Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger

The geometric parameters of a space robot change with the terrible temperature change in orbit, which will cause the end-effector pose (position and orientation) error of a space robot, and so weakens its operability. With this in consideration, a new geometric parameter identification method is presented based on a laser-ranger attached to the end-effector. Then, independence of the geometric parameters is analyzed, and their identification equations are derived. With the derived identification Jacobian matrix, the optimal identification configurations are chosen according to the observability index O3. Subsequently, through simulation the geometric parameter identification of a 6-DOF space robot is implemented for these identification configurations, and the identified parameters are verified in a set of independent reference configurations. The result shows that in spite of distance measurement alone, pose accuracy of the space robot still has a greater improvement, so the identification method is practical and valid

A Hybrid Mapping Method with Position and Stiffness for Manipulator Teleoperation

Transferring versatile skills of human behavior to teleoperate manipulators to execute tasks with large uncertainties is challenging in robotics. This paper proposes a hybrid mapping method with position and stiffness for manipulator teleoperation through the exoskeleton device combining with the surface electromyography (sEMG) sensors. Firstly, according to the redefinition of robot workspace, the fixed scale mapping in free space and virtual impedance mapping in fine space are presented for position teleoperation. Secondly, the stiffness at the human arm endpoint is predicted and classified into three levels based on the K nearest neighbor (KNN) and XGBoost, and the stiffness mapping method is utilized to regulate the stiffness behavior of manipulator. Finally, the proposed method is demonstrated in three complementary experiments, namely the trajectory tracking in free space, the obstacle avoidance in fine space and the human robot interaction in contact space, which illustrate the effectiveness of the method

Intelligent Control of a Space Manipulator Ground Unfold Experiment System with Lagging Compensation

In ground testing of space manipulators, gravity compensation is a critical testing requirement. The objective of this paper was to design a space manipulator gravity compensation test platform for ground tests and solve the problems of force control oscillation and precision degradation caused by the execution lag encountered in the development process. An intelligent PID controller was designed for this active-suspension gravity compensation experimental mechanism of a space manipulator on the ground, and a specially designed second-order method was used to solve the problem of the execution lag in this mechanism. The intelligent controller was developed based on adaptive dynamic programming and redesigned to improve its transient performance. The simulation was carried out, and its results were compared with the results on a real machine to demonstrate the effectiveness of this set of experimental controllers. This paper compares in detail the results of the designed method on system input and output and shows the effectiveness of this method in dealing with the execution lag of the mechanism. In conclusion, in this work, we successfully designed and implemented an intelligent PID controller for an active-suspension gravity compensation experimental mechanism of a space manipulator on the ground, and the experimental results demonstrate the effectiveness of the proposed method

Algae biostimulants: A critical look at microalgal biostimulants for sustainable agricultural practices

For the growing human population to be sustained during present climatic changes, enhanced quality and quantity of crops are essential to enable food security worldwide. The current consensus is that we need to make a transition from a petroleum-based to a bio-based economy via the development of a sustainable circular economy and biorefinery approaches. Both macroalgae (seaweeds) and microalgae have been long considered a rich source of plant biostimulants with an attractive business opportunity in agronomy and agro-industries. To date, macroalgae biostimulants have been well explored. In contrast, microalgal biostimulants whilst known to have positive effects on development, growth and yields of crops, their commercial implementation is constrained by lack of research and cost of production. The present review highlights the current knowledge on potential biostimulatory compounds, key sources and their quantitative information from algae. Specifically, we provide an overview on the prospects of microalgal biostimulants to advance crop production and quality. Key aspects such as specific biostimulant effects caused by extracts of microalgae, feasibility and potential of co-cultures and later co-application with other biostimulants/biofertilizers are highlighted. An overview of the current knowledge, recent advances and achievements on extraction techniques, application type, application timing, current market and regulatory aspects are also discussed. Moreover, aspects involved in circular economy and biorefinery approaches are also covered, such as: integration of waste resources and implementation of high-throughput phenotyping and -omics tools in isolating novel strains, exploring synergistic interactions and illustrating the underlying mode of microalgal biostimulant action. Overall, this review highlights the current and future potential of microalgal biostimulants, algal biochemical components behind these traits and finally bottlenecks and prospects involved in the successful commercialisation of microalgal biostimulants for sustainable agricultural practices