Contact detection and contact motion for error recovery in the presence of uncertainties

Due to various kinds of uncertainties, a robot motion may fail and result in some unintended contact between the object held by the robot and the environment, which greatly hampers robotics applications on tasks with high-precision requirements, such as assembly tasks. Aiming at automatically recovering a robotic task from such a failure, this paper discusses, in the presence of uncertainties, contact detection based on contact motion for recovery. It presents a framework for on-line recognizing contacts using multiple sensor modalities in the presence of sensing uncertainties and means for ensuring successful compliant motions in the presence of sensing and control uncertainties

An introduction to a new space debris evolution model -- SOLEM

SOLEM is the first space debris long-term evolution model of China. This paper describes the principles, components and workflow of the SOLEM. The effects of different mitigation measures based on SOLEM model are analyzed and presented. The limitation of the model is pointed out and its future improvement work-plan is prospected.Comment: 16 pages, 14 figure