reductions in the contact forces during initial engagements, ensuring stable grasping and effective force regulation. The approach also enables precise trajectory tracking, robust collision avoidance, and resilience to external disturbances. The complete non-linear dynamics of the HRSM system are derived using the Kane method, incorporating both the free-space and constrained motion phases. These results highlight the practical capabilities of HRSM systems, including their potential to grasp and manipulate obstacles effectively, paving the way for applications in autonomous on-orbit servicing and assembly tasks. By integrating advanced control strategies and robust stability guarantees, this work provides a foundation for the deployment of HRSMs in real-world space operations, offering greater versatility and efficiency in complex environments.
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Vasylyev, V. V., L. A. Godunok, and S. A. Matviienko. "On orbit serving — a step towards further exploration of near-Earth space." Kosmìčna nauka ì tehnologìâ 27, no. 3 (July 2021): 39–50. http://dx.doi.org/10.15407/knit2021.03.039.
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The purpose of the publication is to draw the attention of the Ukrainian scientific and technical community to the development of a new area of activity in outer space - orbital service. The content, technical and economic preconditions and competitive advantages of its development in Ukraine are outlined. Definitions of orbital services such as customer inspection, orbital (inter-orbital) transportation, refueling and resupply, upgrade, assembly, collision avoidance are given. The competence of Ukrainian enterprises in this direction has been analyzed. The expediency and possibility of developing the direction of orbital servicing for further exploration of near space, in particular, the developments of Ukrainian enterprises for the development and manufacture of systems for rendezvous and docking of spacecraft, have been substantiated. Scenarios of interaction between a space service vehicle and a client vehicle in near-earth orbit are described. The basic requirements for carrying out of Servicer and the Client autonomous proximity operations, as well as the operation of seizing the client machine are given. Proposals for the functionality of spacecraft for the provision of orbital space services are presented, it is proposed to consider the need to create specialized cargo modules and examples of their application in orbit are given. The tendencies of the approach to the creation of spacecraft structures adapted for in-orbit service are considered. The predicted volume of orbital service operations by type of service and with orbits is given. Provided information about the key players in a given market. The design of Servicer, which is being developed by Kurs NPK JSC, Yuzhnoye Design Bureau, for the provision of transport services, is presented. The specified features of its construction in general and the composition of the modules, as well as the possibility of further expanding the functionality of the Servicer.
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Wang, Xiaoyi, and Jayantha Katupitiya. "A Tangent Release Manipulation Controlled by a Dual-Arm Space Robot." Actuators 12, no. 8 (August 14, 2023): 325. http://dx.doi.org/10.3390/act12080325.
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As people further develop space with advanced technology, space robots have played a significant role in on-orbit servicing missions. Space robots can carry out more risky and complicated missions with less cost than astronauts. Dual-arm space robots can perform complex on-orbit space missions more effectively than single-arm space robots. Since the coupled dynamics between the free-floating base and the arms exist in space robots, accurate coordinate control of the base and the arms is essential. Spacecraft release missions have been proposed to berth/deberth a spacecraft to a space station. Based on the existing release missions, a tangent release strategy is introduced in this paper, which can release a space object in the tangent direction of the final link of a space manipulator. This strategy can control a dual-arm space robot to deploy cargo/spacecraft in variable directions in 3D space without thrusters and the associated fuel consumption. For instance, this tangent release operation can transport cargo or modules of large-scale spacecraft needing on-orbit assembly. Considering model uncertainties, robust controllers again model uncertainties that are used to control the dual-arm space robot with high accuracy. Hence, a robust sliding mode controller (SMC) is utilized to accurately control the space robot to carry out the proposed tangent release strategy. For comparison, we select a conventional computed torque control (CTC) implemented by a PD-type controller. In the simulations, the SMC performs better in tracking accuracy and robustness against the model uncertainties than the PD controller. Numerical simulations indicate the feasibility and effectiveness of the tangent release manipulation of a space object by a dual-arm space robot.
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Brandonisio, Andrea, Michèle Lavagna, and Davide Guzzetti. "Reinforcement Learning for Uncooperative Space Objects Smart Imaging Path-Planning." Journal of the Astronautical Sciences 68, no. 4 (November 2, 2021): 1145–69. http://dx.doi.org/10.1007/s40295-021-00288-7.
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AbstractLeading space agencies are increasingly investing in the gradual automation of space missions. In fact, autonomous flight operations may be a key enabler for on-orbit servicing, assembly and manufacturing (OSAM) missions, carrying inherent benefits such as cost and risk reduction. Within the spectrum of proximity operations, this work focuses on autonomous path-planning for the reconstruction of geometry properties of an uncooperative target. The autonomous navigation problem is called active Simultaneous Localization and Mapping (SLAM) problem, and it has been largely studied within the field of robotics. Active SLAM problem may be formulated as a Partially Observable Markov Decision Process (POMDP). Previous works in astrodynamics have demonstrated that is possible to use Reinforcement Learning (RL) techniques to teach an agent that is moving along a pre-determined orbit when to collect measurements to optimize a given mapping goal. In this work, different RL methods are explored to develop an artificial intelligence agent capable of planning sub-optimal paths for autonomous shape reconstruction of an unknown and uncooperative object via imaging. Proximity orbit dynamics are linearized and include orbit eccentricity. The geometry of the target object is rendered by a polyhedron shaped with a triangular mesh. Artificial intelligent agents are created using both the Deep Q-Network (DQN) and the Advantage Actor Critic (A2C) method. State-action value functions are approximated using Artificial Neural Networks (ANN) and trained according to RL principles. Training of the RL agent architecture occurs under fixed or random initial environment conditions. A large database of training tests has been collected. Trained agents show promising performance in achieving extended coverage of the target. Policy learning is demonstrated by displaying that RL agents, at minimum, have higher mapping performance than agents that behave randomly. Furthermore, RL agent may learn to maneuver the spacecraft to control target lighting conditions as a function of the Sun location. This work, therefore, preliminary demonstrates the applicability of RL to autonomous imaging of an uncooperative space object, thus setting a baseline for future works.
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Peterson, Marco, Minzhen Du, Bryant Springle, and Jonathan Black. "SpaceDrones 2.0—Hardware-in-the-Loop Simulation and Validation for Orbital and Deep Space Computer Vision and Machine Learning Tasking Using Free-Flying Drone Platforms." Aerospace 9, no. 5 (May 6, 2022): 254. http://dx.doi.org/10.3390/aerospace9050254.
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The proliferation of reusable space vehicles has fundamentally changed how assets are injected into the low earth orbit and beyond, increasing both the reliability and frequency of launches. Consequently, it has led to the rapid development and adoption of new technologies in the aerospace sector, including computer vision (CV), machine learning (ML)/artificial intelligence (AI), and distributed networking. All these technologies are necessary to enable truly autonomous “Human-out-of-the-loop” mission tasking for spaceborne applications as spacecrafts travel further into the solar system and our missions become more ambitious. This paper proposes a novel approach for space-based computer vision sensing and machine learning simulation and validation using synthetically trained models to generate the large amounts of space-based imagery needed to train computer vision models. We also introduce a method of image data augmentation known as domain randomization to enhance machine learning performance in the dynamic domain of spaceborne computer vision to tackle unique space-based challenges such as orientation and lighting variations. These synthetically trained computer vision models then apply that capability for hardware-in-the-loop testing and evaluation via free-flying robotic platforms, thus enabling sensor-based orbital vehicle control, onboard decision making, and mobile manipulation similar to air-bearing table methods. Given the current energy constraints of space vehicles using solar-based power plants, cameras provide an energy-efficient means of situational awareness when compared to active sensing instruments. When coupled with computationally efficient machine learning algorithms and methods, it can enable space systems proficient in classifying, tracking, capturing, and ultimately manipulating objects for orbital/planetary assembly and maintenance (tasks commonly referred to as In-Space Assembly and On-Orbit Servicing). Given the inherent dangers of manned spaceflight/extravehicular activities (EVAs) currently employed to perform spacecraft maintenance and the current limitation of long-duration human spaceflight outside the low earth orbit, space robotics armed with generalized sensing and control and machine learning architecture have a unique automation potential. However, the tools and methodologies required for hardware-in-the-loop simulation, testing, and validation at a large scale and at an affordable price point are in developmental stages. By leveraging a drone’s free-flight maneuvering capability, theater projection technology, synthetically generated orbital and celestial environments, and machine learning, this work strives to build a robust hardware-in-the-loop testing suite. While the focus of the specific computer vision models in this paper is narrowed down to solving visual sensing problems in orbit, this work can very well be extended to solve any problem set that requires a robust onboard computer vision, robotic manipulation, and free-flight capabilities.
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Bingi, Kishore, B. Rajanarayan Prusty, and Abhaya Pal Singh. "A Review on Fractional-Order Modelling and Control of Robotic Manipulators." Fractal and Fractional 7, no. 1 (January 10, 2023): 77. http://dx.doi.org/10.3390/fractalfract7010077.
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Robot manipulators are widely used in many fields and play a vital role in the assembly, maintenance, and servicing of future complex in-orbit infrastructures. They are also helpful in areas where it is undesirable for humans to go, for instance, during undersea exploration, in radioactive surroundings, and other hazardous places. Robotic manipulators are highly coupled and non-linear multivariable mechanical systems designed to perform one of these specific tasks. Further, the time-varying constraints and uncertainties of robotic manipulators will adversely affect the characteristics and response of these systems. Therefore, these systems require effective modelling and robust controllers to handle such complexities, which is challenging for control engineers. To solve this problem, many researchers have used the fractional-order concept in the modelling and control of robotic manipulators; yet it remains a challenge. This review paper presents comprehensive and significant research on state-of-the-art fractional-order modelling and control strategies for robotic manipulators. It also aims to provide a control engineering community for better understanding and up-to-date knowledge of fractional-order modelling, control trends, and future directions. The main table summarises around 95 works closely related to the mentioned issue. Key areas focused on include modelling, fractional-order modelling type, model order, fractional-order control, controller parameters, comparison controllers, tuning techniques, objective function, fractional-order definitions and approximation techniques, simulation tools and validation type. Trends for existing research have been broadly studied and depicted graphically. Further, future perspective and research gaps have also been discussed comprehensively.
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de Castro, Ana I. Gómez, and Martin A. Barstow. "Joint Discussion 4 UV astronomy: stars from birth to death." Proceedings of the International Astronomical Union 2, no. 14 (August 2006): 169–94. http://dx.doi.org/10.1017/s1743921307010083.
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AbstractThe scientific program is presented as well a the abstracts of the contributions. An extended account is published in “The Ultraviolet Universe: stars from birth to death” (Ed. Gómez de Castro) published by the Editorial Complutense de Madrid (UCM), that can be accessed by electronic format through the website of the Network for UV Astronomy (www.ucm.es/info/nuva).There are five telescopes currently in orbit that have a UV capability of some description. At the moment, only FUSE provides any medium- to high-resolution spectroscopic capability. GALEX, the XMM UV-Optical Telescope (UVOT) and the Swift. UVOT mainly delivers broad-band imaging, but with some low-resolution spectroscopy using grisms. The primary UV spectroscopic capability of HST was lost when the Space Telescope Imaging Spectrograph failed in 2004, but UV imaging is still available with the HST-WFPC2 and HST-ACS instruments.With the expected limited lifetime of sl FUSE, UV spectroscopy will be effectively unavailable in the short-term future. Even if a servicing mission of HST does go ahead, to install COS and repair STIS, the availability of high-resolution spectroscopy well into the next decade will not have been addressed. Therefore, it is important to develop new missions to complement and follow on from the legacy of FUSE and HST, as well as the smaller imaging/low resolution spectroscopy facilities. This contribution presents an outline of the UV projects, some of which are already approved for flight, while others are still at the proposal/study stage of their development.This contribution outlines the main results from Joint Discussion 04 held during the IAU General Assembly in Prague, August 2006, concerning the rationale behind the needs of the astronomical community, in particular the stellar astrophysics community, for new UV instrumentation. Recent results from UV observations were presented and future science goals were laid out. These goals will lay the framework for future mission planning.
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Toklu, Melih. "Maintenance satellite modular docking mechanism design for on orbit servicing to nanosatellites." Aircraft Engineering and Aerospace Technology 96, no. 9 (September 25, 2024): 1247–58. http://dx.doi.org/10.1108/aeat-10-2023-0272.
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Purpose As a result of space debris problem, it is necessary to deorbit uncontrollable satellites or repair them to extend mission duration to avoid sending a new satellite. The purpose of this paper is to develop a docking mechanism that can be easily customized for different missions, providing on-orbit servicing for nanosatellites. Design/methodology/approach This research outlines a system and mechanism design for the docking phase of on-orbit servicing to nanosatellites. The umbrella-inspired mechanism is designed with utmost simplicity to minimize the likelihood of failure. CAD, structural analyse and mechanism analyse tools are used for designing and analysing the system. To ensure that the design attains the desired durability, numerous iterations are conducted. A three-dimensional (3D)-printed prototype is generated for mechanism verification in laboratory conditions. Findings The aimed mechanism is generated successfully. A 3D-printed prototype is assembled to verify the mechanism. Also, an equation for customis the presented design is generated for different mission requirements in the future. Practical implications The usage of the proposed design can help increase the lifespan of satellites. Originality/value The primary innovation in this study is the development of a docking mechanism featuring a movable platform to provide servicing for nanosatellites in orbit. The mechanism presented can be displaced without initiating the unfolding process. This provides a customizable coupling distance for different mission requirements. Therefore, the presented mechanism can serve both different types of satellites and more than one satellite on-orbit with a cost-effective design. Also, the presented design can be easily customized to enable adaptation for the different mission requirements in the future.
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Sun, Dianqi, Liang Hu, Huixian Duan, and Haodong Pei. "Relative Pose Estimation of Non-Cooperative Space Targets Using a TOF Camera." Remote Sensing 14, no. 23 (December 1, 2022): 6100. http://dx.doi.org/10.3390/rs14236100.
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It is difficult to determine the accurate pose of non-cooperative space targets in on-orbit servicing (OOS). The visual camera is easily affected by the extreme light environment in space, and the scanning lidar will have motion distortion when the target moves at high speed. Therefore, we proposed a non-cooperative target pose-estimation system combining a registration and a mapping algorithm using a TOF camera. We first introduce the projection model of the TOF camera and proposed a new calibration method. Then, we introduce the three modules of the proposed method: the TOF data preprocessing module, the registration module and the model mapping module. We assembled the experimental platform to conduct semi-physical experiments; the results showed that the proposed method has the smallest translation error 8 mm and Euler angle error 1° compared with other classical methods. The total time consumption is about 100 ms, and the pose tracking frequency can reach 10 hz. We can conclude that the proposed pose-estimation scheme can achieve the high-precision pose estimation of non-cooperative targets and meet the requirements necessary for aerospace applications.
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Chapin, Samantha, Holly Everson, William Chapin, Amy Quartaro, and Erik Komendera. "Built On-orbit Robotically assembled Gigatruss (BORG): A mixed assembly architecture trade study." Frontiers in Robotics and AI 10 (February 22, 2023). http://dx.doi.org/10.3389/frobt.2023.1109131.
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This paper explores a mixed assembly architecture trade study for a Built On-orbit Robotically assembled Gigatruss (BORG). Robotic in-space assembly (ISA) and servicing is a crucial field to expand endeavors in space. Currently, large structures in space are commonly only deployable and must be efficiently folded and packed into a launch vehicle (LV) and then deployed perfectly for operational status to be achieved. To actualize being able to build increasingly large structures in space, this scheme becomes less feasible, being constrained by LV volume and mass requirements. ISA allows the use of multiple launches to create even larger structures. The common ISA proposals consist of either strut-by-strut or multiple deployable module construction methodologies. In this paper, a mixed assembly scheme is explored and a trade study is conducted on its possible advantages with respect to many phases of a mission: 1) manufacturing, 2) stowage and transport, 3) ISA, and 4) servicing. Finally, a weighted decision matrix was created to help compare the various advantages and disadvantages of different architectural schemes.
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Asri, El Ghali, and Zheng H. Zhu. "An introductory review of swarm technology for spacecraft on‐orbit servicing." International Journal of Mechanical System Dynamics, March 17, 2024. http://dx.doi.org/10.1002/msd2.12098.
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AbstractThis review paper presents a comprehensive evaluation and forward‐looking perspective on the underexplored topic of servicing target objects using spacecraft swarms. Such targets can be known or unknown, cooperative or uncooperative, and pose significant challenges in modern space operations due to their inherent complexity and unpredictability. Successfully servicing space objects is vital for active debris removal and broader on‐orbit servicing tasks such as satellite maintenance, repair, refueling, orbital assembly, and construction. Significant effort has been invested in the literature to explore the servicing of targets using a single spacecraft. Given its advantages and benefits, this paper expands the discussion to encompass a swarm approach to the problem. This review covers various single‐spacecraft approaches and presents a critical examination of the existing, although limited, body of work dedicated to servicing orbital objects using multiple spacecraft. The focus is also broadened to include some influential studies concerning the characterization, capture, and manipulation of physical objects by general multiagent systems, a subject with significant parallels to the core interest of this manuscript. Furthermore, this article also delves into the realm of simultaneous localization and mapping, highlighting its application within close‐proximity operations in space, especially when dealing with unknown uncooperative targets. Special attention is paid to the benefits that this field can receive from distributed multiagent architectures. Finally, an exploration of the promising field of swarm robotics is presented, with an emphasis on its potential to revolutionize the servicing of orbital target objects. Concurrently, a survey of general research directly engaging swarms in the orbital context is conducted. This review aims to bridge the knowledge gap and stimulate further research in the underexplored domain of servicing space targets with spacecraft swarms.
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Nair, Manu Harikrishnan, Mini Chakravarthini Rai, and Mithun Poozhiyil. "Design engineering a walking robotic manipulator for in-space assembly missions." Frontiers in Robotics and AI 9 (October 14, 2022). http://dx.doi.org/10.3389/frobt.2022.995813.
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In-Space Services aim to introduce sustainable futuristic technology to support the current and growing orbital ecosystem. As the scale of space missions grows, there is a need for more extensive infrastructures in orbit. In-Space Assembly missions would hold one of the key responsibilities in meeting the increasing demand. In the forthcoming decades, newer infrastructures in the Earth’s orbits, which are much more advanced than the International Space Station are needed for in-situ manufacturing, servicing, and astronomical and observational stations. The prospect of in-orbit commissioning a Large Aperture Space Telescope (LAST) has fuelled scientific and commercial interests in deep-space astronomy and Earth Observation. However, the in-situ assembly of such large-scale, high-value assets in extreme environments, like space, is highly challenging and requires advanced robotic solutions. This paper introduces an innovative dexterous walking robotic system for in-orbit assembly missions and considers the Large Aperture Space Telescope system with an aperture of 25 m as the use case. The top-level assembly requirements are identified with a deep insight into the critical functionalities and challenges to overcome while assembling the modular LAST. The design and sizing of an End-over-end Walking Robot (E-Walker) are discussed based on the design of the LAST and the specifications of the spacecraft platform. The E-Walker’s detailed design engineering includes the structural finite element analysis results for space and earth-analogue design and the corresponding actuator selection methods. Results of the modal analysis demonstrate the deflections in the E-Walker links and end-effector in the open-loop due to the extremities present in the space environment. The design and structural analysis of E-Walker’s scaled-down prototype is also presented to showcase its feasibility in supporting both in-orbit and terrestrial activities requiring robotic capabilities over an enhanced workspace. Further, the mission concept of operations is presented based on two E-Walkers that carry out the assembly of the mirror modules. The mission discussed was shortlisted after conducting an extensive trade-off study in the literature. Simulated results prove the dual E-Walker robotic system’s efficacy for accomplishing complex in-situ assembly operations through task-sharing.
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Kaki, Siddarth, and Maruthi R. Akella. "Kinematic Batch Estimator for Angular Velocity and Associated Uncertainty." Journal of Guidance, Control, and Dynamics, April 8, 2024, 1–16. http://dx.doi.org/10.2514/1.g007688.
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Estimating the relative pose and angular velocity of an uncooperative space object is a critical component for many applications such as on-orbit assembly, inspection, and servicing. This paper presents new mathematical insights that permit a kinematic batch filter formulation for angular velocity estimation using quaternion measurements for relative orientation, thereby eliminating the need to know the moment of inertia of the target. In particular, a novel batch approach to computing the associated uncertainties for the angular velocity magnitude, spin-axis direction, and overall angular velocity vector estimates is presented and compared against previous recursive methodologies. Finally, a realistic use-case scenario is demonstrated in real-time on flightlike hardware.
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Kazanzides, Peter, Balazs P. Vagvolgyi, Will Pryor, Anton Deguet, Simon Leonard, and Louis L. Whitcomb. "Teleoperation and Visualization Interfaces for Remote Intervention in Space." Frontiers in Robotics and AI 8 (December 1, 2021). http://dx.doi.org/10.3389/frobt.2021.747917.
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Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or more human operators at some level, it is important to explore the control and visualization interfaces available to those operators, taking into account the challenges due to significant telemetry time delay. We consider one motivating application of remote teleoperation, which is ground-based control of a robot on-orbit for satellite servicing. This paper presents a model-based architecture that: 1) improves visualization and situation awareness, 2) enables more effective human/robot interaction and control, and 3) detects task failures based on anomalous sensor feedback. We illustrate elements of the architecture by drawing on 10 years of our research in this area. The paper further reports the results of several multi-user experiments to evaluate the model-based architecture, on ground-based test platforms, for satellite servicing tasks subject to round-trip communication latencies of several seconds. The most significant performance gains were obtained by enhancing the operators’ situation awareness via improved visualization and by enabling them to precisely specify intended motion. In contrast, changes to the control interface, including model-mediated control or an immersive 3D environment, often reduced the reported task load but did not significantly improve task performance. Considering the challenges of fully autonomous intervention, we expect that some form of teleoperation will continue to be necessary for robotic in-situ servicing, assembly, and manufacturing tasks for the foreseeable future. We propose that effective teleoperation can be enabled by modeling the remote environment, providing operators with a fused view of the real environment and virtual model, and incorporating interfaces and control strategies that enable interactive planning, precise operation, and prompt detection of errors.
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Carabis, David S., and John T. Wen. "Trajectory Generation for Flexible-Joint Space Manipulators." Frontiers in Robotics and AI 9 (March 31, 2022). http://dx.doi.org/10.3389/frobt.2022.687595.
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Space manipulator arms often exhibit significant joint flexibility and limited motor torque. Future space missions, including satellite servicing and large structure assembly, may involve the manipulation of massive objects, which will accentuate these limitations. Currently, astronauts use visual feedback on-orbit to mitigate oscillations and trajectory following issues. Large time delays between orbit and Earth make ground teleoperation difficult in these conditions, so more autonomous operations must be considered to remove the astronaut resource requirement and expand robotic capabilities in space. Trajectory planning for autonomous systems must therefore be considered to prevent poor trajectory tracking performance. We provide a model-based trajectory generation methodology that incorporates constraints on joint speed, motor torque, and base actuation for flexible-joint space manipulators while minimizing total trajectory time. Full spatial computer simulation results, as well as physical experiment results with a single-joint robot on an air bearing table, show the efficacy of our methodology.
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Mo, Weiwei, Brad Kinsey, John Vickers, Henry Helvajian, Ioana Cozmuta, Marissa Herron, and Ajay Malshe. "Conceptualizing space environmental sustainability." npj Advanced Manufacturing 1, no. 1 (August 28, 2024). http://dx.doi.org/10.1038/s44334-024-00002-z.
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AbstractRecent advancements have significantly enhanced the capabilities for in-space servicing, assembly, and manufacturing (ISAM), to develop infrastructure in orbit and on the surface of celestial bodies. This progress is a departure from the traditional sustainability paradigm focused solely on Earth, highlighting the urgent need to define and operationalize the concept of “space sustainability” along with the development of an evaluation framework. The expansion of human activity into space, particularly in low-earth orbit, cis-lunar space, and beyond, underscores the critical importance of considering sustainability implications. Leveraging space resources offers economic growth and sustainable development opportunities, while reducing pressure on Earth’s ecosystems. This paradigm shift requires responsible and ethical utilization of space resources. A space sustainability assessment framework is essential for guiding ISAM capabilities, operations, missions, standards, and policies. This paper introduces an initial framework encompassing (1) pollution, (2) resource depletion, (3) landscape alteration, and (4) space environmental justice, with potential metrics (resources use and emissions, midpoint, and endpoint indicators) to measure impacts in the four domains.
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Raisi, Mehran, Amirhossein Noohian, and Saber Fallah. "A fault-tolerant and robust controller using model predictive path integral control for free-flying space robots." Frontiers in Robotics and AI 9 (December 7, 2022). http://dx.doi.org/10.3389/frobt.2022.1027918.
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The use of manipulators in space missions has become popular, as their applications can be extended to various space missions such as on-orbit servicing, assembly, and debris removal. Due to space reachability limitations, such robots must accomplish their tasks in space autonomously and under severe operating conditions such as the occurrence of faults or uncertainties. For robots and manipulators used in space missions, this paper provides a unique, robust control technique based on Model Predictive Path Integral Control (MPPI). The proposed algorithm, named Planner-Estimator MPPI (PE-MPPI), comprises a planner and an estimator. The planner controls a system, while the estimator modifies the system parameters in the case of parameter uncertainties. The performance of the proposed controller is investigated under parameter uncertainties and system component failure in the pre-capture phase of the debris removal mission. Simulation results confirm the superior performance of PE-MPPI against vanilla MPPI.
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Kaki, Siddarth, Jacob Deutsch, Kevin Black, Asher Cura-Portillo, Brandon A. Jones, and Maruthi R. Akella. "Real-Time Image-Based Relative Pose Estimation and Filtering for Spacecraft Applications." Journal of Aerospace Information Systems, May 7, 2023, 1–19. http://dx.doi.org/10.2514/1.i011196.
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The problem of estimating relative pose for uncooperative space objects has garnered great interest, especially within applications such as on-orbit assembly and satellite servicing. This paper presents a full end-to-end open-source pose estimation and filtering pipeline using monocular camera images for space systems applications. The algorithm pipeline consists of three main components: 1) a set of neural networks to perform keypoint regression; 2) a pose estimation component, implementing both nonlinear least-squares and perspective-[Formula: see text]-point solvers; and 3) a full-pose tracking component, implementing a multiplicative extended Kalman filter. While this software pipeline is designed to be a general-purpose solution, its development was motivated and driven by the size, weight, power, and cost requirements of the NASA Seeker CubeSat program. A combination of real and simulated results is presented to evaluate the neural network components, and simulated time-series results are presented to evaluate the performance of the full pipeline on flightlike hardware in real time.
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Panag, Himmat, and Robyn Woollands. "Thruster-Pointing-Constrained Optimal Control for Satellite Servicing Using Indirect Optimization." Journal of Spacecraft and Rockets, October 24, 2024, 1–13. http://dx.doi.org/10.2514/1.a36064.
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Future space missions such as in-space assembly of telescopes and on-orbit servicing require rendezvous and proximity operations trajectories that avoid thruster-induced contamination of delicate components onboard the client spacecraft. We present a novel technique to incorporate a hard thruster pointing constraint into the indirect optimal control formulation and solve the problem using a single-shooting method. A thruster pointing constraint is an inequality constraint that imposes a limit on the angular range over which a spacecraft thruster is permitted to operate, thus mitigating plume contamination during rendezvous and proximity operations. Through novel incorporation of the constraint directly into the dynamic model, the problem can be easily solved with no a priori knowledge of the burn sequence or information about when the constraint is active or inactive. Our formulation is capable of handling a constant thruster pointing constraint as well as one that varies as a function of distance from the target spacecraft. Results are presented under Clohessy–Wiltshire dynamics; however, the method can be easily extended to handle nonlinear dynamic systems. As expected, we see an increase in fuel consumption with increasing constraint angle for the solution of problems with the same boundary conditions and time of flight. To validate our method, we compare the performance and results to those of a direct method, sequential convex optimization, utilizing the CVX MATLAB plug-in and the MOSEK solver. We found that our approach converged more easily and required no hand-tuning of parameters. It also converged to solutions that satisfy the pointing constraints to a stricter tolerance. We anticipate that our novel approach to generating thruster-pointing-constrained fuel-optimal trajectories will be enabling to a host of future servicing space missions.
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Henshaw, Carl Glen, Samantha Glassner, Bo Naasz, and Brian Roberts. "Grappling Spacecraft." Annual Review of Control, Robotics, and Autonomous Systems 5, no. 1 (October 13, 2021). http://dx.doi.org/10.1146/annurev-control-042920-011106.
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This article provides a survey overview of the techniques, mechanisms, algorithms, and test and validation strategies required for the design of robotic grappling vehicles intended to approach and grapple free-flying client satellites. We concentrate on using a robotic arm to grapple a free-floating spacecraft, as distinct from spacecraft docking and berthing, where two spacecraft directly mate with each other. Robotic grappling of client spacecraft is a deceptively complex problem: It entails designing a robotic system that functions robustly in the visually stark, thermally extreme orbital environment, operating near massive and extremely expensive yet fragile client hardware, using relatively slow flight computers with limited and laggy communications. Spaceflight robotic systems are challenging to test and validate prior to deployment and extremely expensive to launch, which significantly limits opportunities to experiment with new techniques. These factors make the design and operation of orbital robotic systems significantly different from those of their terrestrial counterparts, and as a result, only a relative handful of systems have been demonstrated on orbit. Nevertheless, there is increasing interest in on-orbit robotic servicing and assembly missions, and grappling is the core requirement for these systems. Although existing systems such as the Space Station Remote Manipulator System have demonstrated extremely reliable operation, upcoming missions will attempt to expand the types of spacecraft that can be safely and dependably grappled and berthed. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
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Ashith Shyam, R. B., Zhou Hao, Umberto Montanaro, Shilp Dixit, Arunkumar Rathinam, Yang Gao, Gerhard Neumann, and Saber Fallah. "Autonomous Robots for Space: Trajectory Learning and Adaptation Using Imitation." Frontiers in Robotics and AI 8 (May 4, 2021). http://dx.doi.org/10.3389/frobt.2021.638849.
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This paper adds on to the on-going efforts to provide more autonomy to space robots and introduces the concept of programming by demonstration or imitation learning for trajectory planning of manipulators on free-floating spacecraft. A redundant 7-DoF robotic arm is mounted on small spacecraft dedicated for debris removal, on-orbit servicing and assembly, autonomous and rendezvous docking. The motion of robot (or manipulator) arm induces reaction forces on the spacecraft and hence its attitude changes prompting the Attitude Determination and Control System (ADCS) to take large corrective action. The method introduced here is capable of finding the trajectory that minimizes the attitudinal changes thereby reducing the load on ADCS. One of the critical elements in spacecraft trajectory planning and control is the power consumption. The approach introduced in this work carry out trajectory learning offline by collecting data from demonstrations and encoding it as a probabilistic distribution of trajectories. The learned trajectory distribution can be used for planning in previously unseen situations by conditioning the probabilistic distribution. Hence almost no power is required for computations after deployment. Sampling from a conditioned distribution provides several possible trajectories from the same start to goal state. To determine the trajectory that minimizes attitudinal changes, a cost term is defined and the trajectory which minimizes this cost is considered the optimal one.
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Kalaycioglu, Serdar, and Anton de Ruiter. "Dual arm coordination of redundant space manipulators mounted on a spacecraft." Robotica, May 29, 2023, 1–30. http://dx.doi.org/10.1017/s0263574723000504.
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Abstract The paper addresses a significant challenge in on-orbit robotics servicing and assembly, which is to overcome the saturation setback of force/torque on robot joint and spacecraft actuators during the post-capture stage while controlling a target spacecraft with uncontrolled large angular and linear momentums. The authors propose a novel solution based on two robust and efficient control algorithms: Optimal Control Allocation (OCA) and Non-linear Model Predictive Control (NMPC). Both algorithms aim to minimize joint torques, spacecraft actuator moments, contact forces, and moments of a compound redundant system that includes a common payload (target spacecraft) grasped by dual n-degree space robotics manipulators mounted on a chaser spacecraft. The OCA algorithm minimizes a quadratic cost function using only the current states and the system dynamics, but the NMPC also considers the future state estimates and the control inputs over a specified prediction horizon. It is computationally more involved but provides superior results in reducing joint torques. The literature to date in application of MPC to robotics mainly focuses on linear models but the dual arm coordination is highly non-linear and there is no MPC application on dual arm coordination. The proposed discretized technique offers exact realizations (of a non-linear model) with elegance and simplicity and yet considers the full non-linear model of the dual arm coordinating system. It is computationally very efficient. The computer simulation results show that the proposed algorithms work efficiently, and the minimum torques, contact forces, and moments are realized. The developed algorithm also is very efficient in tracking problems.
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Banken, Elisabeth, and Johannes Oeffner. "Biomimetics for innovative and future-oriented space applications - A review." Frontiers in Space Technologies 3 (March 7, 2023). http://dx.doi.org/10.3389/frspt.2022.1000788.
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Nature benefits from a progressive evolution over millions of years, always adapting and finding individual solutions for common problems. Hence, a pool of diverse and efficient solutions exists that may be transferable to technical systems. Biomimetics or bio-inspiration has been used as a design approach for decades, revolutionizing products and processes throughout various industries. Thus, multiple examples can also be found in the space sector, since many characteristics found in biological organisms are also essential for space systems like response-stimuli adaptability, robustness and lightweight construction, autonomy and intelligence, energy efficiency, and self-repair or healing capabilities. This review focuses on biomimetics within the field of aerospace engineering and summarizes existing bio-inspired concepts such as drilling tools (wood wasp ovipositor drilling), telescopes (lobster eye optics), or gasping features (gecko feet adhesion capabilities) that have already been conceptualized, partially tested, and applied within the space sector. A multitude of biological models are introduced and how they may be applicable within the space environment. In particular, this review highlights potential bio-inspired concepts for dealing with the harsh environment of space as well as challenges encountered during rocket launches, space system operations and space exploration activities. Moreover, it covers well-known and new biomimetic concepts for space debris removal and on-orbit operations such as space-based energy production, servicing and repair, and manufacture and assembly. Afterwards, a summary of the challenges associated with biomimetic design is presented to transparently show the constraints and obstacles of transferring biological concepts to technical systems, which need to be overcome to achieve a successful application of a biomimetic design approach. Overall, the review highlights the benefits of a biomimetic design approach and stresses the advantage of biomimetics for technological development as it oftentimes offers an efficient and functional solution that does not sacrifice a system’s reliability or robustness. Nevertheless, it also underlines the difficulties of the biomimetic design approach and offers some suggestions in how to approach this method.