Related papers: Adaptive Robot Detumbling of a Non-Rigid Satellite
In this paper, a flexible tether-net system is applied to capture the space debris and a numerical framework is established to explore its nonlinear dynamic behaviors, which comprises four principal phases: folding, spreading, contacting,…
As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…
The non-linearities of the dynamics of Earth artificial satellites are encapsulated by two formal integrals that are customarily computed by perturbation methods. Standard procedures begin with a Hamiltonian simplification that removes…
The expansion of satellite-based quantum networks requires adaptive routing mechanisms that can sustain entanglement under dynamic orbital and atmospheric conditions. Conventional schemes, often tailored to static or idealised topologies,…
This paper addresses the computation of Delta-V-optimal, safe, relative orbit reconfigurations for satellite formations in a centralized fashion. The formations under consideration comprise an uncontrolled chief spacecraft flying with an…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
This paper studies the attitude control of a satellite in three-axis by thrusters. The mathematical model of attitude dynamics and kinematics of the satellite is represented as a switched system with sub-systems. Each sub-system is defined…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
We study the dynamics of a rigid body in a central gravitational field modeled as a Hamiltonian system with continuous rotational symmetries following the geometrical framework of Wang et al. Novelties of our work are the use the Reduced…
In general, most of communication satellites were designed to be operated in geostationary orbit. And many of them were designed in prolate dual-spin configuration. As a prolate dual-spin vehicle, they have to be stabilized against their…
The aim of the present paper is to provide suficient conditions for the existence of periodic solutions of the perturbed attitude dynamics of a rigid dumbbell satellite in a circular orbit.
Resource slicing in low Earth orbit satellite networks (LSN) is essential to support diversified services. In this paper, we investigate a resource slicing problem in LSN to reserve resources in satellites to achieve efficient resource…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially…
Satellite constellation missions, consisting of a large number of spacecraft, are increasingly being launched or planned. Such missions require novel control approaches, in particular for what concerns orbital phasing maneuvers. In this…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
This paper describes an online off-policy data-driven reinforcement learning based-algorithm to regulate and control the relative position of a deputy satellite in an autonomous satellite docking problem. The optimal control policy is…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…