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Nodes2STRNet for structural dense displacement recognition by deformable mesh model and motion representation

International Journal of Mechanical system dynamics 2023年第3期3卷 229-250页

作者： Jin Zhao Hui Li Yang Xu Key Lab of Smart Prevention and Mitigation of Civil Engineering Disasters of the Ministry of Industry and Information Technology Harbin Institute of TechnologyHarbinChina Key Lab of Structures Dynamics Behavior and Control of the Ministry of Education Harbin Institute of TechnologyHarbinChina School of Civil Engineering Harbin Institute of TechnologyHarbinChina Department of System Design and Simulation Goldwind Science and Technology Co.Ltd.BeijingChina

Displacement is a critical indicator for mechanical systems and civil *** vision-based displacement recognition methods mainly focus on the sparse identification of limited measurement points,and the motion representation of an entire structure is very *** study proposes a novel Nodes2STRNet for structural dense displacement recognition using a handful of structural control nodes based on a deformable structural three-dimensional mesh model,which consists of control node estimation subnetwork(NodesEstimate)and pose parameter recognition subnetwork(Nodes2PoseNet).NodesEstimate calculates the dense optical flow field based on FlowNet 2.0 and generates structural control node ***2PoseNet uses structural control node coordinates as input and regresses structural pose parameters by a multilayer perceptron.A self-supervised learning strategy is designed with a mean square error loss and L2 regularization to train *** effectiveness and accuracy of dense displacement recognition and robustness to light condition variations are validated by seismic shaking table tests of a four-story-building *** studies with image-segmentation-based Structure-PoseNet show that the proposed Nodes2STRNet can achieve higher accuracy and better robustness against light condition *** addition,NodesEstimate does not require retraining when faced with new scenarios,and Nodes2PoseNet has high self-supervised training efficiency with only a few control nodes instead of fully supervised pixel-level segmentation.

关键词： structural dense displacement recognition deformable structural mesh model deep-learning-based monocular vision self-supervised learning

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Generalized Multi-kernel Maximum Correntropy Kalman Filter for Disturbance Estimation

arXiv

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arXiv 2023年

作者： Li, Shilei Shi, Dawei Lou, Yunjiang Zou, Wulin Shi, Ling The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong The School of Automation Beijing Institute of Technology China The State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Xeno Dynamics Control Department Xeno Dynamics Co. Ltd Shenzhen518055 China

Disturbance observers have been attracting continuing research efforts and are widely used in many applications. Among them, the Kalman filter-based disturbance observer is an attractive one since it estimates both the state and the disturbance simultaneously, and is optimal for a linear system with Gaussian noises. Unfortunately, The noise in the disturbance channel typically exhibits a heavy-tailed distribution because the nominal disturbance dynamics usually do not align with the practical ones. To handle this issue, we propose a generalized multi-kernel maximum correntropy Kalman filter for disturbance estimation, which is less conservative by adopting different kernel bandwidths for different channels and exhibits excellent performance both with and without external disturbance. The convergence of the fixed point iteration and the complexity of the proposed algorithm are given. Simulations on a robotic manipulator reveal that the proposed algorithm is very efficient in disturbance estimation with moderate algorithm complexity. Copyright © 2023, The Authors. All rights reserved.

关键词： Kalman filters

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Finally! Insights into the ARCHES Lunar Planetary Exploration Analogue Campaign on Etna in summer 2022 73

Finally! Insights into the ARCHES Lunar Planetary Exploratio...

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73rd International Astronautical Congress, IAC 2022

作者： Wedler, Armin Müller, Marcus G. Schuster, Martin J. Durner, Maximilian Lehner, Peter Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Stürzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F. Ehreiser, Anouk Staudinger, Emanuel Pöhlmann, Robert Zhang, Siwei Hellerer, Matthias Lichtenheldt, Roy Franke, Dennis Pignède, Antoine Schindler, Walter Schütt, Manuel Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Schröder, Susanne Frohmann, Sven Seel, Fabian Dietz, Enrico Triebel, Rudolph Lii, Neal Y. Bischoff, Esther Braun, Christian Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P. Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Rauer, Heike Hübers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Münchener Str. 20 Weßling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Münchener Str. 20 Weßling82234 Germany Institute of Communications and Navigation Münchener Str. 20 Weßl82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base Münchener Str. 20 Weßl82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

This paper summarises the first outcomes of the space demonstration mission of the ARCHES project which could have been performed this year from 13 june until 10 july on Italy's Mt. Etna in Sicily. After the second postponement related to COVID from the initially for 2020 planed campaign, we are now very happy to report, that the whole campaign with more than 65 participants for four weeks has been successfully conduced. In this short overview paper, we will refer to all other publication here on IAC22. This paper includes an overview of the performed 4-week campaign and the achieved mission goals and first results but also share our findings on the organisational and planning aspects. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： robotics

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Study on Mechanical Properties of Dual-Channel Cryogenic 3d Printing Scaffold for Mandibular Defect Repair

SSRN

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SSRN 2023年

作者： Gao, Lilan Sun, Mengchao Liu, Jie Meng, Lulu Liu, Han Zheng, Xiongfei Liu, Hao Li, Ruixin Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300382 China Tianjin300382 China Beijing Friendship Hospital Capital Medical University 100050 China State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110017 China Tianjin Key Laboratory of Oral and Maxillofacial Function Reconstruction Tianjin Stomatological Hospital The Affiliated Stomatological Hospital of Nankai University Tianjin300041 China

Mandibular defect repair has always been a clinical challenge, facing technical bottleneck. The new materials directly affect technological breakthroughs in mandibular defect repair field. Our aim is to fabricate a scaffold for mandibular defect repairing with advanced biomaterials. Therefore, a novel dual-channel printed scaffold consisting of silk fibroin/collagen type I /hydroxyapatite (SCH) and polycaprolactone/hydroxyapatite (PCL/HA) was fabricated by 3D printing technology with double nozzles. The mechanical properties and behaviors of dual-channel printed scaffold were investigated by performing uniaxial compression, creep, stress relaxation and ratcheting experiments respectively. The experiments indicated the Young modulus of dual-channel printed scaffold was 60.1 kPa and dual-channel printed scaffold was typical nolinear viscoelastic consistent with bone tissue. Finite Element Analysis (FEA) was employed performing a numerical simulation to evaluate the implantation effect in mandible. The stress distribution of the contact area between scaffold and defect was uniform, the maximum Mises stress of cortical bone and cancellous bone in defect area were 54.52MPa and 3.196MPa, and the maximum displacement of cortical bone and cancellous bone in defect area were 0.1575mm and 0.1555mm, which were distributed in the incisor region. The peak value of the maximum Mises stress for the scaffold implanted was 3.128× MPa and the maximum displacement was 6.453×mm distributed near incisor area. The displacement distribution of the scaffold was consistent with that of cortical and cancellous bone. The scaffold recovered well when the force applied on it disappeared. Above all, dual-channel printed scaffold had excellent bio-mechanical properties in implanting mandible, which provides a new idea for the reconstruction of irregular bone defects in the mandible and has good clinical development prospects. © 2023, The Authors. All rights reserved.

关键词： 3D printing

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Preliminary results for the multi-robot, multi-partner, multi-mission, planetary exploration analogue campaign on mount etna

Preliminary results for the multi-robot, multi-partner, mult...

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IAF Space Exploration Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Wedler, Armin Möller, Marcus G Schuster, Martin J Durner, Maximilian Brunner, Sebastian G Lehner, Peter Lehner, Hannah Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Störzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F Staudinger, Emanuel Hellerer, Matthias Lichtenheldt, Roy Dietz, Enrico Braun, Christian Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Vilacampa, Alejandro F Bargen, Info V Schröder, Susanne Frohmann, Sven Seel, Fabian Triebel, Rudolph Lii, Neal Y Bischoff, Esther Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Kyr, Peter Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Kimpe, Andreas Rauer, Heike Höbers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Mönchener Str. 20 Webling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Mönchener Str. 20 Weßling82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base MönchenerStr. 20Webl 82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

ISBN: (纸本)9781713842965

This paper was initially intended to report on the outcome of the twice postponed demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has been postponed from 2020, then 2021, to 2022. Nevertheless, the development of our concepts and integration has progressed rapidly, and some of the preliminary results are worthwhile to share with the community to drive the dialog on robotics planetary exploration strategies. This paper includes an overview of the planned 4-week campaign, as well as the vision and relevance of the mission towards the planned official space missions. Furthermore, the cooperative aspect of the robotic teams, the scientific motivation, the sub task achievements are summarised. © 2021 International Astronautical Federation, IAF. All rights reserved.

关键词： robotics

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Hierarchical control of a Quadcopter under Stuck Actuator Fault

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IFAC-PapersOnLine 2020年第2期53卷 4258-4263页

作者： Ngoc Thinh Nguyen Ionela Prodan Felix Petzke Stefan Streif Laurent Lefèvre Univ. of Luebeck Institute for Robotics and Cognitive Systems 23562 Luebeck Germany Univ. Grenoble Alpes Grenoble INP Institute of Engineering and Management Univ. Grenoble Alpes. LCIS Valence France Technische Universität Chemnitz Automatic Control and System Dynamics (ACSD) Lab 09107 Chemnitz Germany

We propose a hierarchical FTC (Fault Tolerant control) scheme for trajectory tracking by a quadcopter system under stuck actuator fault and actuator saturation. Both the FDI (Fault Detection and Isolation) and control reconfiguration modules are implemented at the low-level associated with the rotation dynamics through a NMPC (Nonlinear Model Predictive control) strategy. The uncontrolled (when under fault) yaw torque is predicted and compensated by the NMPC. It is shown that the overall control scheme succeeds in maintaining trajectory tracking for various fault events (both in the sense of having various stuck values and in the sense of changing the actuator under fault).

关键词： FTC Stuck actuator fault Trajectory tracking Hierarchical control Feedback linearization NMPC Quadcopter

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Application of a case-based approach for tasks of industrial safety inspection 2

Application of a case-based approach for tasks of industrial...

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2nd Scientific-Practical Workshop Information Technologies: Algorithms, Models, systems, ITAMS 2019

作者： Yurin, Aleksandr Yu. Berman, Aleksandr F. Nikolaychuk, Olga A. Kuznetsov, Kirill A. Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 Lermontov st. Irkutsk664033 Russia Irkutsk Research and Design Institute of Chemical and Petrochemical Engineering 3 Akademika Kurchatova st. Irkutsk664074 Russia

A regular assessment of a technical state and calculation of a residual life are important measures for the safe operation of petrochemical facilities. These measures are parts of the industrial safety inspection (ISI) procedure. The efficiency of this procedure can be improved with the aid of decision support systems, which are process and reuse of accumulated information and experience on the basis of a case-based reasoning (CBR) approach. The formalization of the main ISI tasks is made in order to apply CBR. The case models developed for each ISI task. Testing models and approach was carried out in the special software in Irkutsk research and design institute of chemical and petroleum engineering. Copyright © 2019 for this paper by its authors.

关键词： Case based reasoning

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The design and Implementation of Human Motion Capture system Based on CAN Bus *

The Design and Implementation of Human Motion Capture System...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Xian YUE Aibin ZHU Jiyuan SONG Guangzhong CAO Delin AN Zhifu GUO Institute of Robotics & Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an China Shenzhen Key Laboratory of Electromagnetic Control Shenzhen University Shenzhen China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi’an China Taiyuan Institute Co.Ltd. of China Coal Technology and Engineering Group Taiyuan China

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

Aiming at the existing problems of exoskeletons in human motion capture and recognition, causing human can only move passively in the exoskeleton, which is difficult to efficiently rebuild the connection between human muscles and nerves. This paper describes a system for the analysis of human motion capture based on CAN bus. The system adopts a distributed system architecture, which can collect data including plantar pressure, exoskeleton joint angle, and provide data support for subsequent motion recognition algorithm. The system has a simple measurement method and low dependence on measurement environment. The accuracy of the system is verified by the contrast experiment of Vicon 3D motion capture system. The results of the experiment indicate that the designed human motion capture system has a high accuracy, and meets the requirements of human motion perception when controlling the Rehabilitation Exoskeleton.

关键词： Robot sensing systems Exoskeletons Legged locomotion Foot Pressure sensors Acceleration

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Solar Sails for Planetary Defense High-Energy Missions

Solar Sails for Planetary Defense High-Energy Missions

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2019 IEEE Aerospace Conference, AERO 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Borchers, Kai Dumont, Etienne Grimm, Christian D. Ho, Tra-Mi Jahnke, Rico Koch, Aaron D. Lange, Caroline Maiwald, Volker Mess, Jan-Gerd Mikulz, Eugen Quantius, Dominik Reershemius, Siebo Renger, Thomas Sasaki, Kaname Seefeldt, Patric Spietz, Peter Sprowitz, Tom Sznajder, MacIej Tóth, Norbert Ceriotti, Matteo McInnes, Colin Peloni, Alessandro Dachwald, Bernd Lichtenheldt, Roy Wolff, Friederike Boden, Ralf Riemann, Johannes Seboldt, Wolfgang Wejmo, Elisabet Ziach, Christian Cordero, Federico Biele, Jens Krause, Christian Herčik, David Koncz, Alexander Pelivan, Ivanka Schmitz, Nicole Mikschl, Tobias Montenegro, Sergio Ruffer, Michael Tardivel, Simon DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Strasse 7 Bremen28359 Germany University of Glasgow GlasgowG12 8QQ United Kingdom Faculty of Aerospace Engineering FH Aachen Univ. of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany DLR German Aerospace Center Robotics and Mechatronics Center Institute of System Dynamics and Control Münchener Str. 20 Oberpfaffenhofen Weßling82234 Germany DLR Institute of Space Systems Germany Telespazio-VEGA Darmstadt Germany DLR German Aerospace Center Space Operations and Astronaut Training - MUSC Cologne51147 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Braunschweig Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany CNES Future Missions Flight Dynamics 18 avenue E. Belin Toulouse Cedex 931401 France

ISBN: (纸本)9781538668542

20 years after the successful ground deployment test of a (20 m)2 solar sail at DLR Cologne, and in the light of the upcoming U.S. NEAscout mission, we provide an overview of the progress made since in our mission and hardware design studies as well as the hardware built in the course of our solar sail technology development. We outline the most likely and most efficient routes to develop solar sails for useful missions in science and applications, based on our developed 'now-term' and near-term hardware as well as the many practical and managerial lessons learned from the DLR-ESTEC Gossamer Roadmap. Mission types directly applicable to planetary defense include single and Multiple NEA Rendezvous ((M)NR) for precursor, monitoring and follow-up scenarios as well as sail-propelled head-on retrograde kinetic impactors (RKI) for mitigation. Other mission types such as the Displaced L1 (DL1) space weather advance warning and monitoring or Solar Polar Orbiter (SPO) types demonstrate the capability of near-term solar sails to achieve asteroid rendezvous in any kind of orbit, from Earth-coorbital to extremely inclined and even retrograde orbits. Some of these mission types such as SPO, (M)NR and RKI include separable payloads. For one-way access to the asteroid surface, nanolanders like MASCOT are an ideal match for solar sails in micro-spacecraft format, i.e. in launch configurations compatible with ESPA and ASAP secondary payload platforms. Larger landers similar to the JAXA-DLR study of a Jupiter Trojan asteroid lander for the OKEANOS mission can shuttle from the sail to the asteroids visited and enable multiple NEA sample-return missions. The high impact velocities and re-try capability achieved by the RKI mission type on a final orbit identical to the target asteroid's but retrograde to its motion enables small spacecraft size impactors to carry sufficient kinetic energy for deflection. © 2019 IEEE.

关键词： Solar sails

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Flights are ten a sail - Re-use and commonality in the design and system engineering of small spacecraft solar sail missions with modular hardware for responsive and adaptive exploration 70

Flights are ten a sail - Re-use and commonality in the desig...

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70th International Astronautical Congress, IAC 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Boden, Ralf Ceriotti, Matteo Chand, Suditi Cordero, Federico Dachwald, Bernd Dumont, Etienne Grimm, Christian D. Heiligers, Jeannette Hercík, David Hérique, Alain Ho, Tra-Mi Jahnke, Rico Kofman, Wlodek Lange, Caroline Lichtenheldt, Roy McInnes, Colin Meß, Jan-Gerd Mikschl, Tobias Mikulz, Eugen Montenegro, Sergio Moore, Iain Pelivan, Ivanka Peloni, Alessandro Plettemeier, Dirk Quantius, Dominik Reershemius, Siebo Renger, Thomas Riemann, Johannes Rogez, Yves Ruffer, Michael Sasaki, Kaname Schmitz, Nicole Seboldt, Wolfgang Seefeldt, Patric Spietz, Peter Spröwitz, Tom Sznajder, Maciej Tóth, Norbert Vergaaij, Merel Viavattene, Giulia Wejmo, Elisabet Wiedemann, Carsten Wolff, Friederike Ziach, Christian DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany Consultants to DLR Institute of Space Systems University of Glasgow GlasgowG12 8QQ United Kingdom Telespazio-VEGA Darmstadt Germany Faculty of Aerospace Engineering FH Aachen University of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Germany Université Grenoble Alpes CS 40700 Grenoble Cédex 938058 France DLR German Aerospace Center Robotics and Mechatronics Center Weßling82234 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany Fraunhofer Heinrich Hertz Institute Berlin Germany Dresden University of Technology RF Engineering Dresden Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR German Aerospace Center Institute of System Dynamics and Control Wessling82234 Germany Space Research Centre PAS Warsaw Poland TU Delft Delft Netherlands Institute of Space Systems Technische Universität Braunschweig Hermann-Blenk-Str. 23 Braunschweig38108 Germany

The exploration of small solar system bodies started with fast fly-bys of opportunity on the sidelines of missions to the planets. The tiny new worlds seen turned out to be so intriguing and different from all else (and each other) that dedicated sample-return and in-situ analysis missions were developed and launched. Through these, highly efficient low-thrust propulsion expanded from commercial use into mainstream and flagship science missions, there in combination with gravity assists propulsion. In parallel, the growth of small spacecraft solutions accelerated in numbers as well as individual spacecraft capabilities. The on-going missions OSIRIS-REX (NASA) or HAYABUSA2 (JAXA) with its landers MINERVA-II and MASCOT, and the upcoming NEASCOUT mission are examples of this synergy of trends. The continuation of these and other related devlopments towards a propellant-less and highly efficient class of spacecraft for solar system exploration emerges in the form of small spacecraft solar sails designed for carefree handling and equipped with carried landers and application modules. These address the needs of all asteroid user communities - planetary science, planetary defence, and in-situ resource utilization - as well as other fields of solar system science and applications such as space weather warning and solar observations. Already the DLR-ESTEC GOSSAMER Roadmap for Solar Sailing initiated studies of missions uniquely feasible with solar sails such as Displaced L1 (DL1) space weather advance warning and monitoring and Solar Polar Orbiter (SPO) delivery, which demonstrate the capabilities of near-term solar sails to reach any kind of orbit in the inner solar system. This enables Multiple Near-Earth Asteroid (NEA) rendezvous missions (MNR), from Earth-coorbital to extremely inclined and even retrograde target orbits. For these mission types using separable payloads, design concepts can be derived from the separable Boom Sail Deployment Units characteristic of DLR GOS

关键词： Solar sails

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