Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage

Ellery, Alex

doi:10.3390/biomimetics5020019

Cited by 13 publications

(9 citation statements)

References 323 publications

(329 reference statements)

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“…Compared with references [16,17], the above measurement process shows that the modal number of OAM vortex waves can be easily and effectively detected by using the phase gradient method. In addition, the more the number of receiving probes, the smaller the error of the result and the higher the accuracy of the test result.…”

Section: Simulation Of Multimodal Orbital Angular Momentum Data Modelmentioning

confidence: 98%

“…e parameters in the traditional PID controller are constant, the system takes a long time to stabilize during the control process, and the robustness of the system output is not high. However, researchers have found that neural networks have excellent learning ability, which creates a new way to find faster and more robust adaptive controllers to adapt to disturbances and changes in related parameters and models during the control process and the impact caused by uncertainty [16][17][18].…”

Section: Related Workmentioning

confidence: 99%

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Multimodal Orbital Angular Momentum Data Model Based on Mechanically Reconfigurable Arrays and Neural Networks

Zhang

Wang

Zhu

et al. 2022

Computational Intelligence and Neuroscience

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Multimodal orbital angular momentum is a research hotspot in the field of electromagnetic wave communication. How to accurately detect and identify multimodal orbital angular momentum data is a current academic problem. Based on the theory of mechanically reconfigurable arrays and neural networks, the purity, detection method, and transmission and reception of orbital angular momentum vortex waves are modeled in this paper. Through the network identification of the dynamic model of the three-degree-of-freedom reconfigurable manipulator, the paper takes the identification result and the control input of the single neuron PID as the input of the system control torque of the manipulator and realizes the reconfigurable manipulator. In the simulation process, the local approximation effect of the nonlinear control system used is very ideal. The single neuron PID controller overcomes the shortcomings of time-consuming and unsatisfactory control accuracy caused by the constant parameter of the traditional PID controller and realizes the circular loop. On the other hand, at the point of interest of the human eye, its resolution value is the largest, and its value gradually decreases as the distance from the pit increases. The experimental results show that the three-transmitting and three-receiving orbital angular momentum vortex wave transceiver system based on the mechanically reconfigurable array and neural network theory is relatively complete, and the transmission coefficient between the same modes reaches 0.827, which is much higher than that between different modes. On this basis, the modal purity, detection method, and reception of orbital angular momentum are studied accordingly. At the same time, the damage to the microscopic particles can be greatly reduced. At the same time, the information delay is reduced to 8.25%, which effectively improves the isolation characteristics of different modal orbital angular momentum channels and promotes the communication transmission of multimodal signals.

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Section: Simulation Of Multimodal Orbital Angular Momentum Data Modelmentioning

confidence: 98%

Section: Related Workmentioning

confidence: 99%

Multimodal Orbital Angular Momentum Data Model Based on Mechanically Reconfigurable Arrays and Neural Networks

Zhang

Wang

Zhu

et al. 2022

Computational Intelligence and Neuroscience

View full text Add to dashboard Cite

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“…These include, for example, the previously introduced gecko adhesion and insect-like crawling robots (Xie et al, 2021). Furthermore, bioinspired grasping and robotic manipulation have also already been discussed frequently for their use and application for on-orbit servicing and repair (Dai et al, 2020;Ellery, 2020;Ogundipe and Ellery, 2020).…”

Section: Servicing Manufacture and Assembly In Spacementioning

confidence: 99%

Biomimetics for innovative and future-oriented space applications - A review

Banken

Oeffner²

2023

Front. Space Technol.

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Nature benefits from a progressive evolution over millions of years, always adapting and finding individual solutions for common problems. Hence, a pool of diverse and efficient solutions exists that may be transferable to technical systems. Biomimetics or bio-inspiration has been used as a design approach for decades, revolutionizing products and processes throughout various industries. Thus, multiple examples can also be found in the space sector, since many characteristics found in biological organisms are also essential for space systems like response-stimuli adaptability, robustness and lightweight construction, autonomy and intelligence, energy efficiency, and self-repair or healing capabilities. This review focuses on biomimetics within the field of aerospace engineering and summarizes existing bio-inspired concepts such as drilling tools (wood wasp ovipositor drilling), telescopes (lobster eye optics), or gasping features (gecko feet adhesion capabilities) that have already been conceptualized, partially tested, and applied within the space sector. A multitude of biological models are introduced and how they may be applicable within the space environment. In particular, this review highlights potential bio-inspired concepts for dealing with the harsh environment of space as well as challenges encountered during rocket launches, space system operations and space exploration activities. Moreover, it covers well-known and new biomimetic concepts for space debris removal and on-orbit operations such as space-based energy production, servicing and repair, and manufacture and assembly. Afterwards, a summary of the challenges associated with biomimetic design is presented to transparently show the constraints and obstacles of transferring biological concepts to technical systems, which need to be overcome to achieve a successful application of a biomimetic design approach. Overall, the review highlights the benefits of a biomimetic design approach and stresses the advantage of biomimetics for technological development as it oftentimes offers an efficient and functional solution that does not sacrifice a system’s reliability or robustness. Nevertheless, it also underlines the difficulties of the biomimetic design approach and offers some suggestions in how to approach this method.

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“…This may be exemplified by the transfer learning problem of adapting robot manipulator control on Earth to the zero-gravity environment in space. The control algorithms have the same form with minor parameter adjustments (Ellery, 2004) but neural learning of the latter requires complete re-training from new input-output data sets (Ellery, 2020 d ). Even enhancement of the backpropagation algorithm with Kalman filtering which enriches the learning process does not address this problem.…”

Section: Self-replicating Probes In Setimentioning

confidence: 99%

Self-replicating probes are imminent – implications for SETI

Ellery

2022

International Journal of Astrobiology

Self Cite

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In the early 1980s, the Sagan-Tipler debate raged regarding the interpretation of the Fermi paradox but no clear winner emerged. Sagan favoured the existence of ETI on the basis of the Copernican principle and Tipler favoured the non-existence of ETI on the basis of the Occam's razor principle. Tipler's stance was an expansion of the similar but earlier Hart declaration. However, crucial to the Tipler argument was the role played by self-replicating interstellar robot probes. Any technologically capable species will develop self-replication technology as the most economical means of exploring space and the Galaxy as a whole with minimal investment. There is no evidence of such probes in our solar system including the asteroid belt, ergo, ETI do not exist. This is a powerful and cogent argument. Counter-arguments have been weak including Sagan's sociological explanations. We present a Copernican argument that ETI do not exist – humans are developing self-replication technology today. We are developing the ability to 3D print entire robotic machines from extraterrestrial resources including electric motors and electronics as part of a general in-situ resource utilization (ISRU) capability. We have 3D-printed electric motors which can be potentially leveraged from extraterrestrial material that should be available in every star system. From a similar range of materials, we have identified a means to 3D print neural network circuitry. From our industrial ecology, self-replicating machines and indeed universal constructors are feasible. We describe in some detail how a self-replicating interstellar spacecraft may be constricted from asteroidal resources. We describe technological signatures of the processing of asteroidal material (which is expected to be common to most star systems), and the excess production of certain types of clay and other detritus materials. Self-replication technology is under development and imminent – if humans are pursuing self-replication technology, then by the Copernican principle, so would any technologically savvy species elsewhere. There is no evidence that they have.

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Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage

Cited by 13 publications

References 323 publications

Multimodal Orbital Angular Momentum Data Model Based on Mechanically Reconfigurable Arrays and Neural Networks

Multimodal Orbital Angular Momentum Data Model Based on Mechanically Reconfigurable Arrays and Neural Networks

Biomimetics for innovative and future-oriented space applications - A review

Self-replicating probes are imminent – implications for SETI

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