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Design and Development of a Deployment System for Small Satellites (1U-4U)

IEEE Aerospace and Electronic systems Magazine 2025年第5期40卷 6-27页

作者： Krishnappa, Chiranthan Arogbonlo, Adetokunbo Marina D'souza, Jeane Nahavandi, Saeid Manipal Institute of Technology Department of Mechatronics Manipal India Deakin University Robotics and Autonomous Systems Warn Ponds Australia Swinburne University of Technology Melbourne Australia

CubeSat standards have greatly simplified the process of satellite development. Understanding the potential of these small satellites has led to their usage in numerous space missions by major space agencies like NASA, ESA, JAXA, and ISRO. In addition, private companies and universities are also entering the sector, as small satellite development is a lot cheaper. The rising number of small satellite launches has necessitated the design and development of deployment technologies for small satellites specifically. The deployment subsystem is one of the crucial subsystems that plays a major role in directing and placing these satellites into the right trajectory. This paper presents a deployment system, capable of holding small satellites throughout the launch journey and deploying them into the right trajectory. The major advantage of the system is that it is modular, allowing it to deploy satellites of sizes in the range 1U-4U. The article demonstrates the mechanical design of the proposed deployment system, along with the discussion of the results of the rigorous analysis performed using the model to understand its behavioural response to the variable conditions of space. The analysis carried out includes random vibration analysis, static structural load analysis, and thermal analysis. Additionally, the circuit design for the control system of the deployment model to achieve the required objectives within the specified time frame is also presented. The paper also explains the process of prototype development, the control system circuit integration, and the operation of the prototype to test the functionality of the proposed deployment system. © 1986-2012 IEEE.

关键词： NASA

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Person Segmentation and Action Classification for Multi-Channel Hemisphere Field of View LiDAR Sensors

Person Segmentation and Action Classification for Multi-Chan...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Seliunina, Svetlana Otelepko, Artem Memmesheimer, Raphael Behnke, Sven University of Bonn Autonomous Intelligent Systems Group Computer Science Institute VI - Intelligent Systems and Robotics Lamarr Institute for Machine Learning and Artificial Intelligence Center for Robotics Germany

ISBN: (纸本)9798331531614

Robots need to perceive persons in their surroundings for safety and to interact with them. In this paper, we present a person segmentation and action classification approach that operates on 3D scans of hemisphere field of view LiDAR sensors. We recorded a data set with an Ouster OSDome-64 sensor consisting of scenes where persons perform three different actions and annotated it. We propose a method based on a MaskDINO model to detect and segment persons and to recognize their actions from combined spherical projected multi-channel representations of the LiDAR data with an additional positional encoding. Our approach demonstrates good performance for the person segmentation task and further performs well for the estimation of the person action states walking, waving, and sitting. An ablation study provides insights about the individual channel contributions for the person segmentation task. The trained models, code and dataset are made publicly available. © 2025 IEEE.

关键词： Signal encoding

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Operational Space Fomulation of Time Delay Control for Underwater Vehicles and its Extension to Diver Guidance

Operational Space Fomulation of Time Delay Control for Under...

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2025 IEEE Underwater Technology, UT 2025

作者： Cho, Gun Rae Kang, Hyungjoo Kim, Min-Gyu Park, Sungho Jin, Hansol Jin, Seongho Korea Institute of Robotics and Techonology Convergence Autonomous Systems R&D Division Pohang Korea Republic of

ISBN: (纸本)9798331534189

In this study, we propose a method for designing a robust controller for underwater vehicles when the control input space and workspace differ. To achieve this, we formulate the Time Delay Control (TDC) in operational space, which is efficient yet has a simple structure. The proposed controller maintains the robustness against disturbances and structural simplicity inherent in the conventional TDC while effectively addressing the situation where the workspace differs from the control input space. Additionally, we propose a method for applying the proposed controller to the task of guiding divers to their destinations using underwater vehicles. Underwater environments often have limited visibility due to issues such as turbidity, so we design the controller and reference trajectories based on the diver's field of view. Through simulations, we demonstrate that the proposed control method effectively operates in various workspaces, including world-coordinate-based workspaces and diver's field of view-based workspaces. © 2025 IEEE.

关键词： Delay control systems

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Tracking Error Based Fault Tolerant Scheme for Marine Vehicles with Thruster Redundancy

Tracking Error Based Fault Tolerant Scheme for Marine Vehicl...

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2025 IEEE Underwater Technology, UT 2025

作者： Li, Ji-Hong Kang, Hyungjoo Kim, Min-Gyu Lee, Mun-Jik Jin, Han-Sol Cho, Gun Rae Korea Institute of Robotics and Technology Convergence Autonomous Systems R&D Division KIRO Pohang Korea Republic of

ISBN: (纸本)9798331534189

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized to generate residual, in this paper we directly apply the trajectory tracking error terms to construct residual and detect thruster fault and failure in the steady state of the tracking system. As for identification or diagnosis, this paper proposes a novel scheme through a detailed examination of the tracking error trends and the combinations of thruster configurations. Since this fault detection and identification operates within the same closed-loop of the tracking control system, control reconfiguration can be easily achieved by adjusting the weight parameter of the isolated thruster to minimize tracking errors or residual. Numerical studies with the real world vehicle model is also carried out to verify the effectiveness of the proposed method. © 2025 IEEE.

关键词： Closed loop control systems

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Using a Bayesian Network to Predict User Trust in Teleoperation Robots 16th

Using a Bayesian Network to Predict User Trust in Teleope...

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16th International Conference on Social robotics, ICSR + AI 2024

作者： Cárdenas, Juan José García Tapus, Adriana Autonomous Systems and Robotics Lab/U2IS ENSTA Paris Institute Polytechnique de Paris Paris France

ISBN: (纸本)9789819635245

Trust plays a crucial role in human-robot interaction (HRI), especially in teleoperation scenarios where users control robots remotely. This paper develops a static trust prediction model using a Bayesian approach to improve system design, user experience, and robotic reliability. By integrating prior knowledge with empirical data, we constructed a Bayesian model that estimates trust levels in teleoperated robotic systems. Our model incorporates physiological measures and task performance data to provide a comprehensive trust prediction framework. We evaluated the model’s performance using precision, recall, and F1 score, achieving high precision (0.92), good recall (0.84), and a balanced F1 score (0.79). These metrics demonstrate the model’s effectiveness in accurately predicting trust levels in teleoperated robotic systems. The results underscore the importance of trustworthiness in maintaining user confidence and improving system interactions. This study highlights the potential of Bayesian models in enhancing the reliability and user experience of teleoperated robots, offering valuable insights for future developments in HRI research. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Human robot interaction

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A Three-Step Optimization Framework With Hybrid Models for a Humanoid Robot’s Jump Motion

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 14120-14132页

作者： Qi, Haoxiang Yu, Zhangguo Chen, Xuechao Li, Qingqing Liu, Yaliang Yi, Chuanku Dong, Chencheng Meng, Fei Huang, Qiang Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing100081 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing100081 China Qiyuan Laboratory Beijing100029 China

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper proposes a 3-step trajectory optimization framework for generating a jump motion for a humanoid robot. To improve iteration speed and achieve ideal performance, the framework comprises three sub-optimizations. The first optimization incorporates momentum, inertia, and center of pressure (CoP), treating the robot as a static reaction momentum pendulum (SRMP) model to generate corresponding trajectories. The second optimization maps these trajectories to joint space using effective Quadratic Programming (QP) solvers. Finally, the third optimization generates whole-body joint trajectories utilizing trajectories generated by previous parts. With the combined consideration of momentum and inertia, the robot achieves agile forward jump motions. A simulation and experiments of forward jump with a distance of 1.0 m and 0.5 m height are presented in this paper, validating the applicability of the proposed framework. © 2004-2012 IEEE.

关键词： Anthropomorphic robots

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RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots Using Foundation Models for Perception and Planning

RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service...

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27th RoboCup International Symposium, 2024

作者： Memmesheimer, Raphael Nogga, Jan Pätzold, Bastian Kruzhkov, Evgenii Bultmann, Simon Schreiber, Michael Bode, Jonas Karacora, Bertan Park, Juhui Savinykh, Alena Behnke, Sven Autonomous Intelligent Systems Computer Science Institute VI Lamarr Institute for Machine Learning and Artificial Intelligence and Center for Robotics University of Bonn Bonn Germany

ISBN: (纸本)9783031858581

We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we describe our hardware setup and give an overview of the results for the task stages and the final demonstration. For this year’s competition, we put a special emphasis on open-vocabulary object segmentation and grasping approaches that overcome the labeling overhead of supervised vision approaches, commonly used in RoboCup@Home. We successfully demonstrated that we can segment and grasp non-labeled objects by text descriptions. Further, we extensively employed Large Language Model (LLMs) for natural language understanding and task planning. Throughout the competition, our approaches showed robustness and generalization capabilities. A video of our performance can be found online (https://***/videos/RoboCup_2024). © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Robot programming

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Steam Deck: A Handheld ROS 2 Based Rescue Robot Controller

Steam Deck: A Handheld ROS 2 Based Rescue Robot Controller

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27th RoboCup International Symposium, 2024

作者： Pawar, Shubham Kirsch, Maximillian Gollok, Christoph Ferrein, Alexander The Mobile Autonomous Systems & Cognitive Robotics Institute FH Aachen University of Applied Sciences Eupener Straße 70 Aachen52056 Germany

ISBN: (纸本)9783031858581

Efficient and rapid deployment of robots by first responders in rescue scenarios is crucial for locating and rescuing more victims faster. Easy to use teleoperating robot interface in urban search and rescue scenario is important to effectively guide the robots through complex environments, alongside having autonomous functions allowing them to operate independently when necessary. In this paper, we propose using the Steam Deck as a ROS 2-based Rescue Robot Controller, utilizing its capabilities as a powerful and a portable controller to control robots in the RoboCup Rescue League. We explore the Steam Deck for interacting and teleoperating the robot in the context of our Rescue Team ALeRT, where we control a quadruped robot Spot which is equipped with a Kinova light-weight manipulator. We show the ROS integration on the Steam Deck and discuss the usability of it as a controller. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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Using Off-the-Shelf Deep Neural Networks for Position-Based Visual Servoing

Using Off-the-Shelf Deep Neural Networks for Position-Based...

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27th RoboCup International Symposium, 2024

作者： Tschesche, Matteo Hofmann, Till Ferrein, Alexander Lakemeyer, Gerhard Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Sciences Aachen Germany Knowledge-Based Systems Group RWTH Aachen University Aachen Germany

ISBN: (纸本)9783031858581

Visual servoing is a well-established technique for object grasping and controls the robot in a closed-loop fashion. It typically uses hand-crafted features or a neural network that directly learns the control output. We propose an alternative approach that uses an off-the-shelf neural network object classifier and can therefore compute target poses without manually selected features while also not requiring training from scratch. Instead, the object classifier only needs to be fine-tuned on a domain-specific dataset, significantly reducing the amount of required training data. We describe a task sequencing approach that can control a robot with a mobile base and an additional gripper, which is a typical setup in many robotics applications. We evaluate the approach in the RoboCup Logistics League and demonstrate the reliability and speed of the proposed approach. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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GPGM-SLAM: A Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps

Field Robotics

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Field robotics 2025年 2卷 1721-1753页

作者： Riccardo Giubilato Cedric Le Gentil Mallikarjuna Vayugundla Martin J. Schuster Teresa Vidal-Calleja Rudolph Triebel Institute of Robotics and Mechatronics German Aerospace Center (DLR) Centre for Autonomous Systems University of Technology Sydney

Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to urban or man-made environments, where the presence of unique objects and structures offer unique cues for localization, the apperance of unstructured natural environments is often ambiguous and self-similar, hindering the performances of loop closure detection. In this paper, we present an approach to improve the robustness of place recognition in the context of a submap-based stereo SLAM based on Gaussian Process Gradient Maps (GPGMaps). GPGMaps embed a continuous representation of the gradients of the local terrain elevation by means of Gaussian Process regression and Structured Kernel Interpolation, given solely noisy elevation measurements. We leverage the imagelike structure of GPGMaps to detect loop closures using traditional visual features and Bag of Words. GPGMap matching is performed as an SE(2) alignment to establish loop closure constraints within a pose graph. We evaluate the proposed pipeline on a variety of datasets recorded on Mt. Etna, Sicily and in the Morocco desert, respectively Moon- and Mars-like environments, and we compare the localization performances with state-of-the-art approaches for visual SLAM and visual loop closure detection.

关键词： Simultaneous localization and mapping Robots Location awareness Visualization Robot sensing systems Gaussian processes Cameras Mechatronics Feature extraction Deserts

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