Control of a fully-actuated airship for satellite emulation
Bibliographic record
Abstract
Over the past four years, researchers at McGill University have developed a novel concept for studying dynamics and control of robotic grasping of objects in space. This problem arises in several applications - those currently under investigation include on-orbit servicing of satellites and removal of space debris. The main difficulty in experimental testing of such tasks is how to emulate the gravity-free environment of space here on the ground. A number of experimental facilities have been developed around the world to emulate the gravity-free conditions for space robotics research. For example, one popular approach involves floating the system under investigation - a robotic arm or a mock-up satellite - on air-bearings on a glass- covered or granite table. A few research establishments have invested in neutral buoyancy water tanks for three- dimensional, high-fidelity, albeit very costly, emulation of weightlessness. We have proposed a novel idea which involves using a small helium blimp to emulate a free-floating object. Although not perfect, this concept is simpler, less expensive to implement and is more suitable for 3D emulation of the gravity-free conditions of space. An experimental facility has been developed in the Aerospace Mechatronics Laboratory to implement this concept in an indoor laboratory setting. The main components of our facility are: a six-degree-of-freedom robotic manipulator placed on a 3 m linear track, a spherical helium airship 6 ft in diameter, made neutrally buoyant and balanced, a Vicon six-camera system and associated control hardware and software interfaces. This video submission focuses on the control of the airship for satellite emulation.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".