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Hierarchical Control of a Quadcopter under Stuck Actuator Fault

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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Holarchy for line-less mobile assembly systems operation in the context of the internet of production

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Procedia CIRP 2021年 99卷 448-453页

作者： Armin Friedrich Buckhorst Benjamin Montavon Dominik Wolfschläger Melanie Buchsbaum Amir Shahidi Henning. Petruck Ike Kunze Jan Pennekamp Christian Brecher Mathias Hüsing Burkhard Corves Verena Nitsch Klaus Wehrle Robert Heinrich Schmitt Chair of Production Metrology and Quality Management Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen RWTH Aachen University Campus-Boulvard 30 52074 Aachen Germany Chair of Machine Tools Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen RWTH Aachen University Campus-Boulvard 30 52074 Aachen Germany Institute of Mechanism Theory Machine Dynamics and Robotics RWTH Aachen University Eilfschornsteinstraße 18 52062 Aachen Germany Chair and Institute of Industrial Engineering and Ergonomics RWTH Aachen University Eilfschornsteinstraße 18 52062 Aachen Germany Chair of Communication and Distributed Systems RWTH Aachen University Ahornstr. 55 52074 Aachen Germany

Assembly systems must provide maximum flexibility qualified by organization and technology to offer cost-compliant performance features to differentiate themselves from competitors in buyers’ markets. By mobilization of multipurpose resources and dynamic planning, Line-less Mobile Assembly systems (LMASs) offer organizational reconfigurability. By proposing a holarchy to combine LMASs with the concept of an Internet of Production (IoP), we enable LMASs to source valuable information from cross-level production networks, physical resources, software nodes, and data stores that are interconnected in an IoP. The presented holarchy provides a concept of how to address future challenges, meet the requirements of shorter lead times, and unique lifecycle support. The paper suggests an application of decision making, distributed sensor services, recommender-based data reduction, and in-network computing while considering safety and human usability alike.

关键词： Internet of Production Line-less Mobile Assembly System Industrial assembly Smart factory

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Automating Care by Self-maintainability for Full Laboratory Automation

arXiv

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arXiv 2025年

作者： Ochiai, Koji Tahara-Arai, Yuya Kato, Akari Kaizu, Kazunari Kariyazaki, Hirokazu Umeno, Makoto Takahashi, Koichi Kanda, Genki N. Ozaki, Haruka Laboratory for Biologically Inspired Computing RIKEN Center for Biosystems Dynamics Research 6-7-1 Minatojima Minamimachi Chuo-ku Hyogo Kobe650-0047 Japan Bioinformatics Laboratory Institute of Medicine University of Tsukuba 1-1-1 Tennodai Ibaraki Tsukuba305-8577 Japan Ph.D. Program in Humanics School of Integrative and Global Majors University of Tsukuba 1-1-1 Tennodai Ibaraki Tsukuba305-8577 Japan Laboratory Automation Suppliers’ Association 2-1-8 Minatojima Minamimachi Chuo-ku Hyogo Kobe650-0047 Japan Cell Modeling and Simulation Group Exploratory Research Center on Life and Living Systems National Institutes of Natural Sciences 5-1 Higashiyama Myodaiji Aichi Okazaki444-8787 Japan Robotics Division YASKAWA Electric Corporation 2-1 Kurosaki Shiroishi Yahatanishi-ku Kitakyushu Fukuoka806-0004 Japan BAIKEIDO LLC 3-8-1 Asano Kokurakita-ku Kitakyushu Fukuoka802-0001 Japan Graduate School of Media and Governance Keio University 5322 Endo Fujisawa-shi Kanagawa252-0882 Japan Medical Research Laboratory Institute of Integrated Research Institute of Science Tokyo 1-5-45 Yushima Bunkyo-ku Tokyo113-8519 Japan Center for Artificial Intelligence Research University of Tsukuba 1-1-1 Tennodai Ibaraki Tsukuba305-8577 Japan

The automation of experiments in life sciences and chemistry has significantly advanced with the development of various instruments and AI technologies. However, achieving full laboratory automation, where experiments conceived by scientists are seamlessly executed in automated laboratories, remains a challenge. We identify the lack of automation in planning and operational tasks—critical human-managed processes collectively termed "care"—as a major barrier. Automating care is the key enabler for full laboratory automation. To address this, we propose the concept of self-maintainability (SeM): the ability of a laboratory system to autonomously adapt to internal and external disturbances, maintaining operational readiness akin to living cells. A SeM-enabled laboratory features autonomous recognition of its state, dynamic resource and information management, and adaptive responses to unexpected conditions. This shifts the planning and execution of experimental workflows, including scheduling and reagent allocation, from humans to the system. We present a conceptual framework for implementing SeM-enabled laboratories, comprising three modules—Requirement manager, Labware manager, and Device manager—and a Central manager. SeM not only enables scientists to execute envisioned experiments seamlessly but also provides developers with a design concept that drives the technological innovations needed for full automation. Copyright © 2025, The Authors. All rights reserved.

关键词： Information management

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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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From single autonomous robots toward cooperative robotic interactions for future planetary exploration missions 69

From single autonomous robots toward cooperative robotic int...

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69th International Astronautical Congress: #InvolvingEveryone, IAC 2018

作者： Wedler, Armin Wilde, Martina Reill, Josef Schuster, Martin J. Vayugundla, Mallikarjuna Brunner, Sebastian G. Bussmann, Kristin DÃ¶mel, Andreas Drauschke, Martin Gmeiner, Heinrich Lehner, Hannah Lehner, Peter MÃ¼ller, Marcus G. StÃ¼rzl, Wolfgang Triebel, Rudolph Vodermayer, Bernhard BÃ¶rner, Anko Krenn, Rainer Dammann, Armin Fiebig, Uwe-Carsten Staudinger, Emanuel WenzhÃ¶fer, Frank FlÃ¶gel, Sascha Sommer, Stefan Asfour, Tamim Flad, Michael Hohmann, SÃ¶ren Brandauer, Martin Albu-SchÃ¤ffer, Alin Olimpiu Institute of Robotics and Mechatronics MÃ¼nchener Str. 20 WeÃŸling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control MÃ¼nchener Str. 20 WeÃŸling82234 Germany Institute of Communications and Navigation MÃ¼nchener Str. 20 WeÃŸl82234 Germany Centre for Polar and Marine Research Am Handelshafen 12 Bremerhafen27570 Germany GEOMAR Helmholtz Centre for Ocean Research Wischhofstr. 1-3 Kiel24148 Germany Institute for Anthr. and Robotics Am Fasanengarten 5 Karlsruhe76131 Germany Institute for Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Inst. of Techn. and Manag. in Construction Am Fasanengarten Karlsruhe76131 Germany

Mobile robotics will play a key role in future space, ocean and deep sea exploration activities. Besides the actual development of the robotic systems, the different ways of commanding those systems, using technologies varying from teleoperation with the human in the loop, through shared autonomy towards highly autonomous systems, will be the main challenges of these missions. This paper describes the robotic activities of the DLR institutions within the Helmholtz projects ROBEX and ARCHES, dealing with robots for autonomous space and ocean exploration applications. Furthermore, it describes the challenges, the overlap and the synergies of those domains, the different approaches of operating robots from far distances in extreme environments and gives an outlook on future mission possibilities. Copyright © 2018 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Remote control

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A comparison of nonsmooth, nonconvex, constrained optimization solvers for the design of time-delay compensators

arXiv

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arXiv 2018年

作者： Kungurtsev, Vyacheslav Mitchell, Tim Vyhlídal, Tomáš Department of Computer Science Faculty of Electrical Engineering Czech Technical University in Prague Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague

We present a detailed set of performance comparisons of two state-of-the-art solvers for the application of designing time-delay compensators, an important problem in the field of robust control. Formulating such robust control mechanics as constrained optimization problems often involves objective and constraint functions that are both nonconvex and nonsmooth, both of which present significant challenges to many solvers and their end-users hoping to obtain good solutions to these problems. In our particular engineering task, the main difficulty in the optimization arises in a nonsmooth and nonconvex stability constraint, which states that the infinite spectrum of zeros of the so-called shaper should remain in the open left half-plane. To perform our evaluation, we make use β-relative minimization profiles, recently introduced visualization tools that are particularly suited for benchmarking solvers on nonsmooth, nonconvex, constrained optimization problems. Furthermore, we also introduce new visualization tools, called Global-Local Profiles, which for a given problem and a fixed computational budget, assess the tradeoffs of distributing the budget over few or many starting points, with the former getting more budget per point and latter less. Copyright © 2018, The Authors. All rights reserved.

关键词： Robust control

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AFA-PredNet: The action modulation within predictive coding

arXiv

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arXiv 2018年

作者： Zhong, Junpei Cangelosi, Angelo Zhang, Xinzheng Ogata, Tetsuya Artificial Intelligence Research Center National Institute of Advanced Industrial Science and Technology Tokyo Japan Centre for Robotics and Neural Systems Plymouth University PlymouthPL4 8AA United Kingdom School of Electrical Engineering Jinan University Zhuhai China Lab for Intelligent Dynamics and Representation Waseda University Tokyo Japan

— The predictive processing (PP) hypothesizes that the predictive inference of our sensorimotor system is encoded implicitly in the regularities between perception and action. We propose a neural architecture in which such regularities of active inference are encoded hierarchically. We further suggest that this encoding emerges during the embodied learning process when the appropriate action is selected to minimize the prediction error in perception. Therefore, this predictive stream in the sensorimotor loop is generated in a top-down manner. Specifically, it is constantly modulated by the motor actions and is updated by the bottom-up prediction error signals. In this way, the top-down prediction originally comes from the prior experience from both perception and action representing the higher levels of this hierarchical cognition. In our proposed embodied model, we extend the PredNet Network, a hierarchical predictive coding network, with the motor action units implemented by a multi-layer perceptron network (MLP) to modulate the network top-down prediction. Two experiments, a minimalistic world experiment, and a mobile robot experiment are conducted to evaluate the proposed model in a qualitative way. In the neural representation, it can be observed that the causal inference of predictive percept from motor actions can be also observed while the agent is interacting with the environment. Copyright © 2018, The Authors. All rights reserved.

关键词： Forecasting

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Advances in platforms and algorithms for high resolution mapping in the marine environment

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Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017

作者： Sayre-McCord, R. Thomas Murphy, Chris Kaeli, Jeffrey Kunz, Clayton Kimball, Peter Singh, Hanumant Massachusetts Institute of Technology Woods Hole Oceanographic Institution CambridgeMA United States General Dynamics Mission Systems - Bluefin Robotics QuincyMA United States Woods Hole Oceanographic Institution Woods HoleMA United States Northeastern University BostonMA United States

ISBN: (纸本)9783319553719

A confluence of technologies is changing the manner in which we approach the use of Autonomous Underwater Vehicles (AUVs) in the marine environment. In this paper we review the role of several of these technologies and the way interactions between them will now enable the use of adaptive methodologies for mapping and exploring the underwater environment. We focus primarily on imaging sensors but these methodologies are widely applicable for other types of sensing modalities as well. We look at the role of acoustic telemetry, multi-hop underwater data transmission, in-situ machine learning techniques, and mapping in highly dynamic environments such as under sea ice. In addition, we discuss the role of "hobby" robotics for surface and aerial vehicles in the marine environment. © Springer International Publishing AG 2017.

关键词： Mapping

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Small spacecraft based multiple near-earth asteroid rendezvous and landing with near-term solar sails and 'now-term'technologies 69

Small spacecraft based multiple near-earth asteroid rendezvo...

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69th International Astronautical Congress: #InvolvingEveryone, IAC 2018

作者： Grundmann, Jan Thimo Bauer, Waldemar Biele, Jens Boden, Ralf Ceriotti, Matteo Cordero, Federico Dachwald, Bernd Dumont, Etienne Grimm, Christian D. HerÄìÃk, David Ho, Tra-Mi Jahnke, Rico Koch, Aaron D. Koncz, Alexander Krause, Christian Lange, Caroline Lichtenheldt, Roy Maiwald, Volker Mikschl, Tobias Mikulz, Eugen Montenegro, Sergio Pelivan, Ivanka Peloni, Alessandro Quantius, Dominik Reershemius, Siebo Renger, Thomas Riemann, Johannes Ruffer, Michael Sasaki, Kaname Schmitz, Nicole Seboldt, Wolfgang Seefeldt, Patric Spietz, Peter SprÃ¶witz, Tom Sznajder, Maciej Tardivel, Simon TÃ³th, Norbert Wejmo, Elisabet Wolff, Friederike Ziach, Christian DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Strasse 7 Bremen28359 Germany DLR German Aerospace Center Space Operations and Astronaut Training - MUSC KÃ¶ln51147 Germany Consultant to DLR Institute of Space Systems Germany 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 DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR German Aerospace Center Robotics and Mechatronics Center Wessling82234 Germany Informatik 8 UniversitÃ¤t WÃ¼rzburg Am Hubland WÃ¼rzburg97074 Germany Institute of Physics University of Zielona GÃ³ra Szafrana 4a Zielona GÃ³ra65-069 Poland CNES Future Missions Flight Dynamics 18 avenue E. Belin Toulouse Cedex 931401 France

Physical interaction with small solar system bodies (SSSB) is the next step in planetary science, planetary in-situ resource utilization (ISRU), and planetary defense (PD). It requires a broader understanding of the surface properties of the target objects, with particular interest focused on those near Earth. Knowledge of composition, multi-scale surface structure, thermal response, and interior structure is required to design, validate and operate missions addressing these three fields. The current level of understanding is occasionally simplified into the phrase,â€¥If you've seen one asteroid, you've seen one asteroidâ€¥, meaning that the in-situ characterization of SSSBs has yet to cross the threshold towards a robust and stable scheme of classification. This would enable generic features in spacecraft design, particularly for ISRU and science missions. Currently, it is necessary to characterize any potential target object sufficiently by a dedicated precursor mission to design the mission which then interacts with the object in a complex fashion. To open up strategic approaches, much broader in-depth characterization of potential target objects would be highly desirable. In SSSB science missions, MASCOT-like nano-landers and instrument carriers which integrate at the instrument level to their mothership have met interest. By its size, MASCOT is compatible with small interplanetary missions. The DLR-ESTEC GOSSAMER Roadmap Science Working Groups'studies identified target-flexible Multiple Near-Earth asteroid (NEA) Rendezvous (MNR) as one of the space science missions uniquely feasible with solar sail propulsion. The Solar Polar Orbiter (SPO) study showed the ability to access any inclination, the Displaced-L1 (DL1) mission operates close to Earth, where objects of interest to PD and for ISRU reside. Other studies outline the unique capability of solar sails to provide access to all SSSB, at least within the orbit of Jupiter, and significant progress has been made

关键词： Solar sails

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