Autonomous Robots for Active Removal of Orbital Debris

This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including ensuring a smooth capture, handling line-of-sight (LOS) obstructions of the target, and staying within the acceleration, force, and torque limits of the robot. Our approach involves the development of an optimal control framework for an eye-to-hand visual servoing method, which integrates two sequential sub-maneuvers: a pre-capturing maneuver and a post-capturing maneuver, aimed at achieving the shortest possible capture time. Integrating both control strategies enables a seamless transition between them, allowing for real-time switching to the appropriate control system. Moreover, both controllers are adaptively tuned through vision feedback to account for the unknown dynamics of the target. The integrated estimation and control architecture also facilitates fault detection and recovery of the visual feedback in situations where the feedback is temporarily obstructed. The experimental results demonstrate the successful execution of pre- and post-capturing operations on a tumbling and drifting target, despite multiple operational constraints

Technology for large space systems: A bibliography with indexes (supplement 22)

This bibliography lists 1077 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between July 1, 1989 and December 31, 1989. Its purpose is to provide helpful information to the researcher or manager engaged in the development of technologies related to large space systems. Subject areas include mission and program definition, design techniques, structural and thermal analysis, structural dynamics and control systems, electronics, advanced materials, assembly concepts, and propulsion

Development of An In Vivo Robotic Camera for Dexterous Manipulation and Clear Imaging

Minimally invasive surgeriy (MIS) techniques are becoming more popular as replacements for traditional open surgeries. These methods benefit patients with lowering blood loss and post-operative pain, reducing recovery period and hospital stay time, decreasing surgical area scarring and cosmetic issues, and lessening the treatment costs, hence greater patient satisfaction would be earned. Manipulating surgical instruments from outside of abdomen and performing surgery needs precise hand-eye coordination which is provided by insertable cameras. The traditional MIS insertable cameras suffer from port complexity and reduced manipulation dexterity, which leads to defection in Hand-eye coordination and surgical flow. Fully insertable robotic camera systems emerged as a promising solution in MIS. Implementing robotic camera systems faces multiple challenges in fixation, manipulation, orientation control, tool-tissue interaction, in vivo illumination and clear imaging.In this dissertation a novel actuation and control mechanism is developed and validated for an insertable laparoscopic camera. This design uses permanent magnets and coils as force/torque generators in an external control unit to manipulate an in vivo camera capsule. The motorless design of this capsule reduces the, wight, size and power consumption of the driven unit. In order to guarantee the smooth motion of the camera inside the abdominal cavity, an interaction force control method was proposed and validated.Optimizing the system\u27s design, through minimizing the control unit size and power consumption and extending maneuverability of insertable camera, was achieved by a novel transformable design, which uses a single permanent magnet in the control unit. The camera robot uses a permanent magnet as fixation and translation unit, and two embedded motor for tilt motion actuation, as well as illumination actuation. Transformable design provides superior imaging quality through an optimized illumination unit and a cleaning module. The illumination module uses freeform optical lenses to control light beams from the LEDs to achieve optimized illumination over surgical zone. The cleaning module prevents lens contamination through a pump actuated debris prevention system, while mechanically wipes the lens in case of contamination. The performance of transformable design and its modules have been assessed experimentally

Space station systems: A bibliography with indexes

This bibliography lists 967 reports, articles, and other documents introduced into the NASA scientific and technical information system between January 1, 1987 and June 30, 1987. Its purpose is to provide helpful information to the researcher, manager, and designer in technology development and mission design according to system, interactive analysis and design, structural and thermal analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion, and solar power satellite systems. The coverage includes documents that define major systems and subsystems, servicing and support requirements, procedures and operations, and missions for the current and future space station

Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study

In recent years, robotic exploration has become increasingly important in planetary exploration. One area of particular interest for exploration is Martian lava tubes, which have several distinct features of interest. First, it is theorized that they contain more easily accessible resources such as water ice, needed for in-situ utilization on Mars. Second, lava tubes of significant size can provide radiation and impact shelter for possible future human missions to Mars. Third, lava tubes may offer a protected and preserved view into Mars' geological and possible biological past. However, exploration of these lava tubes poses significant challenges due to their sheer size, geometric complexity, uneven terrain, steep slopes, collapsed sections, significant obstacles, and unstable surfaces. Such challenges may hinder traditional wheeled rover exploration. To overcome these challenges, legged robots and particularly jumping systems have been proposed as potential solutions. Jumping legged robots utilize legs to both walk and jump. This allows them to traverse uneven terrain and steep slopes more easily compared to wheeled or tracked systems. In the context of Martian lava tube exploration, jumping legged robots would be particularly useful due to their ability to jump over big boulders, gaps, and obstacles, as well as to descend and climb steep slopes. This would allow them to explore and map such caves, and possibly collect samples from areas that may otherwise be inaccessible. This paper presents the specifications, design, capabilities, and possible mission profiles for state-of-the-art legged robots tailored to space exploration. Additionally, it presents the design, capabilities, and possible mission profiles of a new jumping legged robot for Martian lava tube exploration that is being developed at the Norwegian University of Science and Technology.Comment: 74rd International Astronautical Congress (IAC

Robotic Manipulation and Capture in Space: A Survey

Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit

Space station systems: A bibliography with indexes (supplement 10)

This bibliography lists 1,422 reports, articles, and other documents introduced into the NASA scientific and technical information system between July 1, 1989 and December 31, 1989. Its purpose is to provide helpful information to researchers, designers and managers engaged in Space Station technology development and mission design. Coverage includes documents that define major systems and subsystems related to structures and dynamic control, electronics and power supplies, propulsion, and payload integration. In addition, orbital construction methods, servicing and support requirements, procedures and operations, and missions for the current and future Space Station are included

Large space structures and systems in the space station era: A bibliography with indexes

Bibliographies and abstracts are listed for 1219 reports, articles, and other documents introduced into the NASA scientific and technical information system between July 1, 1990 and December 31, 1990. The purpose is to provide helpful information to the researcher, manager, and designer in technology development and mission design according to system, interactive analysis and design, structural and thermal analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion, and solar power satellite systems

Technology for large space systems: A bibliography with indexes (supplement 20)

This bibliography lists 694 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between July, 1988 and December, 1988. Its purpose is to provide helpful information to the researcher or manager engaged in the development of technologies related to large space systems. Subject areas include mission and program definition, design techniques, structural and thermal analysis, structural dynamics and control systems, electronics, advanced materials, assembly concepts, and propulsion

Autonomous Visual Servo Robotic Capture of Non-cooperative Target

This doctoral research develops and validates experimentally a vision-based control scheme for the autonomous capture of a non-cooperative target by robotic manipulators for active space debris removal and on-orbit servicing. It is focused on the final capture stage by robotic manipulators after the orbital rendezvous and proximity maneuver being completed. Two challenges have been identified and investigated in this stage: the dynamic estimation of the non-cooperative target and the autonomous visual servo robotic control. First, an integrated algorithm of photogrammetry and extended Kalman filter is proposed for the dynamic estimation of the non-cooperative target because it is unknown in advance. To improve the stability and precision of the algorithm, the extended Kalman filter is enhanced by dynamically correcting the distribution of the process noise of the filter. Second, the concept of incremental kinematic control is proposed to avoid the multiple solutions in solving the inverse kinematics of robotic manipulators. The proposed target motion estimation and visual servo control algorithms are validated experimentally by a custom built visual servo manipulator-target system. Electronic hardware for the robotic manipulator and computer software for the visual servo are custom designed and developed. The experimental results demonstrate the effectiveness and advantages of the proposed vision-based robotic control for the autonomous capture of a non-cooperative target. Furthermore, a preliminary study is conducted for future extension of the robotic control with consideration of flexible joints