Related papers: Development of On-Ground Hardware In Loop Simulati…
We present CloudGripper, an open source cloud robotics testbed, consisting of a scalable, space and cost-efficient design constructed as a rack of 32 small robot arm work cells. Each robot work cell is fully enclosed and features individual…
We describe a system for deep reinforcement learning of robotic manipulation skills applied to a large-scale real-world task: sorting recyclables and trash in office buildings. Real-world deployment of deep RL policies requires not only…
In-service structural health monitoring is a so far rarely exploited, yet potent option for early-stage crack detection and identification in train wheelset axles. This procedure is non-trivial to enforce on the basis of a purely…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
Electronic control systems are becoming more and more complicated, which makes it difficult to test them sufficiently only through experiments. Simulation is an efficient way in the development and testing of complex electronic systems, but…
Various proposed space elevators may bypass the financial and environmental limits on rocket technology, but all have their own problems. A Low-Earth-Orbit, LEO, rotovator-based space-elevator version called 'sling-on-a-ring' may overcome…
The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose innovative solutions for Multi-Robot Systems (MRS) space…
Systems consisting of spheres rolling on elastic membranes have been used to introduce a core conceptual idea of General Relativity (GR): how curvature guides the movement of matter. However, such schemes cannot accurately represent…
Spin state predictions for defunct satellites in geosynchronous earth orbit (GEO) are valuable for active debris removal and servicing missions as well as material shedding studies and attitude-dependent solar radiation pressure (SRP)…
Although airborne base stations (ABSs) mounted on drones show a significant potential to enhance network capacity and coverage due to their flexible deployment, the system performance is severely limited by the endurance of the on-board…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
The 3D bin packing problem, with its diverse industrial applications, has garnered significant research attention in recent years. Existing approaches typically model it as a discrete and static process, while real-world applications…
This paper presents a detailed system design and component selection for the Transforming Proximity Operations and Docking Service (TPODS) module, designed to gain custody of uncontrolled resident space objects (RSOs) via rendezvous and…
This paper presents a load control algorithm for control of energy sources and loads to enhance energy sustainability and reliability of the International Space Station (ISS), which is a large spacecraft in orbit around Earth. In this…
The rapid proliferation of non-cooperative spacecraft and space debris in orbit has precipitated a surging demand for on-orbit servicing and space debris removal at a scale that only autonomous missions can address, but the prerequisite…
In this work, we propose a simulator, based on the open-source physics engine MuJoCo, for the design and control of soft robotic nets for the autonomous removal of space debris. The proposed simulator includes net dynamics, contact between…
Future SAE Level 4 and Level 5 autonomous vehicles will require novel applications of localization, perception, control and artificial intelligence technology in order to offer innovative and disruptive solutions to current mobility…
Due to the lack of information such as the space environment condition and resident space objects' (RSOs') body characteristics, current orbit predictions that are solely grounded on physics-based models may fail to achieve required…
Mobility management is the key feature of cellular networks. When integrating unmanned aerial vehicles (UAVs) into cellular networks, their cell association needs to be carefully managed for coexistence with other cellular users. UAVs move…
Space debris have been becoming exceedingly dangerous over the years as the number of objects in orbit continues to rise. Active debris removal (ADR) missions have garnered significant attention as an effective way to mitigate this…