Force Control of a Space Manipulator

2000 ◽  
Vol 12 (4) ◽  
pp. 351-355 ◽  
Author(s):  
Katsuyoshi Tsujita ◽  
◽  
Kazuo Tsuchiya ◽  
Yousuke Kawano
Keyword(s):  
Force Control ◽  
Attitude Control ◽  
The Other ◽  
Main Body ◽  
Space Manipulator ◽  
Sample Return ◽  
End Effector ◽  
Passive Compliance ◽  
Sample Return Mission ◽  
Compliance Mechanism

This paper deals with the force control of a space manipulator for a sample-return mission. There are two difficulties in force control of this class of space manipulator: One is that a space robot has no fixed point in space and moves when its manipulator exerts force on the environment. The other is that physical properties of the environment on which the manipulator exerts force are not well known. In order to overcome these difficulties, a hierarchical controller is proposed in this paper. The controller manages attitude control of the main body and force control of the manipulator. The end effector is attached to the manipulator by a passive compliance mechanism. The performance of the proposed controller is verified by numerical simulations and hardware experiments.

Dynamic Singularities in Free-Floating Space Manipulators

1993 ◽  
Vol 115 (1) ◽  
pp. 44-52 ◽  
Author(s):  
E. Papadopoulos ◽  
S. Dubowsky
Keyword(s):  
Attitude Control ◽  
Dynamic Properties ◽  
Kinematic Structure ◽  
Attitude Control System ◽  
Space Manipulator ◽  
End Effector ◽  
Planning And Control ◽  
Space Manipulators ◽  
Fixed Base ◽  
And Control

Dynamic Singularities are shown for free-floating space manipulator systems where the spacecraft moves in response to manipulator motions without compensation from its attitude control system. At a dynamic singularity the manipulator is unable to move its end-effector in some inertial direction; thus dynamic singularities must be considered in the design, planning, and control of free-floating space manipulator systems. The existence and location of dynamic singularities cannot be predicted solely from the manipulator kinematic structure because they are functions of the dynamic properties of the system, unlike the singularities for fixed-base manipulators. Also analyzed are the implications of dynamic singularities to the nature of the system’s workspace.

scholarly journals Mineralogy and crystallography of some Itokawa particles returned by the Hayabusa asteroidal sample return mission

2014 ◽  
Vol 66 (1) ◽  
Author(s):  
Takashi Mikouchi ◽  
Mutsumi Komatsu ◽  
Kenji Hagiya ◽  
Kazumasa Ohsumi ◽  
Michael E Zolensky ◽  
...  
Keyword(s):  
Sample Return ◽  
Sample Return Mission

scholarly journals Bridging autoinflammatory and autoimmune diseases

2021 ◽  
Vol 33 (1) ◽  
Author(s):  
Emad M. El-Shebiny ◽  
Enas S. Zahran ◽  
Sabry A. Shoeib ◽  
Eman S. Habib
Keyword(s):  
Innate Immunity ◽  
T Lymphocytes ◽  
Autoimmune Diseases ◽  
Adaptive Immunity ◽  
High Titre ◽  
The Other ◽  
Clinical Spectrum ◽  
Autoinflammatory Diseases ◽  
Main Body ◽  
B And T Lymphocytes

Abstract Background Autoimmunity is used to cause by impairment of adaptive immunity alone, whereas autoinflammatory was originally defined as a consequence of unregulated innate immunity. So, the pathogenetic mechanisms of autoimmune diseases were well-thought-out to be mediated by B and T lymphocytes. Whereas, autoinflammatory diseases were defined as unprovoked times of inflammation with the absence of a high titre of autoantibodies. Main body of the abstract Autoimmune and autoinflammatory diseases were split into two groups, but considering the similarities, it can be considered as only one group of diseases with a large immune pathological and clinical spectrum which involves at one end pure autoimmune diseases and the other pure autoinflammatory diseases. Conclusions We can safely conclude that there is bridging between autoinflammatory and autoimmune diseases.

scholarly journals Planetary protection on international waters: An onboard protocol for capsule retrieval and biosafety control in sample return mission

2014 ◽  
Vol 53 (7) ◽  
pp. 1135-1142 ◽  
Author(s):  
Yoshinori Takano ◽  
Hajime Yano ◽  
Yasuhito Sekine ◽  
Ryu Funase ◽  
Ken Takai
Keyword(s):  
Sample Return ◽  
Planetary Protection ◽  
Sample Return Mission

scholarly journals Triple F—a comet nucleus sample return mission

2008 ◽  
Vol 23 (3) ◽  
pp. 809-847 ◽  
Author(s):  
Michael Küppers ◽  
H. U. Keller ◽  
E. Kührt ◽  
M. F. A’Hearn ◽  
K. Altwegg ◽  
...  
Keyword(s):  
Comet Nucleus ◽  
Sample Return ◽  
Sample Return Mission

scholarly journals A unique basaltic micrometeorite expands the inventory of solar system planetary crusts

2009 ◽  
Vol 106 (17) ◽  
pp. 6904-6909 ◽  
Author(s):  
Matthieu Gounelle ◽  
Marc Chaussidon ◽  
Alessandro Morbidelli ◽  
Jean-Alix Barrat ◽  
Cécile Engrand ◽  
...  
Keyword(s):  
Solar System ◽  
Mineral Chemistry ◽  
Carbonaceous Chondrites ◽  
Isotopic Data ◽  
Solar System Formation ◽  
Sample Return ◽  
Dust Transport ◽  
Element Abundances ◽  
Transport Dynamics ◽  
Sample Return Mission

Micrometeorites with diameter ≈100–200 μm dominate the flux of extraterrestrial matter on Earth. The vast majority of micrometeorites are chemically, mineralogically, and isotopically related to carbonaceous chondrites, which amount to only 2.5% of meteorite falls. Here, we report the discovery of the first basaltic micrometeorite (MM40). This micrometeorite is unlike any other basalt known in the solar system as revealed by isotopic data, mineral chemistry, and trace element abundances. The discovery of a new basaltic asteroidal surface expands the solar system inventory of planetary crusts and underlines the importance of micrometeorites for sampling the asteroids' surfaces in a way complementary to meteorites, mainly because they do not suffer dynamical biases as meteorites do. The parent asteroid of MM40 has undergone extensive metamorphism, which ended no earlier than 7.9 Myr after solar system formation. Numerical simulations of dust transport dynamics suggest that MM40 might originate from one of the recently discovered basaltic asteroids that are not members of the Vesta family. The ability to retrieve such a wealth of information from this tiny (a few micrograms) sample is auspicious some years before the launch of a Mars sample return mission.

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