Готові списки джерел за темами / Space robotic

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Автор: Grafiati
Опубліковано: 14 березня 2023

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Статті в журналах з теми "Space robotic"

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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2

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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Анотація:
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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4

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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Анотація:
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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5

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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Анотація:
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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6

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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Анотація:
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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9

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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10

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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Анотація:
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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Дисертації з теми "Space robotic"

1

St, John-Olcayto Ender. "Machine vision for space robotic applications." Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/43000.

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Анотація:
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1990.
Title as it appears in the M.I.T. Graduate List, June, 1990: Machine vision for simulated spacecraft operations.
Includes bibliographical references (leaf 70).
by Ender St. John-Olcayto.
M.S.
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2

Dolci, Marco. "Space Exploration Robotic Systems - Orbital Manipulation Mechanisms." Doctoral thesis, Politecnico di Torino, 2018. http://hdl.handle.net/11583/2705511.

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In the future, orbital space robots will assist humans in space by constructing and maintaining space modules and structures. Robotic manipulators will play essential roles in orbital operations. This work is devoted to the implemented designs of two different orbital manipulation mechanical grippers developed in collaboration with Thales Alenia Space Italy and NASA Jet Propulsion Laboratory – California Institute of Technology. The consensus to a study phase for an IXV (Intermediate eXperimental Vehicle) successor, a preoperational vehicle called SPACE RIDER (Space Rider Reusable Integrated Demonstrator for European Return), has been recently enlarged, as approved during last EU Ministerial Council. One of the main project task consists in developing SPACE RIDER to conduct on orbit servicing activity with no docking. SPACE RIDER would be provided with a robotic manipulator system (arm and gripper) able to transfer cargos, such as scientific payloads, from low Earth orbiting platforms to SPACE RIDER cargo bay. The platform is a part of a space tug designed to move small satellites and other payloads from Low Earth Orbit (LEO) to Geosynchronous Equatorial Orbit (GEO) and viceversa. The assumed housing cargo bay requirements in terms of volume (<100l) and mass (<50kg) combined with the required overall arm dimensions (4m length), and mass of the cargo (5-30kg) force to developing an innovative robotic manipulator with the task-oriented end effector. It results in a seven degree-of-freedom arm to ensure a high degree of dexterity and a dedicate end-effector designed to grasp the cargo interface. The gripper concept developed consists in a multi-finger hand able to lock both translational and rotational cargo degrees of freedom through an innovative underactuation strategy to limit its mass and volume. A configuration study on the cargo handle interface was performed together with some computer aided design models and multibody analysis of the whole system to prove its feasibility. Finally, the concept of system control architecture, the test report and the gripper structural analysis were defined. In order to be able to accurately analyze a sample of Martian soil and to determine if life was present on the red planet, a lot of mission concepts have been formulating to reach Mars and to bring back a terrain sample. NASA JPL has been studying such mission concepts for many years. This concept is made up of three intermediate mission accomplishments. Mars 2020 is the first mission envisioned to collect the terrain sample and to seal it in sample tubes. These sealed sample tubes could be inserted in a spherical envelope named Orbiting Sample (OS). A Mars Ascent Vehicle (MAV) is the notional rocket designed to bring this sample off Mars, and a Rendezvous Orbiting Capture System (ROCS) is the mission conceived to bring this sample back to Earth through the Earth Entry Vehicle (EEV). MOSTT is the technical work study to create new concepts able to capture and reorient an OS. This maneuver is particularly important because we do not know an OS incoming orientation and we need to be able to capture, to reorient it (2 rotational degrees of freedom), and to retain an OS (3 translational degrees of freedom and 2 rotational ones). Planetary protection requirements generate a need to enclose an OS in two shells and to seal it through a process called Break-The-Chain (BTC). Considering the EEV would return back to Earth, the tubes orientation and position have to be known in detail to prevent any possible damage during the Earth hard landing (acceleration of ∼1300g). Tests and analysis report that in order for the hermetic seals of the sample tubes to survive the impact, they should be located above an OS equator. Due to other system uncertainties an OS presents the potential requirement to be properly reoriented before being inserted inside the EEV. Planetary protection issues and landing safety are critical mission points and provide potential strict requirements to MOSTT system configuration. This task deals with the concept, design, and testbed realization of an innovative electro-mechanical system to reorient an OS consistent with all the necessary potential requirements. One of these electro-mechanical systems consists of a controlled-motorized wiper that explores all an OS surface until it engages with a pin on an OS surface and brings it to the final home location reorienting an OS. This mechanism is expected to be robust to the incoming OS orientation and to reorient it to the desired position using only one degree of freedom rotational actuator.
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3

Song, Peilin. "Robotic manipulator control, fundamentals of task space design." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp02/NQ28063.pdf.

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4

Bailey, Zachary James. "A trade space model for robotic lunar exploration." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/59552.

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Анотація:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2010.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student submitted PDF version of thesis.
Includes bibliographical references (p. 147-152).
The last decade has seen a resurgence of interest in the moon as a target for planetary exploration. In light of the growing interest in the robotic exploration of the moon, this thesis presents a quantitative methodology for exploring the trade space of potential in situ robotic lunar spacecraft designs. A science value model was developed, using Multi-Attribute Utility Theory (MAUT), to estimate the effectiveness of a spacecraft design towards assessing a set of specified science objectives. An engineering model was developed to estimate the masses of spacecraft designs within the trade space. These models were integrated together to explore the objectives of minimizing mass and maximizing science return. Two methods for exploration of the trade space were presented: a stochastic design space search method, and a multi-objective simulated annealing method. Using these techniques, the optimality of a reference mission was investigated, and ways to improve science utility performance were shown. The exploration of a trade space under uncertainty, using an -Pareto search method, was investigated, and recommendations for designers were presented.
by Zachary James Bailey.
S.M.
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5

Meyen, Forrest Edward. "Engineering a robotic exoskeleton for space suit simulation." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/85810.

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Анотація:
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 177-181).
Novel methods for assessing space suit designs and human performance capabilities are needed as NASA prepares for manned missions beyond low Earth orbit. Current human performance tests and training are conducted in space suits that are heavy and expensive, characteristics that constrain possible testing environments and reduce suit availability to researchers. Space suit mock-ups used in planetary exploration simulations are light and relatively inexpensive but do not accurately simulate the joint stiffness inherent to space suits, a key factor impacting extravehicular activity performance. The MIT Man-Vehicle Laboratory and Aurora Flight Sciences designed and built an actively controlled exoskeleton for space suit simulation called the Extravehicular Activity Space Suit Simulator (EVA S3), which can be programmed to simulate the joint torques recorded from various space suits. The goal of this research is to create a simulator that is lighter and cheaper than a traditional space suit so that it can be used in a variety of testing and training environments. The EVA S3 employs pneumatic actuators to vary joint stiffness and a pre-programmed controller to allow the experimenter to apply torque profiles to mimic various space suit designs in the field. The focus of this thesis is the design, construction, integration, and testing of the hip joint and backpack for the EVA S3. The final designs of the other joints are also described. Results from robotic testing to validate the mechanical design and control system are discussed along with the planned improvements for the next iteration of the EVA S3. The fianl EVA S3 consists of a metal and composite exoskeleton frame with pneumatic actuators that control the resistance of motion in the ankle, knee, and hip joints, and an upper body brace that resists shoulder and elbow motions with passive spring elements. The EVA S3 is lighter (26 kg excluding the tethered components) and less expensive (under $600,000 including research, design, and personnel) than a modem space suit. Design adjustments and control system improvements are still needed to achieve a desired space suit torque simulation fidelity within 10% root-mean-square error.
by Forrest Edward Meyen.
S.M.
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6

Cave, Gary L. "Development and control of robotic arms for the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)." Thesis, Monterey, California. Naval Postgraduate School, 2002. http://hdl.handle.net/10945/4614.

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Approved for public release, distribution is unlimited
The objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS). The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control. The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment. It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control. A "star sensor" CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle. The on-board computer system leverages PXI technology and a single source, simplifying systems integration. The vehicle is powered by two lead-acid batteries for completely autonomous operation. A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location.
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7

Wong, Pang Fei 1979. "Algorithms for efficient dynamics simulation of space robotic systems." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99548.

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Анотація:
The algorithms used for solving the forward dynamics problem of a complex multibody system are essential for an efficient simulation of robotic systems. The efficiency is measured by the CPU time and the number of operations per number of bodies in the system. In this work, we discuss the solution of the forward dynamics problem for real-time simulations of space robotic systems using the so-called Articulated Body Method. Traditional methods use the calculation of the inverse of the generalized mass matrix. This makes the required number of operations proportional to the cube of the number of bodies in the multibody system. For real-time simulations of complex systems, O(n) algorithms seem to be the best choice because the number of operations is linearly proportional to the number of bodies. They become more efficient than O( n3) algorithms as soon as the number of bodies in the system exceeds 12--14. In this thesis, we will present a detailed discussion of O(n) algorithms derived based on the Articulated Body Method (ABM). This algorithm can be presented using Lagrangian and Hamiltonian variables. Such algorithms can be used for the real-time simulation of robotic systems by taking into account both joint-flexibility and approximations for the gear-ratio effect. A unified derivation of the ABM algorithms using both Lagrangian and Hamiltonian variables will be discussed. The intended, primary application of the algorithms is to develop real-time simulation engines for the complete robotic system of the International Space Station. The implementation and use of these algorithms will be analyzed in detail.
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8

Mangalgiri, Vickram S. (Vickram Suresh) 1979. "Analysis for robotic assembly of large flexible space structures." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/27038.

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Анотація:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.
Includes bibliographical references (leaves 79-83).
Space solar power is a renewable, environment-friendly alternative to satisfy future terrestrial power needs. Space solar power stations will need to have large dimensions (on the order of hundreds of meters) to be able to collect enough power to make them cost effective. It will be infeasible to transport these large structures, fully assembled, from earth to space, or use human astronauts for their construction in space, leaving robotic assembly as the only viable option. The focus of the current work is to identify potential challenges to the large structure assembly process in space and develop methods to address them. One of the major causes of failure in the assembly process would be dimensional mismatch between the two structures to be joined. The first part of this thesis analyses the static and dynamic effects on a typical large space structure using finite element models and predicts the deformation that the structure will undergo due to thermal and vibration effects in space. Forced assembly methods using cooperative robots are developed to compensate for these dimensional errors. The second part of the thesis deals with the application of forced assembly methods to representative assembly scenarios. The scenarios are categorized based on the nature of the deformation involved. The differences between the use of thrusters and manipulators by robots are discussed and assembly plans are developed for each scenario using either or both types of actuators. A genetic algorithm based planner is developed and implemented to optimize the assembly process within the limits of the assumptions made.
by Vikram S. Mangalgiri.
S.M.
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9

Tai, Emily. "Design of an anthropomorphic robotic hand for space operations." College Park, Md.: University of Maryland, 2007. http://hdl.handle.net/1903/7284.

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Анотація:
Thesis (M.S.) -- University of Maryland, College Park, 2007.
Thesis research directed by: Dept. of Aerospace Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
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10

Dai, J. S. "Screw image space and its application to robotic grasping." Thesis, University of Salford, 1993. http://usir.salford.ac.uk/43023/.

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This thesis is devoted to the study and extension of screw image space and its application to kinematic restraint and robotic grasping. In the study of restraint and robotic grasping, problems arise in relation to how to map the conditions and requirements of restraint in a special representational space, and how to map an object in the same space, so that all analysis and synthesis can be performed and further developed in such a space. Meanwhile, it is desirable that such a space would allow us to establish a relationship between equilibrium and geometry of a restraint circumstance, and also a relationship between geometry and algebra. The study is to introduce the restraint mapping in a newly extended screw image space. With the help of a new look at the properties of screws and screw systems, the screw image space is extended with its relevant spaces, the relationship among them is clarified together with a set of definitions. The screw image space is further completed with the study of its entities including hyperplanes, simplexes and polytopes, and further with the partition of the space. A framework is thus established and associated to restraint mapping and the extension of screw image space, and a set of theories is developed to study the entities in screw image space and to apply them to the restraint mapping. The study is based on the linear dependence of screws with detailed algebraic reasoning, which puts forward new properties of zero pitch screw combinations and theory of linear dependence of reciprocal screw systems together with algebraic and geometric reasoning. The study is successfully applied to kinematic restraint and robotic grasping with a set of theorems and methodologies, not only by mapping the restraint of an object, but also by mapping a set of restraint screws along the surface of an object. The graspability of an arbitrary object can thus be determined, the planning and optimisation can be carried out in the screw image space, together with three new invariant quality measures. An optimal grasp is hence achieved with isotropic resistance to arbitrary externally applied forces. The mapping and entities in screw image space are further weighted to account for the stiffness of contacts in dealing with frictional restraint, and planning is thus based on a stiffness weighted mapping. The planning and optimisation are further given in the concept of normal related restraint, and are achieved in the relevant screw image spaces. An augmented space is then established with the introduction of an affine condition. The relationship between the affine solution and the volumetric ratios of sub-simplexes to an n-simplex reconciles the quality measures with the optimisation. With the further introduction of elastic compatibility, frictional grasps are decomposed, and the force equation of equilibrium is augmented. The approach makes it possible to plan grasps in screw image space and to solve them in augmented space. The approach is further used to predict the failure of a specific case of grasping, and gives a satisfactory result, when compared with an experimental result. The final phase of the study is applied to the unknown grasping of unknown objects. By aggregating contact normals and their position vectors of an unknown object by means of newly developed tactile fingertip detectors, and by mapping them into screw image space, the description of an unknown object is completed. The planning and optimisation can thus operate in screw image space, giving a sufficient prediction of a grasp to be applied on the object. Examples and case studies are given through the thesis. Experiments are quoted to demonstrate the implementation of the new system of theories and methodologies in this Thesis. Further, a set of strategies and their methodology is given and incorporated into a package in C++ with a general application to the study of restraint in screw image space. The thesis ends with a concluding chapter reviewing the contents of the thesis and the main achievements of the study, proposing suggestions for further work.
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Книги з теми "Space robotic"

1

Yŏnʼguwŏn, Hanʼguk Chŏnja Tʻongsin, ed. USN kiban ubiquitous robotic space kisul kaebal =: USN-based ubiquitous robotic space technology development. [Seoul]: Chŏngbo Tʻongsinbu, 2008.

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Yŏnʼguwŏn, Hanʼguk Chŏnja Tʻongsin, ed. USN kiban ubiquitous robotic space kisul kaebal =: USN-based ubiquitous robotic space technology development. [Seoul]: Chŏngbo Tʻongsinbu, 2008.

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3

Desrochers, A. A. Intelligent Robotic Systems for Space Exploration. Boston, MA: Springer US, 1992.

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Desrochers, Alan A., ed. Intelligent Robotic Systems for Space Exploration. Boston, MA: Springer US, 1992. http://dx.doi.org/10.1007/978-1-4615-3634-5.

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A, Desrochers A., ed. Intelligent robotic systems for space exploration. Boston: Kluwer Academic Publishers, 1992.

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6

F, Uribe Paulo, and United States. National Aeronautics and Space Administration., eds. Capaciflector-based robotic system: Semiannual report. [Washington, DC]: Catholic University of America, Dept. of Electrical Engineering, 1993.

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F, Uribe Paulo, and United States. National Aeronautics and Space Administration., eds. Capaciflector-based robotic system: Semiannual report. [Washington, DC]: Catholic University of America, Dept. of Electrical Engineering, 1993.

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F, Uribe Paulo, and United States. National Aeronautics and Space Administration., eds. Capaciflector-based robotic system: Semiannual report. [Washington, DC]: Catholic University of America, Dept. of Electrical Engineering, 1993.

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9

United States. National Aeronautics and Space Administration., ed. Key technology issues for space robotic systems. [Washington, DC?: National Aeronautics and Space Administration, 1989.

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Space invaders: How robotic spacecraft explore the solar system. New York, NY: Copernicus Books, 2007.

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Частини книг з теми "Space robotic"

1

Sinha, P. K., and Pi-Luen Ho. "Three-Dimension Abstraction of Convex Space Path Planning." In Robotic Systems, 245–52. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2526-0_28.

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Murphy, Stephen H. "Simulation of Space Manipulators." In Intelligent Robotic Systems for Space Exploration, 257–95. Boston, MA: Springer US, 1992. http://dx.doi.org/10.1007/978-1-4615-3634-5_7.

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Watson, James F., Donald R. Lefebvre, Alan A. Desrochers, Stephen H. Murphy, and Keith R. Fieldhouse. "Testbed for Cooperative Robotic Manipulators." In Intelligent Robotic Systems for Space Exploration, 1–38. Boston, MA: Springer US, 1992. http://dx.doi.org/10.1007/978-1-4615-3634-5_1.

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Duelen, G., and C. Willnow. "Path Planning of Transfer Motions for Industrial Robots by Heuristically Controlled Decomposition of the Configuration Space." In Robotic Systems, 217–24. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2526-0_25.

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Jackson, Lucy, Chakravarthini M. Saaj, Asma Seddaoui, Calem Whiting, and Steve Eckersley. "The Downsizing of a Free-Flying Space Robot." In Towards Autonomous Robotic Systems, 480–83. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-25332-5_45.

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Mathur, Rajive K., Rolf Münger, and Arthur C. Sanderson. "Hierarchical Planning for Space-Truss Assembly." In Intelligent Robotic Systems for Space Exploration, 141–84. Boston, MA: Springer US, 1992. http://dx.doi.org/10.1007/978-1-4615-3634-5_4.

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Kurosu, Kenji, Tadayoshi Furuya, Mitsuru Soeda, Jifeng Sun, and Akira Imaishi. "Driving and Confinement of A Group in A Small Space." In Distributed Autonomous Robotic Systems, 334–44. Tokyo: Springer Japan, 1994. http://dx.doi.org/10.1007/978-4-431-68275-2_30.

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8

Seddaoui, Asma, and Chakravarthini M. Saaj. "Collision-Free Optimal Trajectory for a Controlled Floating Space Robot." In Towards Autonomous Robotic Systems, 248–60. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-25332-5_22.

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9

Ghazi, Ahmed E., and Jean V. Joseph. "Anatomical Aspects of the Extra– and Retroperitoneal Space." In Retroperitoneal Robotic and Laparoscopic Surgery, 1–8. London: Springer London, 2011. http://dx.doi.org/10.1007/978-0-85729-485-2_1.

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Jakhu, Ram S., Joseph N. Pelton, and Yaw Otu Mankata Nyampong. "Power and Robotic Systems for Space Mining Operations." In Space Mining and Its Regulation, 33–40. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-39246-2_4.

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Тези доповідей конференцій з теми "Space robotic"

1

Howe, A., and Ian Gibson. "Trigon Robotic Pairs." In Space 2006. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2006. http://dx.doi.org/10.2514/6.2006-7407.

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2

Pedersen, Liam, Matt Deans, Clay Kunz, Randy Sargent, Alan Chen, and Greg Mungas. "Inspection with Robotic Microscopic Imaging." In Space 2005. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2005. http://dx.doi.org/10.2514/6.2005-6719.

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Paulsen, Gale, Kris Zacny, Phil Chu, Erik Mumm, Kiel Davis, Seth Frader-Thompson, Kyle Petrich, et al. "Robotic Drill Systems for Planetary Exploration." In Space 2006. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2006. http://dx.doi.org/10.2514/6.2006-7512.

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4

Liu, YenChen, and Nikhil Chopra. "Controlled Synchronization of Robotic Manipulators in the Task Space." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2684.

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Due to its practical applicability, recently several algorithms for robot synchronization have been developed in the literature. However, the focus of these control schemes has primarily been on joint-space control and in the absence of communication unreliabilities between the agents. In this paper, we study the problem of task space synchronization and trajectory tracking for heterogeneous robots under dynamic uncertainties. Exploiting passivity based synchronization results developed previously, a new control algorithm is proposed to guarantee task space synchronization for a group of robotic manipulators. Both non-redundant and redundant robots are considered and the proposed scheme is validated by a numerical example.
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Verstraete, Andrew, Nicole St. Louis, Daniel Kolosa, and Jennifer Hudson. "GEO Robotic Servicer Trajectory Optimization." In AIAA SPACE 2016. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2016. http://dx.doi.org/10.2514/6.2016-5242.

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Sterling, R., S. Zaki, R. Agreda, Y. Wang, and Gecheng Zha. "Mars Robotic Global Exploration Network." In AIAA SPACE 2016. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2016. http://dx.doi.org/10.2514/6.2016-5600.

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7

Mazanek, Daniel D., Raymond G. Merrill, Scott P. Belbin, David M. Reeves, Bo J. Naasz, Paul A. Abell, and Kevin Earle. "Asteroid Redirect Robotic Mission: Robotic Boulder Capture Option Overview." In AIAA SPACE 2014 Conference and Exposition. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2014. http://dx.doi.org/10.2514/6.2014-4432.

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8

Anand, Sam, and Mohamed Sabri. "Optimal Robotic Assembly Planning Using Dijkstra’s Algorithm." In ASME 1994 Design Technical Conferences collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium. American Society of Mechanical Engineers, 1994. http://dx.doi.org/10.1115/detc1994-0377.

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Abstract Robots play an important role in the modern factory and are used in a manufacturing cell for several functions such as assembly, material handling, robotic welding, etc. One of the principal problems faced by robots while performing their tasks is the presence of obstacles such as fixtures, tools, and objects in the robot workspace. Such objects could result in a collision with one of the arms of the robots. Fast collision-free motion planning algorithms are therefore necessary for robotic manipulators to operate in a wide variety of changing environments. The configuration space approach is one of the widely used methods for collision-free robotic path planning. This paper presents a novel graph-based method of searching the configuration space for a collision-free path in a robotic assembly operation. Dijkstra’s graph search algorithm is used for optimizing the joint displacements of the robot while performing the assembly task. The methodology is illustrated using a simple robotic assembly planning task.
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9

Thangavelu, Madhu, and Alain Chau. "Surrogate Astronaut Robotic Avatars: Co-Robotics for Safe, Economic Space Operations." In AIAA SPACE 2013 Conference and Exposition. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2013. http://dx.doi.org/10.2514/6.2013-5394.

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Roesler, Gordon. "A Robotic Space Station." In ASCEND 2020. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2020. http://dx.doi.org/10.2514/6.2020-4178.

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Звіти організацій з теми "Space robotic"

1

Marsh, Ronald, and Henry Hexmoor. Self-Evaluating Space and Robotic Agents. Fort Belvoir, VA: Defense Technical Information Center, February 2004. http://dx.doi.org/10.21236/ada420696.

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2

Ma, Ou. An Innovative 6-DOF Platform for Testing a Space Robotic System to Perform Contact Tasks in Zero-Gravity Environment. Fort Belvoir, VA: Defense Technical Information Center, October 2013. http://dx.doi.org/10.21236/ada592717.

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3

Shaheen, Susan, Elliot Shaheen, Adam Cohen, Jacquelyn Broader, and Richard Davis. Managing the Curb: Understanding the Impacts of On-Demand Mobility on Public Transit, Micromobility, and Pedestrians. Mineta Transportation Institute, July 2022. http://dx.doi.org/10.31979/mti.2022.1904.

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In recent years, innovative mobility and shifts in travel and consumption behavior are changing how people access and use the curb. Shared mobility—the shared use of a vehicle, bicycle, scooter, or other mode—coupled with outdoor dining, curbside pick-up, and robotic delivery are creating new needs related to the planning, management, and enforcement of curb access. This study examines curb planning and management from several angles, such as safety, social equity, and multimodal connections. This research employs a multi-method approach to identify the changing needs for curb space management and how to meet these needs through new planning and implementation policies and strategies. As part of this study, the authors conducted 23 interviews. Respondents were chosen to represent public, private, and non-profit sector perspectives. Additionally, the authors employed a survey of 1,033 curb users and 241 taxi, transportation network company (TNC), and public transportation drivers. The study finds that changes in mode choice and curbside use can result in a variety of impacts on access, social equity, congestion, device management, pick-up and drop-off, and goods delivery, to name a few. The curb also has the potential to be disrupted by emerging modes, such as robotic delivery vehicles (also known as personal delivery devices) and automated vehicles. As these emerging developments continue to impact the curb, it is becoming increasingly important for policymakers to have an appropriate framework for planning and managing curb space in urban areas.
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Yoozbashizadeh, Mahdi, and Forouzan Golshani. Robotic Parking Technology for Congestion Mitigation and Air Quality Control Around Park & Rides. Mineta Transportation Institute, June 2021. http://dx.doi.org/10.31979/mti.2021.1936.

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A lack or limited availability for parking may have multiple consequences, not the least of which is driver frustration, congestion, and air pollution. However, there is a greater problem that is not widely recognized by the public, namely the negative effect on the use of transit systems due to insufficient parking spaces close to key transit stations. Automated parking management systems, which have been successfully deployed in several European and Japanese cities, can manage parking needs at transit stations more effectively than other alternatives. Numerous studies have confirmed that quick and convenient automobile access to park-and-ride lots can be essential to making public transit competitive with the automobile in suburban areas. Automated parking systems use a robotic platform that carries each vehicle to one of the locations in a custom designed structure. Each location is designed compactly so that considerably more vehicles can be parked in the automated garages than the traditional parking lots. Central to the design of these systems are three key technologies, namely: 1. Mechanical design and the operation of vehicle transfer, i.e., the robotic platform 2. Structural and architectural requirements to meet safety and earthquake standards, among other design imperatives, 3. Automation and intelligent control issues as related to the overall operation and system engineering. This article concerns the first technology, and more specifically the design of the robotic platform for vehicle transfers. We will outline the overall design of the robot and the shuttle, followed by a description of the prototype that was developed in our laboratories. Subsequently, performance related issues and scalability of the current design will be analyzed.
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Metta, Giorgio. An Attentional System for a Humanoid Robot Exploiting Space Variant Vision. Fort Belvoir, VA: Defense Technical Information Center, January 2001. http://dx.doi.org/10.21236/ada434729.

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Wilson, Edward. Experiments in Neural-Network Control of a Free-Flying Space Robot. Fort Belvoir, VA: Defense Technical Information Center, March 1995. http://dx.doi.org/10.21236/ada329618.

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Fevig, Ronald Adrey, and Jeremy Straub. The North Dakota Space Robotics Program: Teaching Spacecraft Development Skills to Students Statewide with High Altitude Ballooning. Ames (Iowa): Iowa State University. Library. Digital Press, January 2012. http://dx.doi.org/10.31274/ahac.8345.

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