Modeling a Controlled-Floating Space Robot for In-Space Services: A Beginner’s Tutorial

Ground-based applications of robotics and autonomous systems (RASs) are fast advancing, and there is a growing appetite for developing cost-effective RAS solutions for in situ servicing, debris removal, manufacturing, and assembly missions. An orbital space robot, that is, a spacecraft mounted with one or more robotic manipulators, is an inevitable system for a range of future in-orbit services. However, various practical challenges make controlling a space robot extremely difficult compared with its terrestrial counterpart. The state of the art of modeling the kinematics and dynamics of a space robot, operating in the free-flying and free-floating modes, has been well studied by researchers. However, these two modes of operation have various shortcomings, which can be overcome by operating the space robot in the controlled-floating mode. This tutorial article aims to address the knowledge gap in modeling complex space robots operating in the controlled-floating mode and under perturbed conditions. The novel research contribution of this article is the refined dynamic model of a chaser space robot, derived with respect to the moving target while accounting for the internal perturbations due to constantly changing the center of mass, the inertial matrix, Coriolis, and centrifugal terms of the coupled system; it also accounts for the external environmental disturbances. The nonlinear model presented accurately represents the multibody coupled dynamics of a space robot, which is pivotal for precise pose control. Simulation results presented demonstrate the accuracy of the model for closed-loop control. In addition to the theoretical contributions in mathematical modeling, this article also offers a commercially viable solution for a wide range of in-orbit missions.

Influence of Sustainable Development of Space Activities on Earth Ecology

In the age of New Space, faces the global problem of orbit space constraint. Sustainable development of space activities will be possible only when space users implement technologies and practices suitable to avoid accumulating objects in orbit. Artificial debris in orbital space has reached catastrophic proportions. This harm the Earth’s ecology leading to increased steps to transform a planet that is unsuitable for life. Based on the fractal analysis, the graphic interpretation of the components of SWOT-analysis of development of the rocket and space industry is built. It is found that the weak side and threat to the activities of the aerospace industry is the insufficient funding of implemented projects and inefficient distribution of finances between its components: science and production. It is proposed to use blockchain technology as an effective tool for the cybersecurity of space objects. The ecological risks from space activities that affect the Earth’s ecology are analyzed. It is proven that the prevention of severe environmental consequences and minimization of the negative impact of the above threats require the introduction of environmental management systems in space activities.

Prospects for Psychological Support in Interplanetary Expeditions

The article gives an overview of Russian experience in psychological support for orbital space flights. It describes procedures that currently exist and may possibly be used in upcoming manned interplanetary flights. The article also considers psychological unfavorable factors of autonomous interplanetary flights, as well as countermeasures, including promising methods of psychological support.

Atypical Optic Neuritis in an Immunocompetent Patient with Orbital

Aspergillosis infection in immunocompetent individuals is an uncommon entity. Non-specific presentation could delay in the diagnosis and management. We describe a case of orbital aspergillosis with cavernous sinus extension in a healthy lady. A 67-year-old lady presented with left eye decreased vision, preceded by non-specific headache for three weeks. Visual acuity deteriorated followed by ptosis and left ocular restrictions after corticosteroids therapy. Examination revealed poor left eye visual acuity with ptosis, anisocoria and total ophthalmoplegia. MRI orbit and brain demonstrated a heterogenous left orbital apex lesion extending to cavernous sinus. Transsphenoidal endoscopic biopsy revealed Aspergillus infection at the left retro-orbital space and the sphenoid sinus. Patient was treated with long duration of oral voriconazole. Ptosis and ophthalmoplegia resolved but left optic atrophy remained. In conclusion, orbital aspergillosis may carry a poor visual prognosis and intracranial spread does easily occur. Early treatment may lead to a better outcome in immunocompetent patients.

153 Carotid-Cavernous Fistula Causing Bradycardia Following Maxillofacial Trauma: A Case Report

A 53-year-old male presented to the local A&E department with a fractured mandible following a single punch to the lower face, and was admitted under Oral & Maxillofacial Surgery. A subsequent finding was chemosis, relative afferent pupillary defect, minimal soft exophthalmos, reduced visual acuity and colour vision in one eye, but with no associated trauma to the orbits. A CT scan showed no sign of other injury, no blood collection, and the small amount of orbital emphysema didn’t appear to be the cause of symptoms. A heart rate of 40bpm was observed, with ECG and telemetry ruling out cardiac causes of bradycardia. With this clinical picture and no orbital space occupying lesion or collection identified on the CT scan, an MRI of the head was requested, which showed superior ophthalmic vein occlusion, resulting in a diagnosis of a direct carotid-cavernous fistula (CCF). The proptosis increased slowly over 24 hours and became pulsatile. The patient was subsequently referred to the tertiary centre for treatment with endovascular embolisation using coils, which resulted in full resolution of the signs and symptoms. This case presents a rare acute presentation of CCF after indirect trauma. It is assumed that bradycardia was caused via the oculo-cardiac reflex. This presentation could have led to a clinical diagnosis of retrobulbar haemorrhage or tension pneumo-orbit, triggering surgical or needle decompression of the orbit. Such treatment would have had catastrophic consequences. This is a reminder to consider this rare diagnosis and cause of bradycardia after facial trauma.

Out of Place in Outer Space?

Increasing human activity in orbital space has resulted in copious material externalities known as “orbital debris.” These objects threaten the orbital operations of hegemonic stakeholders including states, corporations, and scientists, for whom debris present a significant problem. We argue that the geographical imaginations of powerful stakeholders shape conceptions of orbital debris and limit engagement with these objects. By engaging with interdisciplinary literature that considers orbital debris and geographical imaginations of outer space, we encourage a more capacious approach to orbital debris that goes beyond hegemonic narratives focused on functionality. We explore the connections between debris and injustice, arguing that these objects must also be considered in relation to terrestrial power and ecology. We then contemplate the possibilities that counter-hegemonic framings present when considering speculative futures of orbital space. In these ways, we explore how and why debris are variously engaged with as pollutants, risks, opportunities, or otherwise.

On orbit serving — a step towards further exploration of near-Earth space

The purpose of the publication is to draw the attention of the Ukrainian scientific and technical community to the development of a new area of activity in outer space - orbital service. The content, technical and economic preconditions and competitive advantages of its development in Ukraine are outlined. Definitions of orbital services such as customer inspection, orbital (inter-orbital) transportation, refueling and resupply, upgrade, assembly, collision avoidance are given. The competence of Ukrainian enterprises in this direction has been analyzed. The expediency and possibility of developing the direction of orbital servicing for further exploration of near space, in particular, the developments of Ukrainian enterprises for the development and manufacture of systems for rendezvous and docking of spacecraft, have been substantiated. Scenarios of interaction between a space service vehicle and a client vehicle in near-earth orbit are described. The basic requirements for carrying out of Servicer and the Client autonomous proximity operations, as well as the operation of seizing the client machine are given. Proposals for the functionality of spacecraft for the provision of orbital space services are presented, it is proposed to consider the need to create specialized cargo modules and examples of their application in orbit are given. The tendencies of the approach to the creation of spacecraft structures adapted for in-orbit service are considered. The predicted volume of orbital service operations by type of service and with orbits is given. Provided information about the key players in a given market. The design of Servicer, which is being developed by Kurs NPK JSC, Yuzhnoye Design Bureau, for the provision of transport services, is presented. The specified features of its construction in general and the composition of the modules, as well as the possibility of further expanding the functionality of the Servicer.