Inertia parameters identification for cellular space robot through interaction

2017 ◽  
Vol 71 ◽  
pp. 464-474 ◽  
Author(s):  
Haitao Chang ◽  
Panfeng Huang ◽  
Zhenyu Lu ◽  
Yizhai Zhang ◽  
Zhongjie Meng ◽  
...  
Keyword(s):  
Parameters Identification ◽  
Space Robot ◽  
Cellular Space ◽  
Inertia Parameters

scholarly journals Inertia Parameter Identification for an Unknown Satellite in Precapture Scenario

2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Xiao-Feng Liu ◽  
Xiao-Yu Zhang ◽  
Pei-Ran Chen ◽  
Guo-Ping Cai
Keyword(s):  
Parameter Identification ◽  
Momentum Conservation ◽  
Space Robot ◽  
Control Force ◽  
Soft Contact ◽  
Identification Scheme ◽  
Inertia Parameter ◽  
Inertia Parameters ◽  
Dynamics And Control ◽  
And Control

The problem of dynamics and control using a space robot to capture a noncooperative satellite is an important issue for on-orbit services. Inertia parameters of the satellite should be identified before capturing such that the robot can design an active controller to finish the capturing task. In this paper, a new identification scheme is proposed for parameter identification of a noncooperative satellite. In this scheme, the space robot is controlled to contact softly and then maintain contact with the noncooperative target firstly, then the variation of momentum of the target during the contact-maintaining phase is calculated using the control force and torque acting on the base of the space robot and the kinematic information of the space robot, and finally, the momentum-conservation-based identification method is used to estimate inertia parameters of the target. To realize soft contact and then maintain contact, a damping contact controller is designed in this paper, in which a mass-damping system is designed to control the contact between the robot and the target. Soft contact and then contact maintenance can be realized by utilizing the buffering characteristics of the mass-damping system. The effectiveness of the proposed identification scheme is verified through numerical simulations at the end of this paper. Simulation results indicate that the proposed scheme can achieve high-precision identification results.

Distributed Control Allocation for Spacecraft Attitude Takeover Control via Cellular Space Robot

2018 ◽  
Vol 41 (11) ◽  
pp. 2499-2506 ◽  
Author(s):  
Haitao Chang ◽  
Panfeng Huang ◽  
Yizhai Zhang ◽  
Zhongjie Meng ◽  
Zhengxiong Liu
Keyword(s):  
Distributed Control ◽  
Space Robot ◽  
Control Allocation ◽  
Spacecraft Attitude ◽  
Cellular Space

Inertia parameter identification of space floating target during robotic exploratory grasping

2019 ◽  
Vol 233 (11) ◽  
pp. 4247-4260 ◽  
Author(s):  
Cheng Wei ◽  
Yue Zhang ◽  
Hongliu Wang ◽  
Yang Zhao ◽  
Lei Zhang
Keyword(s):  
Momentum Conservation ◽  
Space Robot ◽  
Target System ◽  
Identification Method ◽  
Inertial Parameters ◽  
Inertia Parameter ◽  
Inertia Parameters ◽  
Contact Models ◽  
And Performance ◽  
Identification Model

When the space robot grasps an unknown floating target on orbit, it has many advantages of knowing the inertial parameters of the target during the exploratory grasping process, since, instead of grasping blindly the better control schema can be made in the meantime to increase the safety and performance of the grasping operation. The three-finger gripper is used as the grasp mechanism for which the grasping and contact models are presented to describe the grasping procedure. Then based on the momentum conservation of the robot–target system, the linear identification model of the target inertia parameters is developed. The identification performance for one, two, and three collisions during the grasping process is investigated theoretically. It is found that the full inertia parameters will be obtained within at least three collisions between the space robot and the target. Lastly the identification model for an unknown target is applied, and the numerical simulations show the effectiveness and practicality of the model. The numerical results indicate that the identification method is effective. Furthermore, the more abundant and diverse the collisions are, the more accurate and efficient the identification method will be.

Modeling and planning of assembling cell in cellular space robot

2018 ◽  
Author(s):  
Wenhui Wang ◽  
Yizhai Zhang ◽  
Panfeng Huang ◽  
Haitao Chang ◽  
Tong Wang ◽  
...  
Keyword(s):  
Space Robot ◽  
Cellular Space

Motility of leukemic lymphocytes

1990 ◽  
Vol 48 (3) ◽  
pp. 368-369
Author(s):  
Manoj Raje ◽  
Karvita B. Ahluwalia
Keyword(s):  
Quantitative Data ◽  
Laser Doppler Velocimetry ◽  
Acute Lymphocytic Leukemia ◽  
Lymphocytic Leukemia ◽  
Cellular Space ◽  
Differentiated Cells ◽  
Poorly Differentiated ◽  
Solid Tissues ◽  
Well Differentiated ◽  
Reduced Mobility

In Acute Lymphocytic Leukemia motility of lymphocytes is associated with dissemination of malignancy and establishment of metastatic foci. Normal and leukemic lymphocytes in circulation reach solid tissues where due to in adequate perfusion some cells get trapped among tissue spaces. Although normal lymphocytes reenter into circulation leukemic lymphocytes are thought to remain entrapped owing to reduced mobility and form secondary metastasis. Cell surface, transmembrane interactions, cytoskeleton and level of cell differentiation are implicated in lymphocyte mobility. An attempt has been made to correlate ultrastructural information with quantitative data obtained by Laser Doppler Velocimetry (LDV). TEM of normal & leukemic lymphocytes revealed heterogeneity in cell populations ranging from well differentiated (Fig. 1) to poorly differentiated cells (Fig. 2). Unlike other cells, surface extensions in differentiated lymphocytes appear to originate by extrusion of large vesicles in to extra cellular space (Fig. 3). This results in persistent unevenness on lymphocyte surface which occurs due to a phenomenon different from that producing surface extensions in other cells.

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