Automated and Adaptive Mission Planning for Orbital Express

Chouinard, Caroline; Knight, Russell; Jones, Grailing; Tran, Daniel; Koblick, Darin

doi:10.2514/6.2008-3383

Cited by 9 publications

(4 citation statements)

References 2 publications

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“…[48] Finally, our metacap gripper shows great potential in the docking system for safe space rendezvous, owing to its intrinsically compliant body and the passive and fast grasping mechanism. [27,49] The simplicity of our metacap gripper makes it easy to be integrated into an existing robotic platform for industrial applications. Toward this end, we clamp the gripper onto a 3D-printed frame and mount a linear actuator (USLICCX LA-T8) at the center of the frame (Figure 2e) to open the gripper by pushing the cap using the shaft of the linear actuator.…”

Section: Ultrafast Passive Metacap Grippersmentioning

confidence: 99%

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Ultrafast, Programmable, and Electronics‐Free Soft Robots Enabled by Snapping Metacaps

Jin

Yang

Maldonado

et al. 2023

Advanced Intelligent Systems

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Soft robots offer a myriad of potential because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require complex control systems, and lack sensing capabilities. To address these challenges, herein, a class of metacaps is geometrically designed by introducing an array of ribs to a spherical cap with programmable bistabilities and snapping behaviors, enabling several unprecedented soft robotic functionalities. Specifically, a centimeter‐sized, sensor‐less metacap gripper is demonstrated that can grasp objects in 3.75 ms upon physical contact or pneumatic actuation with tunable behaviors that have little dependence on the rate of input. The grippers can be readily integrated into a robotic platform for practical applications. The metacap can further enable propelling of a swimming robot, exhibiting amplified swimming speed as well as untethered, electronics‐free swimming with tunable speeds using an oscillating valve. The metacap designs provide new strategies to enable the next‐generation soft robots to achieve high transient output energy and autonomous and electronics‐free maneuvering.

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Section: Ultrafast Passive Metacap Grippersmentioning

confidence: 99%

Section: Ultrafast Passive Metacap Grippersmentioning

confidence: 99%

Ultrafast, Programmable, and Electronics‐Free Soft Robots Enabled by Snapping Metacaps

Jin

Yang

Maldonado

et al. 2023

Advanced Intelligent Systems

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“…The resulting application automatically developed a 24-day mission plan, including scheduling downlinks. Chouinard et al [2008] present an automated planner for the Orbital Express space mission to demonstrate on-orbit satellite servicing scenarios that included autonomous rendezvous, propellant transfer, and robotic arm transfers of components. The planner, based on the ASPEN system [Chien et al 2000], was developed to assist scenario resource planners in assigning communications windows, monitoring resources, enforcing mission and satellite constraints, and sending commands to the spacecraft.…”

Section: History Of Applicationsmentioning

confidence: 99%

Planning solar array operations on the international space station

Reddy

Frank

Iatauro

et al. 2011

ACM Trans. Intell. Syst. Technol.

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Flight controllers manage the orientation and modes of eight large solar arrays that power the International Space Station (ISS). The task requires generating plans that balance complex constraints and preferences. These considerations include context-dependent constraints on viable solar array configurations, temporal limits on transitions between configurations, and preferences on which considerations have priority. The Solar Array Constraint Engine (SACE) treats this operations planning problem as a sequence of tractable constrained optimization problems. SACE uses constraint management and automated planning capabilities to reason about the constraints, to find optimal array configurations subject to these constraints and solution preferences, and to automatically generate solar array operations plans. SACE further provides flight controllers with real-time situational awareness and what-if analysis capabilities. SACE is built on the Extensible Universal Remote Operations Planning Architecture (EUROPA) model-based planning system. EUROPA facilitated SACE development by providing model-based planning, built-in constraint reasoning capability, and extensibility. This article formulates the planning problem, explains how EUROPA solves the problem, and provides performance statistics from several planning scenarios. SACE reduces a highly manual process that takes weeks to an automated process that takes tens of minutes.

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“…Autonomy for both space and terrestrial applications has made major advances over the last decade [40][41][42] . For example, The Orbital Express spacecraft were launched March 8, 2007 and completed the demonstration while achieving all mission success criteria and objectives.…”

Section: B Autonomous Roboticsmentioning

confidence: 99%