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Journal articles on the topic 'Space robotic'

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Author: Grafiati

Published: 14 March 2023

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1

Yamamoto, Ikuo, Nobuhiro Shin, Taishi Oka, and Miki Matsui. "Robotic Fish Technology and its Applications to Space Mechatronics." Applied Mechanics and Materials 527 (February 2014): 224–29. http://dx.doi.org/10.4028/www.scientific.net/amm.527.224.

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The authors have developed a shark ray robotic fish based on biomimetic approaches. The paper describes the newly developed robotic fish technology and its application to mechatronics in the space. It is found that robotic fish technology creates not only new underwater robotics, but also the next generation space mechatronics for geological survey of lunar/planets and dust cleaning in the space station.

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Hendi, S. H., and F. Bahrani. "INTRODUCING OBSERVATORY OF IRANIAN SPACE AGENCY MAHDASHT SPACE CENTER." Revista Mexicana de Astronomía y Astrofísica Serie de Conferencias 53 (September 1, 2021): 42–43. http://dx.doi.org/10.22201/ia.14052059p.2021.53.10.

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As robotic observatories getting more and more popular, it becomes mandatory for some places. In this regard, Iranian space agency trying to build the first robotic observatory in Iran. Although the telescope of Mahdasht space center is robotic at this time, it still needs more attention to make its dome robotic too. In this article, we introduce this space center and its development plan.

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3

Zeis, C., C. A. de Alba-Padilla, K. U. Schroeder, B. Grzesik, and E. Stoll. "Fully Modular Robotic Arm Architecture Utilizing Novel Multifunctional Space Interface." IOP Conference Series: Materials Science and Engineering 1226, no. 1 (February 1, 2022): 012096. http://dx.doi.org/10.1088/1757-899x/1226/1/012096.

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Abstract The current paradigm in space robotics is the design of specialized robotic manipulators to meet the requirements for a specific mission profile. This research aims to develop a novel concept of a modular robotic arm for multi-purpose and multi-mission use. The overall approach is based on a manipulator formed by serial connection of identical modules. Each module contains one rotational joint. The joints, rotation axis is tilted under an angle of 45° to the normal axis, which requires less stowage space compared to a traditional joint configuration. A manipulator can be reconfigured in orbit by adding or removing modules and end effectors, therefore modifying the degrees of freedom (DoF) as well as the workspace. Redundancies are introduced, since defect modules may be removed or replaced. This paper outlines the overall concept of modularization of a robotic arm. The development and mechanical design of a terrestrial demonstrator based on the multifunctional interface iSSI (intelligent Space System Interface) is presented, which is intended for OOS and OOA activities. Furthermore, a variant of the modular robotic system with 24 DoF is presented, which can be stowed in a Cubesat-sized environment. It can operate in spaces with limited accessibility and is dedicated for tasks like inspection and delicate repairs. Finally, an outlook to further research potential and future use cases for the modular robotic system is given.

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Nakatani, Ichiro. "AI, Robotics and Automation in Space." Journal of Robotics and Mechatronics 12, no. 4 (August 20, 2000): 443–45. http://dx.doi.org/10.20965/jrm.2000.p0443.

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Recently, AI, robotics and automation in space, referred to in a general term as ""space robotics"" in this paper, are playing increasingly more important roles for ground support, LEO satellites and planetary probes. In deep space missions, however, space robotics is a ""must"" due to the radio propagation delay and a poor communication link between the spacecraft and Earth. A typical example for robotics for planetary exploration is an autonomous rover that moves around on the surface of planetary bodies and conducts scientific investigations. A new infrastructure called ROBUST is proposed, which stands for ROBotized Unmanned Station. ROBUST is the space station that will be constructed, maintained and expanded by robotic technology completely without human presence in orbit.

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Ohkami, Yoshiaki. "Special Issue on Space Robotics." Journal of Robotics and Mechatronics 6, no. 5 (October 20, 1994): 345. http://dx.doi.org/10.20965/jrm.1994.p0345.

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Since the beginning of space exploration, ""space robots"" have attracted the imagination of many researchers and engineers, and a number of fascinating plans for their use have been proposed.' However, only a few of these ideas have been realized in spite of the early realization that robots would be more appropriate than extra-vehicular activities by a human crew in the hostile space environment. One application is the Space Shuttle Remote Manipulator System, called the ""Canadian Robot Arm"", which has been functioning as expected for more than 10 years. In addition, ROTEX experiments on Space Lab a few years ago demonstrated that advanced robotic technology could perform more complicated tasks on board. It is also reminded that many other robotic experiments were canceled at some stage of their development: In particular, it was hoped that NASA's Flight Telerobotic Servicer would be able to operate with the help of an Orbital Maneuvering Unit. There are complicated reasons for the project cancellations, but one reason seems to be that the maturity level of robotics technology is not high enough; that advanced teleoperation and dexterous manipulation have not reached a sufficient level for practical use. In Japan, most of the space research and development thus far has concentrated on the launching and in-flight operations of conventional spacecraft, so that there has been no real demand for space robots. Recently, however, the Space Activities Committee issued a report on the long term vision for space activities in Japan. In this report, the importance of the use of space robotics technologies for diversified space activities such as space platform servicing, unmanned exploration of Mars and the moon crew support inside the space station, telescience operations, and even for the reusable reentry vehicle HOPE was emphasized. This can be at least partially attributed to the very active research on robotics in Japan, and in turn has encouraged researchers working in these fields. This special issue on space robotics introduces the research activities as several representative organizations, although it does not imply an exhaustive list. Firstly, the activities of two space development organizations are introduced. The National Space Development Agency (NASDA) is responsible for launching and operation this as well as general technology verification. Included in this is the ETS-VII satellite, which as part of its overall mission, will conduct several robotic experiments. The robotic activities of the Institute of Space and Astronautical Science (ISAS) are also outlined. This institution is primarily concerned with scientific missions to the Moon and Mars as well as planets further beyond. Second, the research activities at the national institutes are introduced. These institutes are responsible for supporting national projects at an early stage of development by providing fundamental data and key technologies. This is followed by an introduction to the very extensive research activities at universities across the country. At these universities, space robotics research is pursued not only in aerospace engineering departments but also in other disciplines such as mechanical engineering, control systems, electronics, and information processing. As mentioned before, there are some organizations which do not appear in this special issue. Nonetheless, the coordinator hopes that in Japan, the information given will prove to be useful as in introduction to space robotics research activities in Japan, and further wishes to express his deepest appreciation to all of the contributors.

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SALLABERGER, C. "Canadian space robotic activities." Acta Astronautica 41, no. 4-10 (August 1997): 239–46. http://dx.doi.org/10.1016/s0094-5765(98)00082-4.

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7

Chien, Steve, and Kiri L. Wagstaff. "Robotic space exploration agents." Science Robotics 2, no. 7 (June 21, 2017): eaan4831. http://dx.doi.org/10.1126/scirobotics.aan4831.

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8

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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Tian, Hong Bin. "The Research on the Visual Obstacle-Avoidance Optimization in Robots Control." Advanced Materials Research 756-759 (September 2013): 372–75. http://dx.doi.org/10.4028/www.scientific.net/amr.756-759.372.

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In order to increase the movement capability of the robotic visual system in three-dimension space, the paper designs an obstacle-avoidance algorithm based on robotic movement visual by effectively processing the visual information colleted by the robotics. This paper establishes a structural model of coordination control system. The obstacles can be effectively identified and avoided by the obstacle-avoidance theory in the robotics coordination operation. The mathematical model of the obstacle-avoidance algorithm can predict the locations of the obstacles. The experiment proves the proposed algorithm can avoid the obstacles in three-dimension space and the accuracy is very high.

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Dudorov, E. A., and I. G. Sokhin. "The Purpose and Tasks of Robotic Systems in the Russian Lunar Program." Proceedings of Higher Educational Institutions. Маchine Building, no. 12 (729) (December 2020): 3–15. http://dx.doi.org/10.18698/0536-1044-2020-12-3-15.

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The exploration of the Moon and other planets of the Solar system involves a widespread use of robotic systems of various types and purposes. However, currently there is no generally accepted frame of reference for the effective application of different robotic systems for performing space exploration tasks. Based on the approach to the selection of priority robotic systems proposed by the authors, possible areas of their advanced application to support the implementation of the Russian lunar program are considered in this paper. Multi-criteria classification of space-based robotic systems, features of remote control of robots, and directions of work on the development of Russian robotic systems for the lunar program are also examined. The questions of necessity, possibility and validity of flight operations using space-based robotic systems are explored. The tasks of robots in the exploration of the Moon, which are divided into four phases: infrastructure, provision, operation and research, are considered. Key technologies of space robotics (electronics, mechanics, software, control), as well as related technologies at their intersection are presented. Three main areas of Roscosmos’ work on the development of technological, anthropomorphic and freight robots are presented. Conclusions on the implementation of plans for the exploration and use of the Moon are drawn.

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Zhao, Yibo. "Research status and prospect of robotic systems in the field of aerospace engineering." Highlights in Science, Engineering and Technology 23 (December 3, 2022): 276–84. http://dx.doi.org/10.54097/hset.v23i.3278.

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Technology has undergone major changes in the field of aerospace engineering. One major field is robotics. Robotics plays an important role in the field of aerospace and has received more and more attention and attention from scholars at home and abroad. This paper reviews the development of robotic systems from the application of robotics in aerospace engineering, the advantages and disadvantages of robotic systems, and how to improve their effectiveness for better use in the future. The research results found that in terms of its application, it mainly includes welding, inspection, painting, space exploration, drilling and so on. Benefits include high precision, low operating costs and high productivity. On the other hand, it has the disadvantage of requiring a lot of space, balancing speed and accuracy, requiring skilled labor, and being prone to remote control and misuse. Its effectiveness can be increased by minimizing energy consumption to reduce operating costs and improving coordination to reduce collisions. In the future, the use of robotics seems promising as it may be used in transportation to reduce carbon emissions and transportation costs. The research in this paper can provide a reference for the future development of robotic systems.

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Pransky, Joanne. "The Pransky interview: Dr Robert Ambrose, Chief, Software, Robotics and Simulation Division at NASA." Industrial Robot: An International Journal 42, no. 4 (June 15, 2015): 285–89. http://dx.doi.org/10.1108/ir-04-2015-0071.

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Purpose – This paper, a “Q & A interview” conducted by Joanne Pransky of Industrial Robot Journal, aims to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned entrepreneur regarding the evolution, commercialization and challenges of bringing a technological invention to market. Design/methodology/approach – The interviewee is Dr Robert Ambrose, Chief, Software, Robotics and Simulation Division at National Aeronautics and Space Administration (NASA)’s Johnson Space Center in Houston, Texas. As a young child, even before he started school, Dr Ambrose knew, after seeing the Apollo 11 moonshot, that he wanted to work for NASA. Dr Ambrose describes his career journey into space robotics and shares his teams’ experiences and the importance of the development of Robonaut, a humanoid robotic project designed to work with humans both on Earth and in space. Findings – Dr Ambrose received his MS and BS degrees in mechanical engineering from Washington University in St. Louis, and his PhD in mechanical engineering from the University of Texas at Austin. Dr Ambrose heads the flight spacecraft software, space robotics and system simulations for human spaceflight missions. He oversees on-orbit robotic systems for the International Space Station (ISS), the development of software for the Multi-Purpose Crew Vehicle and future human spaceflight systems, simulations for engineering development and training, hardware in the loop facilities for anomaly resolution and crew training and the technology branch for development of new robotic systems. Dr Ambrose also serves as a Principal Investigator for NASA’s Space Technologies Mission Directorate, overseeing research and formulating new starts in the domains of robotics and autonomous systems. He co-chairs the Office of the Chief Technologist (OCT) Robotics, Tele-Robotics and Autonomous Systems roadmap team for the agency’s technology program, and is the robotics lead for the agency’s human spaceflight architecture study teams. Working with the Office of Science and Technology Policy (OSTP), Dr Ambrose is the Technical Point of Contact for NASA’s collaboration in the National Robotics Initiative (NRI). Originality/value – Dr Ambrose not only realized his own childhood dream by pursuing a career at NASA, but he also fulfilled a 15-year national dream by putting the first humanoid robot into space. After seeking a graduate university that would allow him to do research at NASA, it didn’t take long for Dr Ambrose to foresee that the importance of NASA’s future would be in robots and humans working side-by-side. Through the leadership of Dr Ambrose, NASA formed a strategic partnership with General Motors (GM) and together they built Robonaut, a highly dexterous, anthropomorphic robot. The latest Robonaut version, R2, has nearly 50 patents available for licensing. One of the many technology spinoffs from R2 is the innovative Human Grasp Assist device, or Robo-Glove, designed to increase the strength of a human’s grasp.

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Pan, Cheng-An, and Taysheng Jeng. "Cellular Robotic Architecture." International Journal of Architectural Computing 10, no. 3 (September 2012): 319–39. http://dx.doi.org/10.1260/1478-0771.10.3.319.

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An emerging need for interactive architecture is currently making buildings mutable, flexible in use, and adaptable to changes in climate by introducing robotic systems. However, the feasibility of the seamless integration of building construction details and kinetic robotics has become a critical issue for developing robotic architecture. The objective of this work is to develop a robotic architecture with an emphasis on the integration of cellular robotics with a distributed kinetic building surface. The kinetic building surface integrates an actuating system, a localization and remote control system, which become part of the kinetic building system. This paper presents a systematic framework by reviewing theories and related work of robotic architecture and automated control. An architectural design scheme is proposed to simulate a scenario of application in a physical space. The functionality of the electrical and control system and the integration of the effects of actual construction were examined by a prototype of a kinetic surface. Our prototype presents a feasible construction method, and a prominent energy-saving effect. The potential strength and restrictions of the cellular robotic approach to architectural applications are discussed. The applicability of the prototype system and issues about controlling the behavior of spatial robots are demonstrated in this paper.

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Johnston, A., A. J. Florence, and N. Shankland. "Robotic adventures in crystallisation space." Acta Crystallographica Section A Foundations of Crystallography 61, a1 (August 23, 2005): c337. http://dx.doi.org/10.1107/s0108767305085661.

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15

Katz, D. S., and R. R. Some. "NASA advances robotic space exploration." Computer 36, no. 1 (January 2003): 52–61. http://dx.doi.org/10.1109/mc.2003.1160056.

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16

Dong, Hui Ying, Qi Hua Sun, Xue Lu, and Zhang Ming Liu. "The Trajectory Planning of Robotic Operation Simulation Based on Virtual Reality." Applied Mechanics and Materials 204-208 (October 2012): 4729–33. http://dx.doi.org/10.4028/www.scientific.net/amm.204-208.4729.

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At present, robot simulation based on virtual reality is a hot spot in the study of the robotic. We can build more intuitive and efficient and realistic simulation environment of processing of the robot through combining computer technology and virtual reality technology to carry out a more effective human-machine interactive operation. Robotic trajectory planning is not only the basis of trajectory tracking control, but also the implementation of tasks in robotics. It is discussed trajectory planning and path generation based on robot kinematics and dynamics in the joint space and Cartesian space. In this paper, we study the robot trajectory planning and use three B-spines fitting the robot path in Cartesian space.

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17

Bhatia, Praveen, A. M. S. Zalzala, and Amitabh Ghosh. "A configuration space based approach for robotic assembly sequencing." Robotica 14, no. 6 (November 1996): 633–45. http://dx.doi.org/10.1017/s0263574700018506.

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This paper describes a compact assembly sequencer for automatic robotic assembly using a configuration space-based path planner. Connection graph of the assembly is constrained by the feasibility information made available from the analysis of local disassembly paths tried by the robot's path planner. Free space of the robot performing assembly is explicitly used to generate the disassembly constraints. We show with the help of a ball pen assembly how the sequencing is performed with this representation.

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Mohr, George C. "Robotic Telepresence." Proceedings of the Human Factors Society Annual Meeting 30, no. 1 (September 1986): 43–44. http://dx.doi.org/10.1177/154193128603000110.

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The Air Force sees a need for a militarized robot, designed to perform flight line maintenance and repair operations during a chemical/biological/radiological attack, or to assist man in space operations such as constructing a space station or performing such tasks as satellite inspection, diagnosis, repair, modification or deactivation. Obviously, these tasks require more than the pre-programmed behavior of an industrial robot. To obtain the high degree of adaptability required, the robot needs either the closed-loop control of a human operator, or a high level “artificial intelligence” capable of emulating human cognitive functions. Robotic telepresence is a novel approach to closed-loop control. By coupling the human operator's visual, tactile, motor and cognitive functions with a remote robot's “head, eyes, and hands,” the human operator is placed effectively “in-the-scene.” With this approach, the natural synergism between the human visual system and hands is exploited to endow the robotic system with human-like capacities to inspect, evaluate, and manipulate. Through robotic telepresence technology, the essential human operator tasks can then be performed in a lethally hazardous environment without exposing the human operator directly.

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B Lima, Glaydson Luiz, Osamu Saotome, and Ijar M. Da Fonseca. "Inspection and control system for experiments in space robotics." South Florida Journal of Development 2, no. 3 (July 11, 2021): 4094–104. http://dx.doi.org/10.46932/sfjdv2n3-023.

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The communication subsystem is one among the various subsystems of a telerobotic space system. It is responsible for coordinating the commands received from the teleoperator control subsystem to the robotic arm, for reading signals from the sensors, and for stating the communication of the telerobot with the ground station. The telerobotic experiment under development by the ITA space robotics research group was developed with the purpose of investigating a robotic space system dynamics and control, including the study of the working and integration of all subsystems involved in the teleoperation control. The lab experiment consists of two identical units of robot manipulators, each of them mounted on its own floating air-supported platform. The objective is to simulate computationally the operations of rendezvous and capture in the microgravity' orbital environment, emulated by the floating manipulators' dynamics. The closed circuit for this system involves the in time position detection, transmission and data processing by using a position-tracking (X, Y, and Z) computer system combined with a Kinect sensor (RGB-D). The computer system comprises two computers capable of processing the positional images with greater accuracy. One of them receive and send the sensor data to a second computer which performs the data processing by proper algorithms in Matlab® and Simulink and sends commands to the robotic arm via WIFI (UDP protocol) network. The robot receives and executes the control signals moving the robotic arms whose position is again detected by the kinect sensor and informed back to the computer system, closing the control mesh and allowing the safe capture of the target. This work deals with the communication subsystem of the space robot experiment and its ability to set an integrated and efficient communication satisfying the telerobot control requirements

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Sharf, I., G. Gilardi, and C. Crawford. "Identification of Friction Coefficient for Constrained Robotic Tasks." Journal of Dynamic Systems, Measurement, and Control 124, no. 4 (December 1, 2002): 529–38. http://dx.doi.org/10.1115/1.1514667.

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Correct modeling of friction forces during constrained robotic operations is critical to high-fidelity contact dynamics simulation. Such simulations are particularly important for the development, mission planning and operations analysis of space robotic systems. Most existing friction models employ the coefficient of friction to capture the relationship between the friction force and the normal load. Hence, accurate identification of this parameter is prerequisite to accurate simulation. This issue is particularly important for space robotic operations since friction characteristics of materials are very different in space. In this manuscript, the problem of identification of the coefficient of friction is investigated experimentally and numerically. The motivating application being space manipulator systems, our principal objective is to develop a practical off-line identification algorithm, requiring minimum number of measurements from sensors available on space robots. To this end, a strategy is proposed to determine the coefficient of friction by using only the measured end-effector forces. The key idea behind the method is that during one-point contact, these forces represent the contact force and hence, can be directly used to calculate the coefficient of friction. The proposed approach is tested with the experimental data from peg insertion experiments conducted on a planar robotics test-bed with a specially designed contact interface. The algorithm is generalized to arbitrary complex geometries and applied to identify the coefficient of friction for a simulated battery drop test.

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Wei, Bin. "A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators." Inventions 4, no. 3 (August 23, 2019): 49. http://dx.doi.org/10.3390/inventions4030049.

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A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust control, adaptive control and robust adaptive control are demonstrated. Basic information on the joint space control, operational space control and force control is also given. This tutorial summarizes the most advanced control techniques currently in use in a very simple manner, and applies to robotic manipulators, which can provide an informative guideline for students who have little knowledge of controls or who want to understand the adaptive control of robotics in a systematic way.

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Fukuda, Toshio, and Tsuyoshi Ueyama. "Self-Evolutionary Robotic System -Sociobiology and Social Robotics-." Journal of Robotics and Mechatronics 4, no. 2 (April 20, 1992): 96–103. http://dx.doi.org/10.20965/jrm.1992.p0096.

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This review presents the self-evolutionary robotic system comparing with society of human being, or sociobiology, and robotic system. Since the interaction among individuals evolves the society, the evolutionary robotic system must have the character as a ""society,"" which robotic individuals construct. In this review, we describe the concept of ""social robotics,"" which consists of autonomous distributed robots such as human being or insects, according to its intelligent level. This review shows several topics for realization of self-evolutionary robotic system, such as the comparison between information flow and organization or society of the system, the ability of self-evolution for robotic system from its architecture of control, communication and structure, and comparison between natural gene and technical gene from the theory of natural evolution. In the next generation of robotic system, the ability of self-organization and self-evolution will be desired in any application fields, e.g., manufacturing system, inspection robots, space, agriculture application, and so on.

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Fang, Bin, Fuchun Sun, Huaping Liu, Di Guo, Wendan Chen, and Guodong Yao. "Robotic teleoperation systems using a wearable multimodal fusion device." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141771705. http://dx.doi.org/10.1177/1729881417717057.

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Teleoperation is of great importance in the area of robotics especially when people’s presence at the robot working space is unavailable. It provides an alternative to employ human intelligence in the control of the robot remotely. We establish robotic teleoperation systems with a wearable multimodal fusion device. The device is integrated with 18 low-cost inertial and magnetic measurement units, which cover all segments of the arm and hand. The multimodal fusion algorithm based on extended Kalman filter is deduced to determine the orientations and positions of each segment. Then, the robotic teleoperation systems using the proposed device are designed. The novel teleoperation schemes can be applied for 11DOF robotic arm–hand system and 10DOF robotic arm–hand system, in which the operator’s fingers are used for robotic hand teleoperation, and the arms with palm are used for robotic arm teleoperation. Meanwhile, the proposed robotic teleoperation systems are fully realized with a user-friendly human–machine interaction interface. Finally, a series of experiments are conducted with our robotic teleoperation system successfully.

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Zimmer, Domagoj, Mladen Jurišić, Ivan Plaščak, Željko Barač, and Dorijan Radočaj. "Application of Robots and Robotic Systems in Agriculture." Tehnički glasnik 15, no. 3 (September 14, 2021): 435–42. http://dx.doi.org/10.31803/tg-20210128112420.

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The paper depicts agricultural robots that can perform complex tasks. Fast development and application of agricultural robotics is a result of increased development of agricultural machinery. Robots are complex and intelligent systems with a significant role in agriculture that are becoming an integral part of both the technological and scientific progress. The paper presents some important roles of robots and robotic systems in various agricultural areas and explains the deployment of new technologies supported by the examples of their application in arable farming, horticulture, and forestry. Robotics application decreases the deployment of human resources, enables significant production cost savings, and increases production capacity. The application of robotic systems facilitates high precision levels and repetition speed regarding time and space, which cannot be replicated by farmers

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McKee, Gerard, and Blesson Varghese. "Robotic Ecologies for Deep Space Outposts." IFAC Proceedings Volumes 45, no. 22 (2012): 455–60. http://dx.doi.org/10.3182/20120905-3-hr-2030.00183.

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Li, Thomas Yuang, and Shaoshan Liu. "Enabling Commercial Autonomous Robotic Space Explorers." IEEE Potentials 39, no. 1 (January 2020): 29–36. http://dx.doi.org/10.1109/mpot.2019.2935338.

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Lee, Duckki, Tatsuya Yamazaki, and Sumi Helal. "Robotic Companions for Smart Space Interactions." IEEE Pervasive Computing 8, no. 2 (April 2009): 78–84. http://dx.doi.org/10.1109/mprv.2009.34.

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Won, Daehee, Byung-Rok So, and Hae-Dong Kim. "A Survey of Space Robotic Manipulator." Journal of Space Technology and Applications 2, no. 4 (November 2022): 257–67. http://dx.doi.org/10.52912/jsta.2022.2.4.257.

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Flückiger, Lorenzo, and Hans Utz. "Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned." Journal of Field Robotics 31, no. 1 (November 4, 2013): 176–91. http://dx.doi.org/10.1002/rob.21485.

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Troise, Mario, Matteo Gaidano, Pierpaolo Palmieri, and Stefano Mauro. "Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications." Applied Sciences 11, no. 6 (March 12, 2021): 2558. http://dx.doi.org/10.3390/app11062558.

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The rising interest in soft robotics, combined to the increasing applications in the space industry, leads to the development of novel lightweight and deployable robotic systems, that could be easily contained in a relatively small package to be deployed when required. The main challenges for soft robotic systems are the low force exertion and the control complexity. In this manuscript, a soft manipulator concept, having inflatable links, is introduced to face these issues. A prototype of the inflatable link is manufactured and statically characterized using a pseudo-rigid body model on varying inflation pressure. Moreover, the full robot model and algorithms for the load and pose estimation are presented. Finally, a control strategy, using inverse kinematics and an elastostatic approach, is developed. Experimental results provide input data for the control algorithm, and its validity domain is discussed on the basis of a simulation model. This preliminary analysis puts the basis of future advancements in building the robot prototype and developing dynamic models and robust control.

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Morphew, M. Ephimia, Danielle V. Balmer, and George J. Khoury. "Human performance in space." Ergonomics in Design: The Quarterly of Human Factors Applications 9, no. 4 (October 2001): 6–11. http://dx.doi.org/10.1177/106480460100900403.

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Yoshida, Kazuya. "The SpaceDyn: a MATLAB Toolbox for Space and Mobile Robots." Journal of Robotics and Mechatronics 12, no. 4 (August 20, 2000): 411–16. http://dx.doi.org/10.20965/jrm.2000.p0411.

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A collection of useful subroutines named the SpaceDyn is developed in order to offer an open, free tool of numerical simulations for researchers both in robotics and space engineering fields. The SpaceDyn is a MATLAB Toolbox for kinematic and dynamic analysis and simulation of articulated multibody systems with a moving base. Examples of such systems include a satellite with mechanical appendages, a free-flying space robot, a robotic system with structural flexibility, and a mobile robot, all of which makes motions in the environment with or without gravity.

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Xu, Chang Kai, Ming Li, and Yuan Jiang Liao. "The Design of Five Degree of Freedom Robotic Arm System." Advanced Materials Research 383-390 (November 2011): 1507–12. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.1507.

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This paper details the design, production and programming methodology of a five degree of freedom robotic arm system. All the hardware and software of the robotic arm have been designed by author and manufactured successfully by CIMS & Robotics Center of Shanghai University. It is the arm of a service robot which is to present the following functions: Chinese calligraphy, carry something from one place to another exactly, and other accurate positioning motion in space. The robotic arm system is based on five orthotropic digital DC brushless servo motors in mechanism, five digital servoamplifier and other devices. Our communication mode is Can-bus, the control software is designed by vb.net2005 language under the .net framework and emulation based on matlab.

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Valverde, Alfredo, and Panagiotis Tsiotras. "Spacecraft Robot Kinematics Using Dual Quaternions." Robotics 7, no. 4 (October 12, 2018): 64. http://dx.doi.org/10.3390/robotics7040064.

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In recent years, there has been a growing interest in servicing orbiting satellites. In most cases, in-orbit servicing relies on the use of spacecraft-mounted robotic manipulators to carry out complicated mission objectives. Dual quaternions, a mathematical tool to conveniently represent pose, has recently been adopted within the space industry to tackle complex control problems during the stages of proximity operations and rendezvous, as well as for the dynamic modeling of robotic arms mounted on a spacecraft. The objective of this paper is to bridge the gap in the use of dual quaternions that exists between the fields of spacecraft control and fixed-base robotic manipulation. In particular, we will cast commonly used tools in the field of robotics as dual quaternion expressions, such as the Denavit-Hartenberg parameterization, or the product of exponentials formula. Additionally, we provide, via examples, a study of the kinematics of different serial manipulator configurations, building up to the case of a completely free-floating robotic system. We provide expressions for the dual velocities of the different types of joints that commonly arise in industrial robots, and we end by providing a collection of results that cast convex constraints commonly encountered by space robots during proximity operations in terms of dual quaternions.

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Chennareddy, S. Sankhar Reddy, Anita Agrawal, and Anupama Karuppiah. "Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures." Journal of Robotics 2017 (2017): 1–19. http://dx.doi.org/10.1155/2017/5013532.

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Modular self-reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The higher utilization factor and self-healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics. The researchers in robotics domain identified various applications and prototyped numerous robotic models while addressing constraints such as homogeneity, reconfigurability, form factor, and power consumption. The diversified nature of various modular robotic solutions proposed for real world applications and utilization of different sensor and actuator interfacing techniques along with physical model optimizations presents implicit challenges to researchers while identifying and visualizing the merits/demerits of various approaches to a solution. This paper attempts to simplify the comparison of various hardware prototypes by providing a brief study on hardware architectures of modular robots capable of self-healing and reconfiguration along with design techniques adopted in modeling robots, interfacing technologies, and so forth over the past 25 years.

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Liu, Xin-Jun, Jinsong Wang, Feng Gao, and Li-Ping Wang. "Mechanism design of a simplified 6-DOF 6-RUS parallel manipulator." Robotica 20, no. 1 (January 2002): 81–91. http://dx.doi.org/10.1017/s0263574701003654.

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This paper concerns the issue of mechanism design of a simplified 6-DOF 6-RUS parallel manipulator. The design of robotic mechanisms, especially for 6-DOF parallel manipulators, is an important and challenging problem in the field of robotics. This paper presents a design method for robotic mechanisms, which is based on the physical model of the solution space. The physical model of the solution space, which can transfer a multi-dimensional problem to a two or three-dimensional one, is a useful tool to obtain all kinds of performance atlases. In this paper, the physical model of the solution space for spatial 6-RUS (R stands for revolute joint, U universal joint and S spherical joint) parallel manipulators is established. The atlases of performances, such as workspace and global conditioning index, are plotted in the physical model of the solution space. The atlases are useful for the mechanism design of the 6-RUS parallel manipulators. The technique used in this paper can be applied to the design of other robots.

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Kishore, Sameer, Mar González-Franco, Christoph Hintemüller, Christoph Kapeller, Christoph Guger, Mel Slater, and Kristopher J. Blom. "Comparison of SSVEP BCI and Eye Tracking for Controlling a Humanoid Robot in a Social Environment." Presence: Teleoperators and Virtual Environments 23, no. 3 (October 1, 2014): 242–52. http://dx.doi.org/10.1162/pres_a_00192.

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Recent advances in humanoid robot technologies have made it possible to inhabit a humanlike form located at a remote place. This allows the participant to interact with others in that space and experience the illusion that the participant is actually present in the remote space. Moreover, with these humanlike forms, it may be possible to induce a full-body ownership illusion, where the robot body is perceived to be one's own. We show that it is possible to induce the full-body ownership illusion over a remote robotic body with a highly robotic appearance. Additionally, our results indicate that even with nonmanual control of a remote robotic body, it is possible to induce feelings of agency and illusions of body ownership. Two established control methods, an SSVEP-based BCI and eye tracking, were tested as a means of controlling the robot's gesturing. Our experience and the results indicate that both methods are tractable for immersive control of a humanoid robot in a social telepresence setting.

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Currie, Nancy J., and Brian Peacock. "International Space Station Robotic Systems Operations - a Human Factors Perspective." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 46, no. 1 (September 2002): 26–30. http://dx.doi.org/10.1177/154193120204600106.

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Assembly and maintenance of the International Space Station (ISS) relies heavily on the use of extravehicular robotic systems. When fully assembled the ISS robotics complement will include three main manipulators, two small dexterous arms, and a mobile base and transporter system. The complexity and mobility of the systems and limited opportunities for direct viewing of the Space Station's exterior makes telerobotic operations an especially challenging task. Although fundamental manipulator design, control systems, and strategies for autonomous versus manual control vary greatly between the systems, commonality in the design of workstation controls and displays is considered essential to enhance operator performance and reduce the possibility of errors. Principal human factors opportunities are associated with workstation layout, human-computer interface considerations, adequacy of alignment cues for maintenance of safe approach corridors during mating tasks, spatial awareness challenges, integration of supplemental computer graphic displays to enhance operator global situational awareness, and training methodologies for preservation of critical skills during long-duration missions.

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Poustinchi, Ebrahim. "Mixed Robotic Interface Г : Searching for a hybrid cyber-physical design/experience interface using virtual/actual robots." SHS Web of Conferences 64 (2019): 01008. http://dx.doi.org/10.1051/shsconf/20196401008.

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Mixed Robotic Interface is a project-based design-research investigation, studying new ways of creating hybridized cyber-physical design and experience interfaces, at the intersection of robotics—as its core component, and augmented reality, game design, projection mapping, and digital fabrication. Mixed Robotic Interface Г—as part of Mixed Robotic Interface series of research projects, focuses on using “actual” and “virtual” robot arms as a possible creative medium and extensions of design/gaming environment creating immersive atmospheres for “experiencing” design. This research questions the possibilities of creating an architectural/spatial atmosphere through digitally enhanced experiences. Different from some of the current experiments with augmented reality (AR), virtual reality (VR) and projection-mapping in architecture, Mixed Robotic Interface Г is not looking into “immersive” experience as a way to “blur” the boundaries of digital and physical—similar to virtual reality experience with headsets. Instead, Mixed Robotic Interface Г creates a recognizable gap between real and virtual to open up a creative space for the user/audience to be involved between these two mediums. Mixed Robotic Interface Г uses para-fictional storytelling as a way to engage the audience with the experience and to create continues atmospheric qualities.

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Shaji, Ashwin K., and Rinku Dhiman. "Gesture Controlled Robotic Hand Using RF Unit and Accelerometer." International Journal of Research in Engineering, Science and Management 3, no. 11 (November 30, 2020): 125–27. http://dx.doi.org/10.47607/ijresm.2020.387.

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In the race of man v/s machine, automation comes as a companion of man and machine. Taking the technology to the next level from the mobile driven world to an automation driven world, will increase manufacturers their production rates, productivity and efficiency with materials, product quality, and worker safety. From ancient times the ingenuity and the brain power human beings have astonished researchers with engineering and mechanical marvels like the wheel, bow and arrow, cross bows, etc. What started from the wheel did not end there but evolved into the complex mechatronics systems that we see around us today. The robotics is one such human marvel that will be one-day equal human beings themselves. The robots thus have far more use in the daily life than any other systems. The robotics and automation is a rising piece of technology which could lessen the loads of work and solve the problems exponentially. As robotics is finding its place on every sector in this globe, the aim this project is to introduce robotics in the field of industry. The title of the system is ‘Gesture controlled robotic arm’. The aim of the system is to provide safety and to increase productivity in our industries. The research project should be designed in such a way that it should occupy minimum space, should possess high maneuverability and high agility. The project in discussion is types of robots which needs minimum space and are proved to be highly maneuverable and highly agile. The robot contains two main units, one is the robotic arm and second is the data glove with accelerometer using a RF controller. The robotic arm unit is responsible for the hand functions of the whole structure of the robot. The data glove is responsible for the input feedback to the robotic arm. The robotic unit will be controlled by an Arduino platform to improve its stability. The angle tilt will be measured using ADXL335 sensor. The ADXL335 uses angle, tilt and yaw values with Arduino for data transfer. Through advanced primary and secondary research techniques, system implementation hurdles and potential risks involved in developing such a system are identified. The project is fully planned using advanced project management techniques like PERT chart and Gantt chart in order to identify the critical activities and the timeline related with it.

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Hundertmark, M., R. A. Street, Y. Tsapras, E. Bachelet, M. Dominik, K. Horne, V. Bozza, et al. "RoboTAP: Target priorities for robotic microlensing observations." Astronomy & Astrophysics 609 (January 2018): A55. http://dx.doi.org/10.1051/0004-6361/201730692.

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Context. The ability to automatically select scientifically-important transient events from an alert stream of many such events, and to conduct follow-up observations in response, will become increasingly important in astronomy. With wide-angle time domain surveys pushing to fainter limiting magnitudes, the capability to follow-up on transient alerts far exceeds our follow-up telescope resources, and effective target prioritization becomes essential. The RoboNet-II microlensing program is a pathfinder project, which has developed an automated target selection process (RoboTAP) for gravitational microlensing events, which are observed in real time using the Las Cumbres Observatory telescope network. Aims. Follow-up telescopes typically have a much smaller field of view compared to surveys, therefore the most promising microlensing events must be automatically selected at any given time from an annual sample exceeding 2000 events. The main challenge is to select between events with a high planet detection sensitivity, with the aim of detecting many planets and characterizing planetary anomalies. Methods. Our target selection algorithm is a hybrid system based on estimates of the planet detection zones around a microlens. It follows automatic anomaly alerts and respects the expected survey coverage of specific events. Results. We introduce the RoboTAP algorithm, whose purpose is to select and prioritize microlensing events with high sensitivity to planetary companions. In this work, we determine the planet sensitivity of the RoboNet follow-up program and provide a working example of how a broker can be designed for a real-life transient science program conducting follow-up observations in response to alerts; we explore the issues that will confront similar programs being developed for the Large Synoptic Survey Telescope (LSST) and other time domain surveys.

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Dai, Ye, Chaofang Xiang, Yuan Zhang, Yupeng Jiang, Wenyin Qu, and Qihao Zhang. "A Review of Spatial Robotic Arm Trajectory Planning." Aerospace 9, no. 7 (July 6, 2022): 361. http://dx.doi.org/10.3390/aerospace9070361.

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With space technology development, the spatial robotic arm plays an increasingly important role in space activities. Spatial robotic arms can effectively replace humans to complete in-orbit service tasks. The trajectory planning is the basis of robotic arm motion. Its merit has an essential impact on the quality of the completed operation. The research on spatial robotic arm trajectory planning has not yet formed a broad framework categorization, so it is necessary to analyze and deeply summarize the existing research systematically. This paper introduces the current situation of space obstacle avoidance trajectory planning and motion trajectory planning. It discusses the basic principle and practical application of the spatial robotic arm trajectory planning method. The future development trend has also been prospected.

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Yamamoto, Ikuo. "Robotic Fish Development for the Next Generation Underwater Vehicle." Advances in Science and Technology 101 (October 2016): 95–103. http://dx.doi.org/10.4028/www.scientific.net/ast.101.95.

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The author has developed many kinds of robotic fishes based on elastic oscillating fin propulsion system from 1989. The presentation describes past, present, and future robotic fish technologies, and applications of robotic fish technologies to various fields. Firstly, the history of the developed life-like robotic fish, such as sea bream in 1995, coelacanth in 1997, carp in 2000, shark ray in 2004 etc. is mentioned. The developed robotic fishes are basically propelled by vertical tail fin and operated by servo motors. Secondly, the life-like robotic dolphin was newly developed in 2013. The author developed tethered whale robot with horizontal tail fin propelled by hydraulic actuator in 1990s, however, the robotic dolphin is untethered and higher length, that is more than 1m, and has characteristic of fast cruising and higher maneuverability with horizontal tail fin propelled by servo motors. Thirdly, new application fields of robotic fish technologies, such as medical forceps and extractors, space robots which went to International Space Station and swam in the space, and current power plant using oscillating fin propulsion system for new offshore sustainable energy are described. Finally, robotic fish technologies for the next generation underwater vehicle are summarized.

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Machida, Kazuo. "Space Experiment of Advanced Robotic Hand System." Journal of the Robotics Society of Japan 17, no. 8 (1999): 1072–75. http://dx.doi.org/10.7210/jrsj.17.1072.

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O’Malley Jr., Bert W., Harry Quon, Fernando D. Leonhardt, Ara A. Chalian, and Gregory S. Weinstein. "Transoral Robotic Surgery for Parapharyngeal Space Tumors." ORL 72, no. 6 (2010): 332–36. http://dx.doi.org/10.1159/000320596.

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Moran, Amit, and Gil Ziv. "Transoral robotic resection of parapharyngeal space tumors." Operative Techniques in Otolaryngology-Head and Neck Surgery 25, no. 3 (September 2014): 293–98. http://dx.doi.org/10.1016/j.otot.2014.04.012.

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Whittaker, William, Peter Staritz, Rob Ambrose, Brett Kennedy, Stephen Fredrickson, Joe Parrish, and Chris Urmson. "Robotic Assembly of Space Solar-Power Facilities." Journal of Aerospace Engineering 14, no. 2 (April 2001): 59–64. http://dx.doi.org/10.1061/(asce)0893-1321(2001)14:2(59).

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Zhang, Dong, Chao Yun, and Dezheng Song. "Dexterous space optimization for robotic belt grinding." Procedia Engineering 15 (2011): 2762–66. http://dx.doi.org/10.1016/j.proeng.2011.08.520.

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Bachrach, Jonathan, Jacob Beal, and James McLurkin. "Composable continuous-space programs for robotic swarms." Neural Computing and Applications 19, no. 6 (May 28, 2010): 825–47. http://dx.doi.org/10.1007/s00521-010-0382-8.

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McKee, Maggie. "Space salvage to enter the robotic age." New Scientist 216, no. 2890 (November 2012): 46–49. http://dx.doi.org/10.1016/s0262-4079(12)62896-6.

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