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2D Microgravity Test-Bed for the Validation of Space Robot Control Algorithms

Oleś Jakub, Jakub Kindracki, Tomasz Rybus, Łukasz Mężyk, Przemysław Paszkiewicz, Radosław Moczydłowski, Tomasz Barciński, Karol Seweryn, Piotr Wolański
2017 Journal of Automation, Mobile Robotics & Intelligent Systems  
The Space Research Centre of the Polish Academy of Sciences (CBK PAN) possesses a planar air bearing microgravity simulator used for the testing of advanced control algorithms of space robots supported  ...  This paper is about the control of on-orbit space robots and the testing of such objects in laboratory conditions.  ...  In the frame of ongoing RR-SPACE project (PBS3/A3/22/2015) the test bed is being modified in order to develop a semi-autonomous space robot as a platform for the testing of various control algorithms.  ... 
doi:10.14313/jamris_2-2017/21 fatcat:mppvtqagqvechb66oqmpaxhg74

Design, Control, and Experimentation of Internally-Actuated Rovers for the Exploration of Low-Gravity Planetary Bodies [chapter]

B. Hockman, A. Frick, I. A. D. Nesnas, M. Pavone
2016 Springer Tracts in Advanced Robotics  
We then discuss the design and control of a first-of-a-kind test bed, which allows the accurate emulation of a microgravity environment for mobility experiments and consists of a 3 DoF gimbal attached  ...  Finally, we present experimental results on the test bed that provide key insights for control and validate the theoretical analysis. * Corresponding author and project principal investigator.  ...  Acknowledgments The research described in this paper is currently supported by NASA under the Innovative Advanced Concepts program. The authors wish to acknowledge insightful discussions with Dr. J.  ... 
doi:10.1007/978-3-319-27702-8_19 fatcat:4fn34j3aqbdj7fptdgzz7qhnzi

Space CoBot: a collaborative aerial robot for indoor microgravity environments [article]

Pedro Roque, Rodrigo Ventura
2016 arXiv   pre-print
This paper presents a first contribution to the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations.  ...  We also tackle the problem of motion control: due to the decoupling of translational and rotational modes we use separate converging controllers for each one of these modes.  ...  ACKNOWLEDGMENT The authors are grateful to André Santos for the CAD modeling of the vehicle and the renderings presented in this paper. This work was supported by the FCT project [UID/EEA/50009/2013].  ... 
arXiv:1602.03573v2 fatcat:x2ogvubr3nf3zkdibyn3pmihwu

Space CoBot: modular design of an holonomic aerial robot for indoor microgravity environments [article]

Pedro Roque, Rodrigo Ventura
2016 arXiv   pre-print
This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS).  ...  The design is modular, comprising an hexrotor based propulsion system, and a stack of modules including batteries, cameras for navigation, a screen for telepresence, a robotic arm, space for extension  ...  ACKNOWLEDGMENT The authors are grateful to André Santos for the CAD modeling of the vehicle and the renderings presented in this paper. This work was supported by the FCT project [UID/EEA/50009/2013].  ... 
arXiv:1603.07545v2 fatcat:jws6bhcdgrerhemq77gde6gfha

Least-Squares-Based Reaction Control of Space Manipulators

Silvio Cocuzza, Isacco Pretto, Stefano Debei
2012 Journal of Guidance Control and Dynamics  
., “Free-Flying Robot 3D Simulator Validation by means of Air-Bearings Table 2D TestsTest-Bed Design,” 56th International Astronautical Congress, Fukuoka, Japan, International Astronautical Federation  ...  Yoshida, K., “Engineering Test Satellite VII Flight Experiments for Space Robot Dynamics and Control: Theories on Laboratory Test Beds Ten Years Ago, Now in Orbit,” The International Journal of Robotics  ... 
doi:10.2514/1.45874 fatcat:bp4rrvdk3nfglmuy5y54onrl5a

Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning

Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter
2021 IEEE Transactions on robotics  
Using an off-the-shelf deep reinforcement learning algorithm, we trained a neural network to control a jumping quadruped robot while solely using its limbs for attitude control.  ...  Using sim-to-real transfer, we deploy trained policies in the real world on the SpaceBok robot placed on an experimental testbed designed for two-dimensional micro-gravity experiments.  ...  The authors would like to thank Martin Werner Zwick and Gianfranco Visentin from the Automation and Robotics section of the European Space Agency for their organizational efforts in realizing the tests  ... 
doi:10.1109/tro.2021.3084374 fatcat:usj54ydbnjatvj3cpfq42zrb4e

An On-Orbit CubeSat Centrifuge for Asteroid Science and Exploration [article]

Jekan Thangavelautham and Erik Asphaug and Stephen Schwartz
2018 arXiv   pre-print
The result is a bed of realistic regolith, the environment that landers and diggers and maybe astronauts will interact with.  ...  There are thousands of asteroids in near-Earth space and millions expected in the Main Belt. They are diverse in their physical properties and compositions.  ...  Figueroa, Hartzell and Santos, the DSRI team, Chris Shinohara and Patrick Kerr, the SpaceTREx engineering team including Aman Chandra, Leonard Dean Vance, Himangshu Kalita and Ravi Nallapu, for helping  ... 
arXiv:1812.11663v1 fatcat:x6wvhbw7czbizdhirp6l63bjgm

Robotic Manipulation and Capture in Space: A Survey

Evangelos Papadopoulos, Farhad Aghili, Ou Ma, Roberto Lampariello
2021 Frontiers in Robotics and AI  
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  ...  Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.  ...  The Design and Implementation of a Laboratory Test Bed for Space Robotics: The VES Mod II. In ASME Conf., DE-Vol. 72, Robotics: Kinematics, Dynamics and Control, (pp. 99–108).  ... 
doi:10.3389/frobt.2021.686723 fatcat:tigdb7c2tzhcjp7kxkjntqgdri

Collaborative gaming and competition for CS-STEM education using SPHERES Zero Robotics

Sreeja Nag, Jacob G. Katz, Alvar Saenz-Otero
2013 Acta Astronautica  
The robots are miniature satellites called SPHERES-an experimental test bed developed by the MIT SSL on the International Space Station (ISS) to test navigation, formation flight and control algorithms  ...  in microgravity.  ...  SPHERES facility aboard the ISS for STEM education objectives'' and ''NNX10AJ90A: NASA Summer of Innovation-Zero Robotics'' with the National Aeronautics and Space Administration (NASA).  ... 
doi:10.1016/j.actaastro.2012.09.006 fatcat:vdmfxqvk6fccdoag6t7fgx4kxm

Present State of CFD Softwares Application for Launch Vehicle Analysis
발사체 해석을 위한 CFD 소프트웨어 적용 현황

Hwanghui Jeong, Jae Yeol Kim, Jae-Ryul Shin
2020 Journal of the Korean Society of Propulsion Engineers  
This software program takes an XML representation of the contents of a Hierarchical Data Format-Earth Observing System (HDF-EOS) file and recreates the file from that description .  ...  Please visit the following URL for additional information: http://opensource .gsfc .nasa .gov/projects/xml2he/index .  ...  used as a "vertical test bed" platform for developing technology and proving hardware and software systems for use in space exploration .  ... 
doi:10.6108/kspe.2020.24.3.071 fatcat:trxkhiuqrjakll32bcjxskgwju

Far and proximity maneuvers of a constellation of service satellites and autonomous pose estimation of customer satellite using machine vision

Gilberto Arantes, Evandro Marconi Rocco, Ijar M. da Fonseca, Stephan Theil
2010 Acta Astronautica  
Space robotics has a substantial interest in achieving on-orbit satellite servicing operations autonomously, e.g. rendezvous and docking/berthing (RVD) with customer and malfunctioning satellites.  ...  A method for optimally estimating the relative orientation and position between camera system and target is presented in detail. The target is modelled as an assembly of points.  ...  Acknowledgments This work was funded by the Coordination for the Professional Development of University Educated Personal CAPES, process BEX: 1326/05-8, and the Center of Applied Space Technology and Microgravity  ... 
doi:10.1016/j.actaastro.2009.11.022 fatcat:ukx337glwfcpdkzsr2pqgw23d4

Learning from Demonstration for Hydraulic Manipulators

Markku Suomalainen, Janne Koivumaki, Santeri Lampinen, Ville Kyrki, Jouni Mattila
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
To test the approach, a microgravity testbed was built. We were positively surprised at how cheap and fast our lab engineer could build the microgravity testbed.  ...  This turned out to be a cheap yet effective way to experimentally test methods for free-floating objects. The experimental results validate our assumptions.  ... 
doi:10.1109/iros.2018.8594285 dblp:conf/iros/SuomalainenKLKM18 fatcat:lb6be3llrjfmpmnwqbsirioine

Page 986 of Journal of Guidance, Control, and Dynamics Vol. 35, Issue 3 [page]

Journal of Guidance, Control, and Dynamics  
., “Free-Flying Robot 3D Simulator Validation by means of Air-Bearings Table 2D TestsTest-Bed Design,” 56th International Astronautical Congress, Fukuoka, Japan, International Astronautical Federation  ...  Cocuzza, S., “Design and Construction of a Free-Flying 3D Robot for Space Applications and Microgravity Tests,’ Ph.D. Thesis, Center of Studies and Activities for Space “G.  ... 

Long term bed rest with and without vibration exercise countermeasures: Effects on human muscle protein dysregulation

Manuela Moriggi, Michele Vasso, Chiara Fania, Daniele Capitanio, Gaetano Bonifacio, Michele Salanova, Dieter Blottner, Jörn Rittweger, Dieter Felsenberg, Paolo Cerretelli, Cecilia Gelfi
2010 Proteomics  
The present investigation, the first in the field, was aimed at analyzing differentially, on individual samples, the effects of 55 days of horizontal bed rest, a model for microgravity, on myosin heavy  ...  Proteins from the Z-disk region and from costamers were differently dysregulated during bed rest (both BR and RVE), particularly in VL.  ...  C. and Italian Ministry of University and Scientific Research (Grant: FIRB RBR NO7BMCT to C. G.). The authors have declared no conflict of interest. References  ... 
doi:10.1002/pmic.200900817 pmid:20957755 fatcat:mrmwlfbb7rhj7oqnecuit65gne

Manipulator trajectories during orbital servicing mission: numerical simulations and experiments on microgravity simulator

T. Rybus, K. Seweryn, C. Vallet, D. Choukroun, C. Philippe, A. Nebylov, M. Ganet
2018 Progress in Flight Dynamics, Guidance, Navigation, and Control – Volume 10   unpublished
The results of numerical simulations for a satellite equipped with a 7 degree-of-freedom (DoF) manipulator and results of experiments performed on a planar air-bearing microgravity simulator for a simpli  ...  In this paper, several possible approaches are reviewed for end-e¨ector (EE) trajectory planning in the Cartesian space, such as application of the B' ezier curves for singularity avoidance and method  ...  TOOLS FOR ANALYSIS AND VALIDATION OF TRAJECTORY PLANNING ALGORITHMS Planar Air-Bearing Microgravity Simulator The planar air-bearing microgravity simulator at CBK PAN is a test bed that allows experimental  ... 
doi:10.1051/eucass/201810239 fatcat:mqkda3fmjzayjn2bsxr4u6vlkq
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