Related papers: Systematic Design of Optimal Low-Thrust Transfers …
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Driven by the desire to find positions that satisfy keepout constraints for a space-based telescope mission, this work develops a process for tracing a point in space in the regime of the restricted three-body problem to a halo orbit,…
Homotopy methods have been widely utilized to solve low-thrust orbital transfer problems, however, it is not guaranteed that the optimal solution can be obtained by the existing homotopy methods. In this paper, a new homotopy method is…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
This paper presents a strategy for optimal manoeuvre design of multi-satellite formation flying in low Earth orbit environment, with the aim of providing a tool for mission operation design. The proposed methodology for formation flying…
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…
A minimum-time reorientation of an axisymmetric rigid spacecraft controlled by three torques is studied. The orientation of the body is modeled such that the attitude kinematics are representative of a spin-stabilized spacecraft. The…
The problem of minimum-time, low-thrust, Earth-to-Mars interplanetary orbital trajectory optimization is considered. The minimum-time orbital transfer problem is modeled as a four-phase optimal control problem where the four phases…
In this paper, Particle Swarm Optimization with energy-to-fuel continuation is proposed for initializing the co-state variables for low-thrust minimum-fuel trajectory optimization problems in the circular restricted three-body problem.…
In the circular restricted three-body problem, low energy transit orbits are revealed by linearizing the governing differential equations about the collinear Lagrange points. This procedure fails when time-periodic perturbations are…
In this work, we study the motions in the region around the equilateral Lagrangian equilibrium points L4 and L5, in the framework of the Circular Planar Restricted Three-Body Problem (hereafter, CPRTBP). We design a semi-analytic approach…
A deep-space exploration mission with low-thrust propulsion to rendezvous with multiple asteroids is investigated. Indirect methods, based on the optimal control theory, are implemented to optimize the fuel consumption. The application of…
The invariant manifold approach is used to explore the dynamics of a nonlinear rotor, by determining the nonlinear normal modes, constructing a reduced order model and evaluating its performance in the case of response to an initial…
Space missions that use low-thrust propulsion technology are becoming increasingly popular since they utilize propellant more efficiently and thus reduce mission costs. However, optimizing continuous-thrust trajectories is complex,…
Reachability analysis plays a central role in low-thrust spacecraft trajectory optimization by identifying which target states can be achieved under constraints on time, thrust, and propellant. Classical approaches construct reachable sets…
High-dimensional visual computer models are poised to revolutionize the space mission design process. The circular restricted three-body problem (CR3BP) gives rise to high-dimensional toroidal manifolds that are of immense interest to…
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…
There exist cislunar and trans-lunar libration points near the Moon, which are referred as the LL1 and LL2 points respectively and can generate the different types of low-energy trajectories transferring from Earth to Moon. The…
In this paper, the L1-minimization for the translational motion of a spacecraft in a circular restricted three-body problem (CRTBP) is considered. Necessary con- ditions are derived by using the Pontryagin Maximum Principle, revealing the…