Robotized spraying of prefabricated panels

A robotic manufacturing cell of pre-fabricated glass reinforced cement panels for construction industry has been developed by DISAM for the Spanish construction company Dragados, SA. The main contribution of the developed system is the automatic programming and control of the whole plan. The architect's 3D-drawing of the building facade done on a CAD system serves as input. From the CAD design, the optimum facade to panels partition is obtained. In order to manufacture each panel, automatic task and path planning are performed for the equipment present in the manufacturing cell: spraying robot, PLCs, control computer, etcThis work was supported by the construction company Dragados, S.A. and the Spanish Ministry of Industry under project PAUTA 1691/91. The authors thank A. Garcia, E. Pinto, 1. Florez, E. Marquez, C. Corpas, 1. Arauzo and A. Cases, and the staff of the Caracola factory in Torrejon de Ardoz (Madrid). Thanks are also due to Christian Schafer for his assistance with the final manuscript.Publicad

Proba-3: ESA’s Small Satellites Precise Formation Flying Mission to Study the Sun’s Inner Corona as Never Before

This paper showcases ESA’s Proba-3 mission as a demonstration of how small satellites, in combination with formation flying technology, can achieve relevant scientific goals and perform scientific measurements not possible otherwise, all within a tight cost and programmatic context. The study of the Sun inner corona down to 1.1 solar radius can only be performed by creating in space artificial eclipses with a large distance between a Coronograph instrument and an occulting disk, much bigger than the size of any spacecraft that can fit within a launcher. Proba-3 will achieve these enhanced scientific observations by controlling two small satellites (~1.5 m cubes in the 200-300kg range) as a 150 m long ‘large virtually rigid structure’ by maintaining millimetre and arc second relative precision. In effect the paired satellites will fly as a giant virtual satellite creating an ‘externally occulted’ coronagraph, in which a satellite imager is shielded from glaring sunlight by an occulting disk on the other satellite, forming an artificial eclipse. Precise station keeping for Coronagraphy will be kept for 6 consecutive hours within each 20 hour orbit for a minimum total of 1000 hours of scientific observations over the 2 years of mission lifetime. This will be achieved autonomously, without relying on the ground for active control of the formation. In addition, Proba-3 will practically demonstrate formation flying technologies enabling other future science missions: station-keeping at different relative distances (from 25 m up to 250 m); approaching and separating in precise formation without losing millimetre precision; the capability to repoint the formation as a virtual rigid body away from the Sun and the combination of station keeping, resizing and re-targeting manoeuvres. Proba-3 is at full speed in the assembly, integration and verification phase, with the aim of launching Proba-3 in two years’ time. The paper describes the overall Proba-3 mission concept and detailed design, the different challenges that were overcome in spacecraft design, formation flying metrology and control, and the need to implement novel verification and operation approaches to achieve the world’s first precise formation flying mission

CMAG: a mission to study and monitor the inner corona magnetic field

Measuring magnetic fields in the inner corona, the interface between the solar chromosphere and outer corona, is of paramount importance if we aim to understand the energetic transformations taking place there, and because it is at the origin of processes that lead to coronal heating, solar wind acceleration, and of most of the phenomena relevant to space weather. However, these measurements are more difficult than mere imaging because polarimetry requires differential photometry. The coronal magnetograph mission (CMAG) has been designed to map the vector magnetic field, line-of-sight velocities, and plane-of-the-sky velocities of the inner corona with unprecedented spatial and temporal resolutions from space. This will be achieved through full vector spectropolarimetric observations using a coronal magnetograph as the sole instrument on board a spacecraft, combined with an external occulter installed on another spacecraft. The two spacecraft will maintain a formation flight distance of 430 m for coronagraphic observations, which requires a 2.5 m occulter disk radius. The mission will be preferentially located at the Lagrangian L5 point, offering a significant advantage for solar physics and space weather research. Existing ground-based instruments face limitations such as atmospheric turbulence, solar scattered light, and long integration times when performing coronal magnetic field measurements. CMAG overcomes these limitations by performing spectropolarimetric measurements from space with an external occulter and high-image stability maintained over time. It achieves the necessary sensitivity and offers a spatial resolution of 2.5″ and a temporal resolution of approximately one minute, in its nominal mode, covering the range from 1.02 solar radii to 2.5 radii. CMAG relies on proven European technologies and can be adapted to enhance any other solar mission, offering potential significant advancements in coronal physics and space weather modeling and monitoring